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International Conference on Machine Learning and Applications (ICMLA)

作者： Pedro Costa Aurelio Campilho Bryan Hooi Asim Smailagic Kris Kitani Shenghua Liu Christos Faloutsos Adrian Galdran Department of Electrical and Computer Engineering Carnegie Mellon University INESC TEC Porto Faculty of Engineering University of Porto Department of Statistics and Data Science Carnegie Mellon University Robotics Institute Carnegie Mellon University Chinese Academy of Sciences Institute of Computing Technology China School of Computer Science Carnegie Mellon University

Given a retinal image, can we automatically determine whether it is of high quality (suitable for medical diagnosis)? Can we also explain our decision, pinpointing the region or regions that led to our decision? Images from human retinas are vital for the diagnosis of multiple health issues, like hypertension, diabetes, and Alzheimer's; low quality images may force the patient to come back again for a second scanning, wasting time and possibly delaying treatment. However, existing retinal image quality assessment methods are either black boxes without explanations of the results or depend heavily on feature engineering or on complex and error-prone anatomical structures' segmentation. Therefore, we propose EyeQual, that solves exactly this problem. EyeQual is novel, fast for inference, accurate and explainable, pinpointing low-quality regions on the image. We evaluated EyeQual on two real datasets where it achieved 100% accuracy taking just 36 milliseconds for each image.

关键词： Retina Image quality Diabetes Standards Retinopathy Machine learning Graphical models

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Visual and 3D mapping for steel bridge inspection using a climbing robot 33

Visual and 3D mapping for steel bridge inspection using a cl...

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33rd International Symposium on Automation and robotics in Construction, ISARC 2016

作者： Pham, Nhan H. La, Hung M. Ha, Quang P. Dang, Sy N. Vo, Anh H. Dinh, Quang H. Department of Computer Science and Engineering University of Nevada Reno United States Faculty of Engineering and IT University of Technology Sydney Australia Robotics Center Duy Tan University Da Nang Viet Nam

There are over six hundred thousand bridges in the U.S. which require great amount of human effort along with expensive and specialized equipment for maintenance. Current bridge inspections are manually performed by inspectors which are inefficient and unsafe. This paper presents visual and three dimensional (3D) structure inspection for steel bridges and steel structures using the developed climbing robot. The robot can move freely on steel surface, carry several sensors, and collect data then send to the ground station for real-time monitoring as well as further processing. Steel surface image stitching and 3D map building are conducted to provide a current condition of the structure.

关键词： Steel bridges

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Identification of modal parametrs of transmission towers

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Diagnostyka 2016年第4期17卷 33-38页

作者： Lech, Lukasz Iwaniec, Marek Iwaniec, Joanna AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Mickiewicz Alley 30 Krakow30-059 Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Mickiewicz Alley 30 Krakow30-059 Poland

The paper presents theoretical basis for identification of nonlinear systems using the method based on Hilbert transform. Discussed method was verified by analyzing the synthesized signals of known parameters. Developed and verified mathematical tools were used for analysis of dynamic responses of the real object: a laboratory (physical) model of the transmission tower. For the considered laboratory model it was possible to simulate damages of individual truss elements and observe changes in system dynamic characteristics. Results of the carried out research proved that the first natural frequency and damping factor change in the observable extent as a result of damage presence. © 2016, Polish Society of Technical Diagnostics. All rights reserved.

关键词： Modal analysis

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Neural network control of nonlinear objects

Neural network control of nonlinear objects

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International Carpathian Control Conference (ICCC)

作者： Agata Nawrocka Andrzej Kot Marcin Nawrocki Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

The subject of the conducted research was to develop an advanced algorithm for controlling a rehabilitation manipulator. The concept is a difficult one considering the tasks given to such systems. Seeing as the manipulator is a prototype devised for rehabilitation purposes, the correct functioning of the control system is required for varying load of the robot arm, that is it has been assumed that the manipulator will be used for people with various physical build and a varying degree of physical limitations. Due to the nonlinear character of the object, serious difficulty arises when it comes to devising a satisfactory control system based on traditional solutions. The above-mentioned problems suggest employing adaptive control. In the present case, the concept was extended by using artificial neural networks in the adaptive system of parameters of the manipulator's mathematical model. In the end a system of controllers was arrived at, which thanks to the features of artificial neural networks, and in particular thanks to the possibility of approximating nonlinear functions, carries out the set trajectory in a correct way. The paper contains the numerical solution of the presented problem.

关键词： Decision support systems Linearity Manipulators

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Simulation of an MR squeeze-mode damper for an automotive engine mount

Simulation of an MR squeeze-mode damper for an automotive en...

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International Carpathian Control Conference (ICCC)

作者： Bogdan Sapiński Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

The paper summarises the simulation study of a magnetorheological damper prototype operated in squeeze mode (MRSQD). The aim of the study is to show that the MRSQD can be effectively employed in the engine mount for vibration reduction. The material covers description of the device and selected simulation results which present: the performance figure of the MRSQD complemented by FE calculations of the magnetic core, time histories of the current in the control coil under the harmonic piston motion and the constant-voltage supply conditions, plots of force vs. piston displacement and time histories of the piston displacement in an automotive engine mount for various current levels in the control coil.

关键词： Engines Pistons Force Fluids Magnetic flux Shock absorbers Magnetomechanical effects

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Comparision of model predictive, input shaping and feedback control for a lab-scaled overhead crane

Comparision of model predictive, input shaping and feedback ...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Jaroslaw Smoczek Janusz Szpytko Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

The paper focuses on comparing the model predictive control, feedback controller and input shaping control for a laboratory scaled overhead traveling crane. The adaptive control of an overhead crane is developed based on the Generalized Predictive Control (GPC) procedure. Particle swarm optimization is applied to solve the optimal constrained control problem. The recursive least square (RLS) algorithm is applied to real-time estimate parameters of discrete-time model of a crane dynamic system. Feasibility and applicability of the proposed control technique were confirmed during experiments carried out on a laboratory stand. The results of experiments are presented and compared with the performances of the feedback controller and zero vibration derivative (ZVD) input shaper.

关键词： Cranes Payloads Feedback control Prediction algorithms Predictive control Adaptive control Heuristic algorithms

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High-precision microinjection of microbeads into C. elegans trapped in a suction microchannel

High-precision microinjection of microbeads into C. elegans ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Masahiro Nakajima Yuki Ayamura Masaru Takeuchi Naoki Hisamoto Strahil Pastuhov Yasuhisa Hasegawa Toshio Fukuda Qiang Huang Center for Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute Beijing Institute of Technology China Faculty of Science and Engineering Meijo University Nagoya Aichi Japan

This study presents the high-precision microinjection of fluorescent micro-gel beads into Caenorhabditis elegans trapped in a suction microchannel. In our previous works, we demonstrated survival microinjection by a conventional micromanipulation technique. However, the focal planes differed between the tip of the microinjection tool and the target axon inside the C. elegans body. To resolve this problem, we here propose a suction microchannel that traps C. elegans during the microinjection operation. The focal plane of the target nerve axon matches that of the fluorescent microbead in the microinjection tool, enabling high-precision microinjection into the interior of the C. elegans body under a microscopic view. In an experimental evaluation, the positioning accuracy of the injection into C. elegans was within the target accuracy (15 μm). The head-flrst navigation alignment of C. elegans along the microchannel was controlled by electrotaxis. Injection of the fluorescent micro-gel bead into the C. elegans body was quantitatively confirmed by confocal microscopy.

关键词： Microchannels Microinjection Axons Tools Microscopy Fluorescence Silicon

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An estimation of lithium-ion Battery state of health - Ageing-included modelling and experimental studies

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Diagnostyka 2016年第2期17卷 25-34页

作者： Mroz, Piotr Gorny, Piotr Ekiert, Martyna Uhl, Tadeusz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Mickiewicza 30 Av. Krakow30-059 Poland

In this paper we present a study on Li-Ion Battery (LIB) modelling, including battery ageing profile, as a ground for development of state of health (SoH) prediction and monitoring system. An influence of LIB ageing was included by the mean of ageing module, based on voltage, resistance and capacity characteristics, resulting from preliminary experimental measurements. Our model, based on equivalent circuit model (ECM) and parameter estimation procedure, was implemented in MATLAB software and then validated. The simulation results are used for battery SoH estimation, which may be use in a future to optimize the conditions of LIB cycling and therefore extend the battery lifetime.

关键词： Lithium-ion batteries

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Analysis of the propagation of ultrasonic waves along isotropic and anisotropic materials using PAMELA portable SHM system 8

Analysis of the propagation of ultrasonic waves along isotro...

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8th European Workshop on Structural Health Monitoring, EWSHM 2016

作者： Etxaniz, Josu Ambrozinski, Lukasz Aranguren, Gerardo Faculty of Engineering Alameda Urquijo s/n 48013 Bilbao Spain Dpt. Robotics and Mechatronics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9781510827936

The size and weight of the SHM systems might turn to be a key issue and it must be considered in some applications, as aeronautics or wind turbines. As a preliminary step to develop new SHM portable systems, the analysis of the propagation of ultrasonic waves is introduced in this paper. The analysis was conducted with an embedded, small, portable, and lightweight wireless electronic unit, named PAMELA. The research was focused on studying the main features of the propagation of Lamb waves through both isotropic and anisotropic materials, as many structures used in the aforementioned applications are made of both materials. The influence of many variables on the propagation of Lamb waves was considered. The paper includes both parts of the research. On the one hand, it includes the methodology to address the analysis of the wave propagation along many materials. On the other hand, it also adds the discussion of the results obtained in the tests, as well as the conclusions and future work of the research.

关键词： Guided electromagnetic wave propagation

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Control of the 2S1 tracked vehicle suspension system based on sky-hook strategy and Kalman filter

Control of the 2S1 tracked vehicle suspension system based o...

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International Carpathian Control Conference (ICCC)

作者： Jurkiewicz Andrzej Janusz Kowal Zając Kamil Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Kraków Poland

The essence of the undertaken topic is application of the Extended Kalman Filter as the state observer of the 2S1 tracked vehicle suspension system with four magnetorheological dampers which has been described by the modified Bingham model. Application of the dampers caused the tested suspension system has become a semi-active structure in which the continuous sky-hook control is applied. Improve of ride comfort is verified by comparing simulation results under the same driving conditions of controlled and passive vehicle suspension system.

关键词： Decision support systems Suspensions Kalman filters Military vehicles Zirconium

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