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International Joint Conference on Neural Networks (IJCNN)

作者： Moritz Schneider Jürgen Adamy Institute of Automatic Control and Mechatronics Laboratory of Control Methods and Robotics Technische Universität Darmstadt Darmstadt Germany

ISBN: (纸本)9781479919611

Motivation and emotion are inseparable component factors of value systems in living beings, which enable them to act purposefully in a partially unknown and sometimes unforgiving environment. Value systems that drive innate reinforcement learning mechanisms have been identified as key factors in self-directed control and autonomous development towards higher intelligence and seem crucial in the development of a concept of “self” in sentient beings [1]. This contribution is concerned with the relationship between artificial learning control systems and innate value systems. In particular, we adapt the state-of-the-art model of motivational processes based on reduction of generalized drives towards higher flexibility, expressivity and representation capability. A framework for modelling self-adaptive value systems, which develop autonomously starting from an inherited (or designed) innate representation, within a learning control system architecture is formulated. We discuss the relationship of anticipated effects in this control architecture with psychological theory on motivations and contrast our framework with related approaches.

关键词： Biology Artificial intelligence Cognition Adaptation models

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APPLICATION OF FUZZY NEURAL NETWORKS FOR INSTRUMENT FAULT DIAGNOSIS OF CONDENSATION TURBINE control

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IFAC Proceedings Volumes 2002年第1期35卷 483-488页

作者： Mariusz PAWLAK Jan M. KOŚCIELNY Michal Z. BARTYŚ Institute of Heat Engineering Dąbrowskiego 113 93-208 Łódź Poland Warsaw University of Technology Faculty of Mechatronics Institute of Automatic Control and Robotics Chodkiewicza 8 02-525 Warszawa Poland

In the paper an application of fuzzy neural networks (FNN) for sensor fault diagnosis in condensation turbine control unit was given. The FNN are applied for fault detection and isolation processes. This approach gives the homogenous solution of fault detection and isolation process (FDI). The FNN models of turbine power, live steam pressure and steam mass flow rate were created and verified. Satisfactory models' performance indexes were obtained. The fault sensitivity of residuals was investigated and approved.

关键词： fault diagnosis power control power generation turbines fuzzy modelling neural networks fault tolerant systems

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Two approaches (GC-ECD and electrochemical sensors signals processing) to the determination of carbonyl compounds as markers of air pollution 26

Two approaches (GC-ECD and electrochemical sensors signals p...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Institute of Automatic Control and Robotics Poznan University of Technology Division of Signal Processing and Electronic Systems Poznań Poland

ISBN: (纸本)9798350304985

This article presents the application possibilities of unmanned aerial vehicles (UAVs) for the rapid and efficient determination of carbonyl compounds: formaldehyde and acetaldehyde concentrations in gaseous environmental samples. One of the described methods is the use of special electrochemical sensors (PMS5003 and SEN0231) to measure air pollution in real time (every 10 seconds). The second method involves adsorbing gas samples into sorption tubes with XAD-2 cartridges and uses chromatographic analysis: gas chromatography coupled with a selective electron capture detector (GC-ECD). The proposed analytical technique allows the determination of carbonyl compounds at low concentration levels (μg/m3) using pre-derivatization of samples with the reagent 2,3,4,5,6-pentafluorobenzyl-hydroxylamine (PFBOA). Comparing the results obtained from electrochemical sensors and chromatographic analysis, we can conclude that there are discrepancies between the determined concentrations of formaldehyde in the analyzed gas samples. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Formaldehyde

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Accuracy and cross-sensitivity analysis of the PMS5003 formaldehyde sensor 27

Accuracy and cross-sensitivity analysis of the PMS5003 forma...

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Poznan University of Technology Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznań Poland

ISBN: (纸本)9788362065486

Measurement data produced with the PMS5003 electrochemical sensor, allegedly selective for formaldehyde, were analyzed. The amounts of formaldehyde released from heated standard solutions were measured. At the same time, samples were sorbed into sorption tubes with an XAD-2 cartridge, which enabled chromatographic analysis - gas chromatography coupled with an electron capture detector (GC-ECD). A susceptibility of the PMS5003 sensor to cross-sensitivity associated with the presence of other low-molecular-weight carbonyl compounds, such as acetaldehyde and acetone in the sample, was also tested. The conducted research clearly indicates poor selectivity/accuracy of the PMS5003 sensor in relation to formaldehyde and its sensitivity to the presence of other carbonyl compounds in the sample, with a structure similar to formaldehyde. © 2024 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Acetone

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Electrochemical determination of pollutants from various passenger car engines 27

Electrochemical determination of pollutants from various pas...

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Poznan University of Technology Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznań Poland

ISBN: (纸本)9788362065486

This paper presents measurements of the concentrations of particulate matter (PM1, PM2.5, and PM10), carbon dioxide (CO2), total organic compounds (TVOCs), and formaldehyde as pollutants released during fuel combustion. For this purpose, a suitable measuring device containing selective electrochemical sensors was prepared. The influence of fuel type and engine speed on the amount of pollutants released into the environment, was studied. Based on the achieved results, it can be concluded that the factor influencing the amount of pollutants released is mainly the type of fuel. Gasoline-powered cars can pollute the environment in a particularly negative way. A relationship was also noted between the increase in engine speed and the concentration of released carcinogenic formaldehyde. © 2024 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Electrochemical sensors

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Realtime KLT feature point tracking for high definition video

Realtime KLT feature point tracking for high definition vide...

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1st International Workshop on Computer Graphics, Computer Vision and Mathematics, GraVisMa 2009

作者： Fassold, Hannes Rosner, Jakub Schallauer, Peter Bailer, Werner JOANNEUM RESEARCH Institute of Information Systems Steyrergasse 17 8010 Graz Austria Silesian University of Technology Faculty of Automatic Control and Robotics Ulica Academicka 2 44-100 Gliwice Poland

ISBN: (纸本)9788086943909

automatic detection and tracking of feature points is an important part of many computer vision methods. A widely used method is the KLT tracker proposed by Kanade, Lucas and Tomasi. This paper reports work done on porting the KLT tracker to the GPU, using the CUDA technology by NVIDIA. For the feature point detection, we propose to do all steps of the detection process, except the final one (enforcing a minimum distance between feature points), on the GPU. The feature point tracking is done on a multi-resolution image representation to allow tracking of large motion. Each feature point is calculated in parallel on the GPU. We compare the CUDA implementation with the corresponding OpenCV (using SSE and OpenMP) routines in terms of quality and speed, noticing a significant speedup of up to factor 10. Some additional experiments are done regarding the influence of different parameterization on the runtime. Our GPU implementation achieves realtime (> 25 fps) performance for High Definition (HD) video sequences, successfully tracking several thousands of points. In summary, the GPU implementation achieves a significant speedup compared with an optimized CPU implementation and allows the analysis of high resolution video sequences in realtime.

关键词： Motion estimation

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Optimization Based Clearance of Flight control Laws 1

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丛书名： Lecture Notes in control and Information Sciences

1000年

作者： Andreas Varga Anders Hansson Guilhem Puyou

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Decoupling based Cartesian impedance control of flexible joint robots

Decoupling based Cartesian impedance control of flexible joi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C. Ott A. Albu-Schaffer A. Kugi G. Hirzinger German Aerospace Center (DLR) Institute of Robotics and Mechatronics Germany German Aerospace Center (DLR) Institute of Robotics and Mechatronics Chair of System Theory and Automatic Control Saarland University USA

This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the torque dynamics from the link dynamics. A formal stability analysis of the proposed controller is presented for the general tracking case. Preliminary experimental results are given for a single flexible joint.

关键词： Impedance Robots Torque control automatic control robotics and automation Stability analysis control systems Manipulator dynamics Aerodynamics Symmetric matrices

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Finite Element Method Based Toolchain for Simulation of Proximity Estimation Using Electronic Skin 10th

Finite Element Method Based Toolchain for Simulation of Pr...

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Proceedings of the 10th Machine Intelligence and Digital Interaction Conference, MIDI 2022

作者： Ostaszewska-Liżewska, Anna Klimaszewski, Jan Department of Mechatronics Institute of Metrology and Biomedical Engineering Warsaw Univeristy of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland Department of Mechatronics Institute of Automatic Control and Robotics Warsaw Univeristy of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland

ISBN: (纸本)9783031376481

The emergence of new areas of human-robot cooperation creates the need to ensure human safety in this regard. Therefore, there is a need to develop new sensors to detect the presence of a human in the vicinity of a robot. One such sensor is an electronic skin (e-skin). Manufacturing and testing new e-skin prototypes is labor-intensive. This paper presents a software toolchain developed to simulate the operation of an e-skin used to detect human proximity. The toolchain is based on the finite element method and has been developed exclusively with free and open-source software. The presented toolchain makes it possible to test e-skin modifications without the need for a physical prototype and significantly reduces implementation costs. The developed solution is multi-platform and allows parallel and multi-threaded calculations conducted on multiple machines simultaneously. This paper presents modeling results obtained for a simplified e-skin sensor, which are consistent with experimental results on the actual model. © 2023, The Author(s).

关键词： Finite element method

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Terminal Sliding Modes-Based PLLs for Three-Phase Grid-Connected Inverters 49

Terminal Sliding Modes-Based PLLs for Three-Phase Grid-Conne...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Hosseinabadi, Pooyan Alinaghi Kermadi, Mostefa Pota, Hemanshu Mekhilef, Saad Abadi, Ali Soltani Sharif The School of Engineering and Information Technology The University of New South Wales CanberraACT Australia Kuala Lumpur Malaysia The School of Science Computing and Engineering Technologies Swinburne University of Technology HawthornVIC3122 Australia Institute of Automatic Control and Robotics Warsaw University of Technology Faculty of Mechatronics Warsaw Poland

ISBN: (纸本)9798350331820

This paper proposes and experimentally implements new phase-locked loop algorithms using non-adaptive and adaptive terminal sliding modes for the three-phase grid-connected inverters. The proposed algorithms aim to extract the grid voltage phase and frequency and provide them for the inverter controller. The proposed sliding mode-based PLL algorithms provide faster, more robust, and more accurate detection of the grid voltage information compared to the conventional PI-PLL. This leads to better current controller performance and subsequently, improves the quality of the injected currents into the grid. The finite-time stability notion is incorporated with robust sliding modes to ensure a fast convergence rate. An adaptive law is proposed to determine a proper value for the switching gain which leads to a better overall performance of the PLL compared with a non-adaptive one. The Lyapunov stability theory is used to obtain the stability proofs of the closed-loop systems under both designed sliding modes-based PLLs. The proposed PLL algorithms are validated by simulation and experimental results for the three-phase grid-connected inverter under normal and various abnormal grid conditions. © 2023 IEEE.

关键词： Phase locked loops

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