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2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)最新文献

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Automatic Parameter Tuning via Reinforcement Learning for Crowd Simulation with Social Distancing 基于强化学习的社会距离人群模拟参数自动调整
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874284
Yiran Zhao, Roland Geraerts
{"title":"Automatic Parameter Tuning via Reinforcement Learning for Crowd Simulation with Social Distancing","authors":"Yiran Zhao, Roland Geraerts","doi":"10.1109/MMAR55195.2022.9874284","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874284","url":null,"abstract":"Reinforcement learning (RL) has been applied to a variety of fields such as gaming and robot navigation. We study the application of RL in crowd simulation by proposing an automatic parameter tuning system based on Proximal Policy Optimization (PPO). The system can be used with any crowd simulation software to improve the quality of the simulation by automatically assigning parameters to each agent during the simulation. Our experiments indicate that the automatic parameter tuning system can reduce unexpected congestions in counterflow scenarios. In addition, by utilizing the improved commonly used crowd simulation algorithms and our parame-ter tunning system, we can represent social distancing behavior of pedestrians under COVID-19, where pedestrians comply to the suggested social distance when they have enough space to move while they reduce their social distances to others when there is limited space.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123565247","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Simulation and Optimization of Industrial Disassembly Paths using Position Based Dynamics 基于位置动力学的工业拆卸路径仿真与优化
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874279
Robert Hegewald, Nicola Wolpert, E. Schömer
{"title":"Simulation and Optimization of Industrial Disassembly Paths using Position Based Dynamics","authors":"Robert Hegewald, Nicola Wolpert, E. Schömer","doi":"10.1109/MMAR55195.2022.9874279","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874279","url":null,"abstract":"The finding of plausible assembly paths of industrial components is a relevant, actual, but not yet fully resolved research topic. For a fast and robust computation of such paths, rigid body sampling-based motion planning is used. To tackle the problem of unavoidable collisions due to overpressure of components or due to flexible fastening elements, the tolerance of minor collisions is necessary. Tolerating minor collisions always means the manipulation of the configuration space or the direct manipulation of objects in the workspace. These actions enable the computation of assembly paths on industrial data, but they affect (explicitly or implicitly) the shape of the objects and thus the physical plausibility of the computed paths. This makes it important to further analyze the assembly paths. In this paper, we propose a postprocessing method for indus-trial assembly paths that is based on Position Based Dynamics (PBD) and is able to simulate and optimize given assembly paths. We use the PBD framework to simulate and measure the object deformation along the assembly path. For the optimization of the path, we compare the deformed object to the original rigid object and we apply small corrections to the path that decrease the overall deformation. We show the effectiveness of our approach on an academic dataset that provides industrial disassembly scenarios.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126632092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Logistics processes optimization in ERP systems ERP系统中的物流流程优化
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874280
K. Grobler-Dębska, Bartlomiej Zak, Mateusz Fijas, M. Kowalski, Małgorzata Kopa, Edyta Kucharska, J. Baranowski
{"title":"Logistics processes optimization in ERP systems","authors":"K. Grobler-Dębska, Bartlomiej Zak, Mateusz Fijas, M. Kowalski, Małgorzata Kopa, Edyta Kucharska, J. Baranowski","doi":"10.1109/MMAR55195.2022.9874280","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874280","url":null,"abstract":"Supply chain planning is a difficult task for organizations and both crucial for their profits and for market pene-tration. Many processes belonging to supply chain planning and management belong to discrete optimisation problems. Although science provides many methods for discrete optimization, business cannot apply them. The main software supporting management in companies are ERP systems. ERP support decision-making at the strategic, tactical and operational level. Most ERP systems, even at the leading edge, do not have complex optimisation al-gorithms implemented to support supply chain decision-making. The paper presents the results of the InfoConsulting research and development project related to design and implementation of a solution that allows modelling and simulation of logistic processes, material area, in a company and the implementation and optimisation of material logistics processes, which will communicate with typical ERP systems using communication of mobile devices.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129586074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Implementation aspects of Q-learning controller for a class of dynamical processes 实现方面的q -学习控制器的一类动态过程
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874270
J. Musial, K. Stebel, Jacek Czeczot
{"title":"Implementation aspects of Q-learning controller for a class of dynamical processes","authors":"J. Musial, K. Stebel, Jacek Czeczot","doi":"10.1109/MMAR55195.2022.9874270","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874270","url":null,"abstract":"This paper presents a new approach to the general-purpose self-improving controller based on Q-learning control strategies. The previous approach was based on a three-dimensional Q-matrix, significantly slowing down the learning process and limiting the ability of practical implementation in industrial practice. The proposed new algorithm solves this problem by reducing the size of the matrix and the number of tuning parameters of the method without sacrificing its accuracy and learning capabilities. The algorithm is validated by simulation on the two second-order dynamics models and the results show significant improvement compared to the previous version of the developed method.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126975259","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design of an ADCS test stand for nanosatellites 纳米卫星ADCS试验台设计
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874310
A. Gallina, Dawid Knapik, K. Kołek, M. Rosół, A. Tutaj, P. Zagórski
{"title":"Design of an ADCS test stand for nanosatellites","authors":"A. Gallina, Dawid Knapik, K. Kołek, M. Rosół, A. Tutaj, P. Zagórski","doi":"10.1109/MMAR55195.2022.9874310","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874310","url":null,"abstract":"ADCS test stands are used for on-the-ground testing of satellite altitude determination and control systems. Their main purpose is to simulate time-vaying conditions similar to those found in outer space on a geocentric orbit. The paper presents the main component of the ADCS test stand – a Helmholtz cage used to simulate the orbital magnetic field. The design and integration of mechanical, electrical, electronic and software components that led to a highly uniform and precisely controlled magnetic field is described here. The validation process, including 3D scanning of the magnetic field, is presented. Remarks on the employed technology, limitations of the proposed solution, some design recommendations, and plans for future work are provided.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123387433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Standard and fractional descriptor linear systems with state and its derivatives feedbacks 具有状态及其导数反馈的标准和分数阶广义线性系统
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874323
T. Kaczorek
{"title":"Standard and fractional descriptor linear systems with state and its derivatives feedbacks","authors":"T. Kaczorek","doi":"10.1109/MMAR55195.2022.9874323","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874323","url":null,"abstract":"The standard and fractional descriptor linear continuous-time systems with state and its derivative feedbacks are considered. Sufficient conditions for the existence of state and its derivative feedbacks are established for which the closed loop system is positive and asymptotically stable for standard and fractional linear systems. Procedures for computation of the feedback matrices are given and illustrated by simple examples.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"45 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120891304","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Mapping an unknown environment with explored area-detection 利用探测区域探测绘制未知环境
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874324
Anna Barbara Ádám, E. Szádeczky-Kardoss
{"title":"Mapping an unknown environment with explored area-detection","authors":"Anna Barbara Ádám, E. Szádeczky-Kardoss","doi":"10.1109/MMAR55195.2022.9874324","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874324","url":null,"abstract":"Mapping and exploring an unknown area is required in many fields of life. There exist rescue robots, which are able to explore dangerous, hard to reach areas. Other robots are used for exploring areas in order to find minerals or oils. This paper presents a method, which uses a lidar sensor for scanning the environment. The presented exploration method is applicable in corridor environments. The exploration path is planned by using an n-direction scanning detection algorithm. During the exploration, those areas are detected, which do not have to be visited again. In each step of the exploration, the currently seen area is approximated with a polygon, whose area is classified into two groups: those points, which do not have to be visited again, and those points, which should be visited again during the exploration. The exploration of example maps is presented.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121628782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A note on a minimum detectable actuator fault of dynamic systems under ellipsoidal bounding 椭球边界下动力系统致动器最小可检出故障的研究
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874307
M. Witczak, M. Pazera, R. Matysiak, C. Aubrun
{"title":"A note on a minimum detectable actuator fault of dynamic systems under ellipsoidal bounding","authors":"M. Witczak, M. Pazera, R. Matysiak, C. Aubrun","doi":"10.1109/MMAR55195.2022.9874307","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874307","url":null,"abstract":"The paper deals with the estimation of actuator faults for dynamic systems along with assessing their uncertainty. In particular, it is assumed that the external disturbances are bounded within an ellipsoidal domain. For the purpose of further deliberations, $mathcal{H}_{infty}$ performance is also imposed. As a result, a set of complementary fault uncertainty intervals is obtained, which are minimised in such a way as to obtain a minimum detectable actuator fault. The final part of the paper show a numerical example concerning fault estimation of a multi-tank system.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131491655","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Implementation and analysis of sparse random search adversarial attack 稀疏随机搜索对抗性攻击的实现与分析
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874333
Piotr Satała, Krystian Radlak
{"title":"Implementation and analysis of sparse random search adversarial attack","authors":"Piotr Satała, Krystian Radlak","doi":"10.1109/MMAR55195.2022.9874333","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874333","url":null,"abstract":"Adversarial attacks have shown that deep neural networks can drastically change their output based on a relatively small input perturbation. One of the most promising adversarial attacks is based on random search (RS). RS algorithm iteratively moves the current solution to the better one in the search space, which is sampled from a hypersphere surrounding the current solution. In the case of adversarial attacks, RS randomly modifies a given number of pixels in an input image to change the network's original prediction. This paper presents the implementation and analysis of the Sparse-RS algorithm for adversarial attacks generation. Furthermore, we study and compare several extensions of the original algorithm to improve its effectiveness. In the performed experiments, (1) we analyze the impact of limiting attack search space to the edges of the image and to the most significant pixels indicated by saliency maps, (2) we evaluate the process of greedily minimizing the number of perturbed pixels in a successful attack, (3) we propose a novel schedule to dynamically adjust how many pixels should be replaced in the next iteration.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115078028","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Frequency weighted model reduction in approximation of nabla difference-based discrete-time fractional-order systems 基于nabla差分的离散分数阶系统的频率加权模型降阶逼近
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874276
R. Stanisławski, Marek Rydel, G. Bialic
{"title":"Frequency weighted model reduction in approximation of nabla difference-based discrete-time fractional-order systems","authors":"R. Stanisławski, Marek Rydel, G. Bialic","doi":"10.1109/MMAR55195.2022.9874276","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874276","url":null,"abstract":"The article presents new results in terms of Frequency Weighted (FW) model reduction method in application to approximate LTI discrete-time non-commensurate fractional-order systems based on the Grunwald-Letnikov nabla fractional-order difference. The method applies the Fourier-based decomposition of the system and the FW model order reduction method. The main advantage of the proposed modeling approach is the specific representation of the fractional-order system enabling a simple, analytical formula for the determination of the Gramians. This significantly improves the computational efficiency of the proposed FW reduction method. The simulation experiments confirm the low computational effort of the introduced processing and its high modeling accuracy","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129401133","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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