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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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Extremal Problems for Hyperbolic Systems with Boundary Conditions Involving Time-Varying Delays 具有时变时滞边界条件的双曲型系统的极值问题
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874285
A. Kowalewski
{"title":"Extremal Problems for Hyperbolic Systems with Boundary Conditions Involving Time-Varying Delays","authors":"A. Kowalewski","doi":"10.1109/MMAR55195.2022.9874285","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874285","url":null,"abstract":"Extremal problems for time-varying delay hyperbolic systems are presented. The optimal boundary control problems for hyperbolic systems with the Neumann boundary conditions involving time-varying delays are solved. The time horizon is fixed. Making use of Dubovicki-Milutin scheme, necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance functionals and constrained control are derived.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"38 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":"125310149","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: 1
Loop-Closure Detection with 3D LiDAR Data for Extreme Viewpoint Changes 极端视点变化的3D激光雷达数据闭环检测
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874344
Dimitrios Alexiou, Kosmas Tsiakas, I. Kostavelis, Dimitrios Giakoumis, A. Gasteratos, D. Tzovaras
{"title":"Loop-Closure Detection with 3D LiDAR Data for Extreme Viewpoint Changes","authors":"Dimitrios Alexiou, Kosmas Tsiakas, I. Kostavelis, Dimitrios Giakoumis, A. Gasteratos, D. Tzovaras","doi":"10.1109/MMAR55195.2022.9874344","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874344","url":null,"abstract":"Loop closure detection remains a challenging task for future autonomous robots operating in outdoor scenarios. When compared with RGB cameras, LiDAR sensors appear to be more appropriate for applications that involve significant environmental changes and various illumination conditions, facilitating more robust correlation of sensor measurements and estimation of the robot's global localization. The paper at hand presents a 3D point cloud-based method for loop closure detection that is tolerant to extreme viewpoint changes. Our method utilizes local 3D geometrical descriptors to tackle scenarios where the robot passes from the same place, yet with completely opposite direction, and is capable of understanding the similarity of the revisited area, in complete absence of common visual data in respective RGB images. To achieve this, rotation invariant Fast Point Feature Histograms (FPFHs) calculated over the Unsupervised Stable Interest Point Detection (USIP) keypoints formulate a descriptor matrix, upon which the similarity score for previously re-visited scenes is calculated. Probabilistic voting is applied to extract the top loop closure candidates and a geometric validation step is used for the final matching decision. Our method has been extensively verified on the state-of-art MulRan dataset as well as in a custom-built dataset11Publicly available dataset: https://github.com/dalexiou48/cav_pr_dataset acquired from an autonomous vehicle, that focuses on opposite traversing routes using a low-resolution LiDAR sensor.","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":"121652409","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
Control system for an innovative electrostatic enameling process of water tanks' interiors 水箱内部创新静电搪瓷工艺控制系统
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874327
M. Jurkiewicz, Robert Janicki, W. Hunek, K. Bartecki, P. Majewski
{"title":"Control system for an innovative electrostatic enameling process of water tanks' interiors","authors":"M. Jurkiewicz, Robert Janicki, W. Hunek, K. Bartecki, P. Majewski","doi":"10.1109/MMAR55195.2022.9874327","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874327","url":null,"abstract":"In this paper, a PLC-oriented control system dedicated to the real-life technological line of the enameling process is presented. Following the recently built industrial device employing the electrostatic method, the complex control layer is proposed and its advantages are deeply discussed. In addition, the entire safety mechanism is suggested in order to maintain a set of correct operations. The next step of the advanced studies will be focused on the different practical tests finally leading to the process and product innovation observed in the Elektromet Company.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"8 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":"114932034","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
Extended State Observer Based Parameter Identification of the Hovercraft System 基于扩展状态观测器的气垫船系统参数辨识
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874346
Radosław Patelski, D. Pazderski
{"title":"Extended State Observer Based Parameter Identification of the Hovercraft System","authors":"Radosław Patelski, D. Pazderski","doi":"10.1109/MMAR55195.2022.9874346","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874346","url":null,"abstract":"In this paper, a problem of online identification of the dynamic parameters of the hovercraft system is considered. A novel approach is presented, which employs an extended state observer and takes advantage of the total disturbance estimate as a basis of gradient identification method. This enables simultaneous estimation of both the state of the plant and the values of the system parameters. Although the identification algorithm is synthesized under the assumption that the velocities of the vehicle are measurable, the experimental results show that these can also be estimated and only availability of the positional measurements are required in practical scenarios. The results of simulations and experiments are presented as a proof-of-concept of the extended state observer based identification.","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":"124080321","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
Path Planning for Automobile Urban Parking Through Curve Parametrization and Genetic Algorithm Optimization 基于曲线参数化和遗传算法优化的汽车城市停车路径规划
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874289
Renan Vieira, T. Revoredo
{"title":"Path Planning for Automobile Urban Parking Through Curve Parametrization and Genetic Algorithm Optimization","authors":"Renan Vieira, T. Revoredo","doi":"10.1109/MMAR55195.2022.9874289","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874289","url":null,"abstract":"Parking a car is a difficult task and may be frustrating and stressful for the driver, while commonly causes a traffic jam. One way to mitigate such negative effects is to provide vehicles with self-driving capabilities. As a cornerstone of an automobile ability to move autonomously stands path planning, which despite many works in the literature, is still considered an open problem, especially with regard to nonholonomic vehicles. Based on this scenario, this work presents a path planning algorithm to parallel park an automobile based on polynomial parametrization and genetic algorithm optimization. The aim is to define a law of motion to lead the vehicle from an initial pose near a parking space to a final pose within the latter smoothly, with no interruption and avoiding any obstacles in the way. Simulation results in 3D physics simulation environment are presented to validate the feasibility of the proposed algorithm, which lay the foundation to broader studies.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"21 4 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":"134129388","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: 1
Recognizing Commutator Motors Fault from Acoustics Signals Using Bayesian Functional Data Depth 基于贝叶斯函数数据深度的声学信号换向器电机故障识别
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874262
W. Bauer, A. Dudek, J. Baranowski
{"title":"Recognizing Commutator Motors Fault from Acoustics Signals Using Bayesian Functional Data Depth","authors":"W. Bauer, A. Dudek, J. Baranowski","doi":"10.1109/MMAR55195.2022.9874262","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874262","url":null,"abstract":"Monitoring and diagnostics of commutator motors are very important in order to ensure their reliability. They are often used in domestic and industrial devices. Algorithms for fault detection and isolation allow for the extension of system life, the reduction of system interruption, and can lead to significant savings. In this paper we discuss how Bayesian functional data depth can be used to detect faults.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"42 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":"132114054","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
Bouncing Robots in Rectilinear Polygons 直线多边形中的弹跳机器人
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874340
Onur Çağırıcı, Yeganeh Bahoo, S. LaValle
{"title":"Bouncing Robots in Rectilinear Polygons","authors":"Onur Çağırıcı, Yeganeh Bahoo, S. LaValle","doi":"10.1109/MMAR55195.2022.9874340","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874340","url":null,"abstract":"In this paper, we describe a bouncing strategy (smart strategy) for a mobile robot that uses one bit of memory for feedback, and guarantees that the robot will traverse all the rooms (and doorways) of a 2D environment. The environment is modeled as a rectilinear polygon (also called orthogonal polygon), and the rooms and the doorways are defined by the decomposition algorithm we describe. Such a decomposition helps the robot to not go back to a room after leaving. We also define the notion of “virtual doors” that have the ability to let the robot through, or make the robot bounce from them. We compared three different types of bouncing rules: smart, random, billiard. The smart strategy grantees to reach to target. Although the random strategy on average behaves the same as the smart strategy, there are rectilinear polygons in which the robot cannot reach the target in the expected time steps. On the other hand, the billiard bouncing strategy can cause the robot to become trapped.","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":"121999381","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: 1
Method of evaluation of effectiveness of the radio communication system in conditions of non-deterministic environment 非确定性环境下无线电通信系统效能评估方法
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874339
I. Korobiichuk, Yurii Zhuravskyi, Serhii Dupelich
{"title":"Method of evaluation of effectiveness of the radio communication system in conditions of non-deterministic environment","authors":"I. Korobiichuk, Yurii Zhuravskyi, Serhii Dupelich","doi":"10.1109/MMAR55195.2022.9874339","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874339","url":null,"abstract":"The article proposes a method for evaluating the effectiveness of the radio communication system in conditions of a non-deterministic environment and gives an example of its application. The developed method allows to evaluate the efficiency of the radio communication system depending on its composition, the coordinates of the location of mobile and stationary means, the structural distribution of radio communication means by communication center for different environmental conditions.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"33 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":"121120620","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: 1
Integration of Data Analytics in Operation of Enterprise Resource Planning Systems 数据分析在企业资源规划系统运行中的集成
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874332
Rafal Mularczyk, Edyta Kucharska, K. Grobler-Dębska, J. Baranowski
{"title":"Integration of Data Analytics in Operation of Enterprise Resource Planning Systems","authors":"Rafal Mularczyk, Edyta Kucharska, K. Grobler-Dębska, J. Baranowski","doi":"10.1109/MMAR55195.2022.9874332","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874332","url":null,"abstract":"Proper control of the company's processes and making the right business decisions nowadays play a huge role in its competitiveness on the market. IT tools that enable analysis of data collected in ERP systems are supportive in this respect. ERP systems may have built-in elements facilitating data analysis, ranging from simple reports to solutions using data warehouses. These solutions provide only static dashboards, which significantly limits the possibilities of analysis. In this paper we present the use of external systems that enable people without programming skills to perform dynamic analyses and the use of machine learning, artificial intelligence and natural language processing methods. We present case study the practical application of data analysis in ERP systems (IFS Application) using Power BI.","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":"129707870","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
On Handling Discontinuities in Adjoint-based Optimal Control of Multibody Systems 多体系统伴随最优控制中的不连续处理
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874268
Maciej Pikuliński, P. Malczyk
{"title":"On Handling Discontinuities in Adjoint-based Optimal Control of Multibody Systems","authors":"Maciej Pikuliński, P. Malczyk","doi":"10.1109/MMAR55195.2022.9874268","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874268","url":null,"abstract":"This paper presents the treatment of artificial discontinuities in a Hamiltonian-based optimal control of holonomically-constrained multibody systems. Discontinuities considered here are defined as artificial. As opposed to, e.g., impacts or unilateral constraints, they do not originate from physical phenomena, but they are the result of a particular action took against possible numerical issues instead. This action transforms the system into a hybrid one in which discrete events have to be considered. In the proposed approach, a general optimal control problem is formulated by approximating the optimal solutions with Chebyshev polynomials of the first kind in order to bound the number of design variables. The optimal control problem is solved by employing an efficient adjoint-based technique. A derivation of jump conditions for both state and adjoint variables are shown. An example showcasing the implementation of the proposed method is included as well. This work presents an intermediate step in deriving a framework, which would directly operate on time functions instead of time-independent parameters.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"45 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":"128562944","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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