2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)最新文献_第7页

Recognition of colonial and multicellular microplankton organisms in surface waters using computer vision 利用计算机视觉识别地表水中的群体和多细胞微型浮游生物

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874305

I. Korobiichuk, D. Reut, Volodymyr Drevetskyi

{"title":"Recognition of colonial and multicellular microplankton organisms in surface waters using computer vision","authors":"I. Korobiichuk, D. Reut, Volodymyr Drevetskyi","doi":"10.1109/MMAR55195.2022.9874305","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874305","url":null,"abstract":"When assessing the quality of surface water by biological indicators, there is a problem of measuring the concentration of microplankton by individual classification groups, and this involves the recognition of microorganisms. A method is proposed for increasing the accuracy of an information-measuring system that measures the concentration of microplankton in a running stream. The article considers the problem of accuracy increasing in recognition and counting of colonial and multicellular microplankton organisms in determining the biological indicators of water quality in natural reservoirs using computer vision. In the paper was presented a method has been developed to improve the recognition accuracy of colonial and multicellular organisms of microplankton, which is notable for low computational complexity and allows increasing the accuracy of measuring the concentrations of various groups of microplankton. Experimental results confirmed that the use of the developed modified algorithm allows to increase the accuracy of recognition of colonial algae Pediastrum duplex and multicellular Ulothrix and reduce the number of false-positive recognition of them as several unicellular organisms.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"75 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":"128719595","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

Model parameters variation in constrained discrete time sliding mode control 约束离散时间滑模控制中模型参数的变化

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874337

M. Jaskula, P. Leśniewski

引用次数: 0

A Remark on Cascaded Energy Based Trajectory Tracking Control of a Quadrotor 基于级联能量的四旋翼飞行器轨迹跟踪控制研究

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874313

J. Horn

引用次数: 0

Differential game to evaluate the worst case influence of a varying disturbance on the minimal time solution for a small vehicle movement 微分对策，以评估变化扰动对小型车辆运动的最小时间解的最坏情况影响

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874319

I. Ioslovich, Guy Rotem, P. Gutman, E. Karpas

{"title":"Differential game to evaluate the worst case influence of a varying disturbance on the minimal time solution for a small vehicle movement","authors":"I. Ioslovich, Guy Rotem, P. Gutman, E. Karpas","doi":"10.1109/MMAR55195.2022.9874319","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874319","url":null,"abstract":"The problem of an autonomous agent moving on a planar surface, such as an aerial drone or a small naval vessel can be treated as navigation between a series of points. In addition the robots operating in the real world often have to come up with a sequence of actions, a plan, which will take them from an initial state to the desired goal state. During planning, the robots have to take into account both discrete and continuous changes, as well as temporal constraints. While nominally the movement between each pair of points can be treated as a 1D projection of the movement on the vector connecting the two points, in the presence of disturbances, the full problem on the plane must be considered. The minimum-time optimal solution depends on the value and direction of the disturbance which in this paper is assumed to be a sum of a constant velocity of the medium (wind or current, respectively) and a bounded time-varying part with uncertain but bounded time derivative. We address the minimum time problem of a movement on a 2D plane with quadratic drag, under norm state (inertial vessel velocity), and norm control (acceleration) constraints. The worst case influence of an uncertain disturbance is evaluated by consideration of a differential game with state and control constraints. The structure and properties of the optimal solution were found and analyzed.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"14 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":"125294898","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

Actuator fault detection and isolation system for multirotor unmanned aerial vehicles 多旋翼无人机执行器故障检测与隔离系统

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874283

Radosław Puchalski, Adam Bondyra, Wojciech Giernacki, Youmin Zhang

{"title":"Actuator fault detection and isolation system for multirotor unmanned aerial vehicles","authors":"Radosław Puchalski, Adam Bondyra, Wojciech Giernacki, Youmin Zhang","doi":"10.1109/MMAR55195.2022.9874283","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874283","url":null,"abstract":"This article presents a new actuator fault detection and isolation method for multi rotor unmanned aerials (UAVs). The UAV community raises the need to develop a highly efficient classifier capable of early detection of failures and fully inde-pendent of other systems. This paper presents the entire process of preparing the method discussed and its implementation in the embedded system. The measurements of four accelerometers were digitally processed data, the main element of which was the frequency domain analysis. The feature vectors prepared in this way were used to train the artificial neural network. The network model has been implemented on a microcontroller. The tests were carried out using data collected during actual flight in various configurations of damaged propellers. The overall accuracy of the proposed method was 98.08 % without the presence of false alarms. The total processing time was also tested, demonstrating real-time classification capability onboard the autonomous flying robot. The efficiency results were compared with the random forest method.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"109 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132772539","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: 2

Self-Supervised Task Learning For Robotic Underfloor Insulation 地板隔热机器人的自监督任务学习

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874263

Shubham M. Wagh, Ashley Napier, Maddy Clifford, T. Lipiński, P. Childs

{"title":"Self-Supervised Task Learning For Robotic Underfloor Insulation","authors":"Shubham M. Wagh, Ashley Napier, Maddy Clifford, T. Lipiński, P. Childs","doi":"10.1109/MMAR55195.2022.9874263","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874263","url":null,"abstract":"Effective under-floor insulation (UFI) of residential buildings to reduce their energy consumption and CO2 emissions is a substantive challenge in retrofitting existing homes. Traditional UFI installation techniques require suspended floors to be taken up, damaging and disrupting the living space for several days. To deliver the low-disruption insulation of suspended floors, a robot has been developed for accessing and spraying thermal insulation to the underside of a suspended floor. Q-Bot has been installing UFI with a fleet of robots in a largely teleoperated mode for several years. In this mode, the operator is in complete control of all actions the robot takes, which is a significant cognitive burden. This paper addresses Q-Bot's steps toward automating the UFI installation process, reducing the operator's cognitive load and eventually freeing the operator to perform other tasks. Years of recorded experience are leveraged to train a simplified U-Net model in a self-supervised fashion, enabling robots to decide where to apply the insulation foam next. Results obtained from the on-site collected data show that the weighted symmetric cross-entropy loss function yields better spray-region prediction results than the base loss, Cross-Entropy. Our method can adapt to various operator preferences, generalise to novel building crawl spaces, and improve with more data.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"21 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":"132029396","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 of Predictive Control for Remote Surgery Subject to Time Delay 具有时滞的远程手术预测控制的实现

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874321

Vivian Chai, D. Necsulescu, J. Sasiadek

{"title":"Implementation of Predictive Control for Remote Surgery Subject to Time Delay","authors":"Vivian Chai, D. Necsulescu, J. Sasiadek","doi":"10.1109/MMAR55195.2022.9874321","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874321","url":null,"abstract":"Telerobotics have been successful in furthering the advancement on the medical field, as they provide an option for operating from distance and benefits such as reduced patient recovery time, when compared to standard operating methods. To this day, however, there are still many issues that have yet to be resolved, one of which is the effect of time delay. Due to its nature, time delay cannot be prevented and is present in all teler-obotic applications, with large delays resulting in substandard performance. This paper investigates the application of predictive technology in a surgical setting, in attempts to reduce the effects of time delay. Two simulations with different controller setups, namely the PID and Smith controller pair and the Adaptive MPC, will be used to manipulate the da Vinci Research Kit's Patient Side Manipulator (PSM), and their performances are analyzed and compared. It was found that both predictive controllers are able to successfully follow the designated trajectory, in spite of delays of up to 800ms, with the Smith predictor producing superior results. However, the adaptive MPC is shown to have improving performance as the simulation progresses, showing its ability to readjust to unexpected contact. Thus, experimentation with increased contact, such as penetration, may be considered for future work.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"16 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":"121020801","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

Forecasting models for Polish coal mining accidents 波兰煤矿事故预测模型

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874303

Marta Kraszewska, Nataliia Kashpruk, J. Baranowski, M. Kapusta

引用次数: 2

On a hypergraph structuring semantic information for robots navigating and conducting their task in real-world, indoor environments 在真实世界的室内环境中，机器人导航和执行任务的超图结构语义信息

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874265

J. Sijs, J. Fletcher

引用次数: 1

Elitism Mechanism in the Genetic Optimization of Networked Distribution Systems 网络配送系统遗传优化中的精英主义机制

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874282

L. Wieczorek, P. Ignaciuk

引用次数: 0