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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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MMAR 2022 Author Index mmar2022作者索引
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/mmar55195.2022.9874302
{"title":"MMAR 2022 Author Index","authors":"","doi":"10.1109/mmar55195.2022.9874302","DOIUrl":"https://doi.org/10.1109/mmar55195.2022.9874302","url":null,"abstract":"","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"11 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":"126850751","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
Multi-Sensor Fusion for Navigation of Ground Vehicles 多传感器融合用于地面车辆导航
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874342
J. Sasiadek, Arsalan Ahmed
{"title":"Multi-Sensor Fusion for Navigation of Ground Vehicles","authors":"J. Sasiadek, Arsalan Ahmed","doi":"10.1109/MMAR55195.2022.9874342","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874342","url":null,"abstract":"In this paper, a navigation solution for a ground vehicle is developed by fusing navigation data from Inertial Navigation System (INS), Visual Odometry (VO), and Global Positioning System (GPS) using a Dual Extended Kalman Filter (DEKF) algorithm. The research contributions are divided in two stages. The first stage presents VO navigation system termed as Modified Stereo Visual Odometry (ModSVO) which modifies the pose estimation and pose optimization segments of the traditional stereo vision pipelines to provide an algorithm which is shown to improve accuracy when compared with the tradition Stereo Visual Odometry (SVO) approach. The second stage presents the development of INS/VO/GPS integrated navigation system using DEKF. The developed navigation solution is shown to outperform the INS/VO integrated system in case of VO failure and outperform the INS/GPS integrated system in case of GPS failure. The experimental evaluation is conducted on the well-known KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute) real-world dataset.","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":"130011127","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
Force Controlled Deburring using a Collaborative Robot 使用协作机器人的力控去毛刺
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874311
M. Matour, Christian Thormann, Alexander W. Winkler
{"title":"Force Controlled Deburring using a Collaborative Robot","authors":"M. Matour, Christian Thormann, Alexander W. Winkler","doi":"10.1109/MMAR55195.2022.9874311","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874311","url":null,"abstract":"This paper proposes a novel approach to robotic deburring. Although most of the methods already presented use a spindle as a deburring tool, a new method is investigated in this paper and validated by experimentation. The novelty of this work lies in the use of a simple deburring tool, which is usually used for manual deburring. In addition, the manipulator used is a collaborative robot that operates in hybrid motion force control. The characteristics of such robots gives human the ability to interact with the robot in a safe environment with little effort and safety measures, which was previously not possible for machining manufacturing purposes. Since the force and velocity of the robots play a decisive role in deburring, we have examined the lower and upper limits of these parameters through various experiments. To our knowledge, this is the first scientific work using a cobot and a simple hand deburring tool.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"3 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":"130048408","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
Metaheuristics for scheduling on parallel machines under deteriorating and maintenances 退化和维修并行机器调度的元启发式算法
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874275
Tomasz Marchel, Radosław Rudek
{"title":"Metaheuristics for scheduling on parallel machines under deteriorating and maintenances","authors":"Tomasz Marchel, Radosław Rudek","doi":"10.1109/MMAR55195.2022.9874275","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874275","url":null,"abstract":"In this paper, we consider the parallel machine scheduling problem with the deteriorating effect and mainte-nances to minimize the makespan. The involvement of condition based maintenance activities not only gives a potential to construct better models and more accurate decision support systems for real-life issues, but it also implies difficulties on search space traversal techniques to guarantee feasibility of results and not omitting optimality. Therefore, we propose well known and reliable metaheuristics that proved their efficiency for various combinatorial optimization problems, i.e., simulated annealing and tabu search. However, our implementations are based on a representation that due to multiple redundant solutions gains its significant advantage to cover all feasible schedules, therefore, the related optimization algorithms guarantee that the optimum is not excluded from the search space. The efficiency of our approach is verified on the basis of computational experiments.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"11 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":"131236284","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
MMAR 2022 Table of Contents mmar2022目录
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/mmar55195.2022.9874329
{"title":"MMAR 2022 Table of Contents","authors":"","doi":"10.1109/mmar55195.2022.9874329","DOIUrl":"https://doi.org/10.1109/mmar55195.2022.9874329","url":null,"abstract":"","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"13 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":"115527095","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
Genetic Algorithm for Resource Leveling Problems under Various Objective Functions 多种目标函数下资源均衡问题的遗传算法
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874286
Grzegorz Waligóra
{"title":"Genetic Algorithm for Resource Leveling Problems under Various Objective Functions","authors":"Grzegorz Waligóra","doi":"10.1109/MMAR55195.2022.9874286","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874286","url":null,"abstract":"In this paper some resource leveling problems for project scheduling under resource constraints are considered. In this problem activities of a project are to be scheduled in a way that all precedence and resource constraints are satisfied, and a given objective function describing the fluctuations of resource usage is minimized. Activities are nonpreemptable, and resources are renewable. Several various objective functions for the problem are analyzed. A genetic algorithm is proposed to solve this strongly NP-hard problem. The performance of the algorithm is examined and compared to other simple heuristics on a basis of a computational experiment performed on a set of standard benchmark instances.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"58 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":"116500760","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
Discrete fractional order PID controller in case of the FLHex robot leg position control system 离散分数阶PID控制器在FLHex机器人腿部位置控制系统中的应用
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874316
Piotr Burzynski
{"title":"Discrete fractional order PID controller in case of the FLHex robot leg position control system","authors":"Piotr Burzynski","doi":"10.1109/MMAR55195.2022.9874316","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874316","url":null,"abstract":"Practical implementation of the fractional order PID (FOPID) controller for FLHex robot leg position control system with comparison of selected performance indexes for different controller's coefficients. In the case of systems such as the FLHex mobile robot, where multiple PID controllers are used, more advanced control algorithms such as FOPID controller can improve quality of control and energy consumption, which is extremely important in the case of mobile robots. Presented comparison of FOPID controllers with varied coefficients in case of leg underwater movement for step sequence setpoint shown differences in parameters of averaged step response, integrals of the squared error (ISE) and integrals of energy consumption (IEC).","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"44 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":"122721229","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
Adaptation of Ultra Wide Band positioning system for Adaptive Monte Carlo Localization 超宽带定位系统自适应蒙特卡罗定位
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874314
S. Romaniuk, A. Wolniakowski, Adam Pawlowski, C. Kownacki
{"title":"Adaptation of Ultra Wide Band positioning system for Adaptive Monte Carlo Localization","authors":"S. Romaniuk, A. Wolniakowski, Adam Pawlowski, C. Kownacki","doi":"10.1109/MMAR55195.2022.9874314","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874314","url":null,"abstract":"Self-localization problem of mobile robots is a crucial part of autonomous navigation, especially indoor environments, where the usage of GNSS technology is impossible. There is a lot of studies that focus on this issue, starting from those based on the Monte Carlo Localization (MCL) method, and ending on a variety of SLAM approaches. In majority of them robots explore their operation areas with their sensors and estimate their spatial pose by correlating measurements with known or estimated maps. The UWB (Ultra-Wide Band) technology allows for improvement of these methods since a local positioning system based on it becomes available in indoor environments. This paper proposes an innovative approach to Adaptive Monte Carlo Localization (AMCL) method, which adapts UWB transceivers as a local positioning system. The advantages of applying UWB in AMCL are proved by experimental tests with Automated Guided Vehicle (AGV) in indoor environment. The standard odometry source was substituted by the local positioning system based on UWB transceivers through a modification of original AGV's ROS (robot operating system) setup. Results present that the performance of UWB-AMCL is better than AMCL in most cases. Further advantage of the proposed approach is to enable the standard ROS navigation stack use in cases where no odometry information is available.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"114 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":"122589019","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
Development of a decision model for solving the task scheduling of multiple Sequential Batch Reactors 多顺序批处理反应器任务调度决策模型的建立
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874345
Tomasz Ujazdowski, R. Piotrowski
{"title":"Development of a decision model for solving the task scheduling of multiple Sequential Batch Reactors","authors":"Tomasz Ujazdowski, R. Piotrowski","doi":"10.1109/MMAR55195.2022.9874345","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874345","url":null,"abstract":"This paper considers the problem of scheduling the work cycles of multiple Sequential Batch Reactors. The paper proposes a decision model based on the Flow-Shop Scheduling Problem. Three tank sizes and tasks with variable number of phases were assumed. The application of the model for task scheduling has been tested using an optimisation algorithm. Task scheduling problems belong to NP-hard problems and are often solved by non-deterministic algorithms. The solution of the presented problem was realised by using the differential evolution algorithm for three different objective functions. Assuming both the criterion of minimising the maximum execution time (makespan) and the criterion of even operating time of the Sequential Batch Reactors.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"258 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":"123063350","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
Machine learning methods for anomaly detection in computer networks 计算机网络异常检测的机器学习方法
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874341
J. Gajda, J. Kwiecień, W. Chmiel
{"title":"Machine learning methods for anomaly detection in computer networks","authors":"J. Gajda, J. Kwiecień, W. Chmiel","doi":"10.1109/MMAR55195.2022.9874341","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874341","url":null,"abstract":"With a large increase in the amount of data that are transferred via publicly available computer networks, the global demand for new protection and prevention methods could be observed in recent studies of many research groups. The paper deals with anomaly detection, focusing on cybersecurity applications, as there are only few papers that address this topic. Four methods, such as DBSCAN, One-class SVM, LSTM and Isolation forest were used to solve this problem. During the experimental part, the implementation and experiments were performed to examine the performance on common dataset to assess the ability and further possible applications.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"6 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":"116956261","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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