Automation 2024

1.
Review: Biodegradable Force Sensors
Vytautas Bucinskas
Vilnius Gediminas Technical University
vytautas.bucinskas@vgtu.lt
Abstract: The area of the sensors is highly developed, but new challenges of ecology, pressure on unit price and their installation technique became very important. This paper makes an attempt to overview and provide classification of biodegradable sensors in respect to their materials. Review covers sensor manufacturing basics, materials related to flexible pressure sensors and optical sensors. Flexible sensors use different sensing methods – they can be piezoresistive, fiber-based multi-contact or material dimension – based resistance change. Flexible sensors are produced using various physical forms – films, foams, and gelees. Materials for sensors separated into biologic origin materials, artificial materials and synthetic materials. This review contains results of recent research and finally outlines statistics of research number for this area. Finally, conclusions and generalizations are made.

2.
Cascade-like Feedback Control System for Automated Articulated Vehicles
Maciej Marcin Michałek
Poznan University of Technology
maciej.michalek@put.poznan.pl
Abstract: Current development trends in the freight and public transportation lead to the so-called High Capacity Vehicles, which in most practical applications become articulated structures. Maneuvering with multi-articulated vehicles is especially difficult, burdening, and can be even dangerous, also for experienced human-drivers. As a consequence, proposing (semi-)automated control solutions for this kind of vehicles seems justified by the practical needs. During the lecture, we will address a feedback control design problem for articulated vehicles by introducing a cascade-like modular and highly scalable control system, which enables agile (semi-)automated maneuvering with vehicles comprising an arbitrarily number of segments. It will be shown how the cascade-like control system can be adapted and applied as a supporting advanced assistance tool for drivers of electric buses in a public transportation domain. The lecture will be illustrated by selected numerical, simulation, and experimental results.

3.
Modelling of dynamic systems using fractional order calculus
Andrzej Dzieliński
Warsaw University of Technology
andrzej.dzielinski@pw.edu.pl
Abstract: In this talk selected aspects of modelling of dynamic systems are presented. The main modelling tool used is fractional order calculus. Starting with the introduction to the calculus, then proceeding with some special properties of fractional-order models the talk is concluded with several examples of modelling of selected dynamic systems.

4.
Optimizing ambulance routing for timely delivery and pick-up of nursing teams visiting patients undergoing home therapy
¹Eryk Szwarc, ²Robert Wojcik, ¹Grzegorz Bocewicz, ¹Zbigniew Banaszak
¹Koszalin University of Technology, ²Wrocław University of Science and Technology
eryk.szwarc@tu.koszalin.pl, robert.wojcik@pwr.edu.pl, grzegorz.bocewicz@tu.koszalin.pl, zbigniew.banaszak@tu.koszalin.pl
Abstract: This paper proposes a comprehensive approach to optimize ambulance scheduling, considering various factors such as patient needs, nursing team availability, route optimization, and real-time tracking. The goal is to enhance efficiency, re-duce delays, and prioritize urgent cases, ultimately improving the overall quality of home healthcare services by routing a fleet of ambulances responsible for de-livering and receiving nursing teams without the constraint of requiring the same vehicle for both operations. Focusing on proactive/reactive routing strategies, the proposed declarative modeling-based framework aims to optimize resource utili-zation while contributing to the overall success of home therapy programs. Through a case study and results of conducted computer experiments, we demonstrate the effectiveness of the developed reference model in ensuring efficiency and adaptability in scenarios where vehicle consistency is not a strict requirement.

5.
Automatyzacja technologii formowania i dystrybucji opakowań kartonowych
Justyna Szylman
Zakłady Mięsne Skiba S.A.
j.szylman@zmskiba.pl
Abstract: Celem realizacji projektu pod tytułem Automatyzacja technologii formowania i dystrybucji opakowań kartonowych jako odpowiedź na potrzeby w zakresie efektywności realizacji procesów logistycznych w skali krajowej i europejskiej, zrealizowanego przez Zakłady Mięsne Skiba S. A., było opracowanie innowacji procesowej w postaci technologii formowania i dystrybucji opakowań kartonowych klapowych i skrzyniowych, wykorzystywanych do transportu wyrobów gotowych Spółki. Potrzeba realizacji projektu była związana bezpośrednio z potrzebami rynkowymi oraz ograniczeniami w rozwoju samej spółki. Z racji braku automatyzacji produkcji opakowań klapowych i niewystarczająco wydajnego procesu formowania opakowań skrzynkowych niemożliwe było obniżenie jednostkowego kosztu ich produkcji, a także produkowanie ich z wydajnością niezbędną dla zaspokojenia potrzeb zakładu. Dzięki automatyzacji technologii formowania i dystrybucji opakowań kartonowych osiągnięte zostały rezultaty w postaci: zmniejszenie materiałochłonności procesu formowania opakowań kartonowych, zmniejszenie czasochłonności procesu, zmniejszenie pracochłonności procesu formowania kartonów, zapewnienie wytrzymałości opakowań kartonowych, zwiększenie wydajności i elastyczności produkcji w obliczu rosnącego zapotrzebowania na opakowania. Realizacja Projektu umożliwiła uzyskanie wysokokonkurencyjnego procesu stanowiącego innowację w skali krajowej cechującego się wysokim poziomem automatyzacji i zwiększoną elastycznością. Powyższe efekty zostały osiągnięte dzięki zaplanowanym pracom projektowym obejmującym prace rozwojowe w oparciu o zasoby kadrowe i techniczne oraz know-how badawczo-produkcyjny Spółki. Wdrożenie rezultatów odbyło się poprzez wprowadzenie wyników prac projektowych do własnej działalności Spółki. Spółka zabezpieczyła prawa własności intelektualnej a opracowana innowacja procesowa przyczyniła się do rozwoju strategii ZM Skiba skupiającej się m.in. na zwiększeniu kosztowej marży bezpieczeństwa w przypadku wahań cen na rynku krajowym i międzynarodowym.

6.
Using enterprise architecture assumptions for analysis and optimization of production control
Zbigniew Juzoń, Jarosław Wikarek, Paweł Sitek
Kielce University of Technology
zjuzon@tu.kielce.pl, j.wikarek@tu.kielce.pl, sitek@tu.kielce.pl
Abstract: The classic approach to production control optimization usually comes down to building optimization and decision-making models based on data obtained directly from the production system with the so-called “technological layer”. Most often, economic factors that occur mainly at the level of the so-called “business layer”, which have a significant impact on the processes operating in the company, including the production process itself. In the process of building detailed production optimization models, it is necessary to take into account various uncertain factors also occurring at the “business layer” level, i.e. prices of services, prices of raw materials, which may affect the directional decision in the production process, i.e. whether to complete all orders in-house production system? Will it be cheaper to outsource some products/components? Proposing a different approach to the optimization of the production process than before, based on data from both the technological and business layers of the process, may facilitate: identification of areas intended for optimization/automation of production processes (identify problems), construction of detailed mathematical models for optimization purposes/automation of production processes and adjustment of the flow of information between individual layers (technological/business) operating at the level of a production and service enterprise. The article also presents a detailed production optimization model and its implementation for the actual rolling bearing production process.

7.
Remote control of an arm robot using VR in the field of Industry 4.0
Mateusz Salach, Arkadiusz Stęchły, Andrzej Paszkiewicz, Patryk Organiściak, Grzegorz Budzik
Rzeszow University of Technology
m.salach@prz.edu.pl, arkadiusz.stechly@kneiti.prz.edu.pl, andrzejp@prz.edu.pl, org@prz.edu.pl, gbudzik@prz.edu.pl
Abstract: Industry 4.0 is undergoing continuous evolution. Management and monitoring systems implemented in the industrial infrastructure are able to collect and process more and more data, then, based on dedicated algorithms, make decisions, and consequently send specific control commands to devices and technological processes. At the same time, there is growing interest in combining devices with other seemingly disparate technologies. An example of creat-ing such coexistence is the integration of sensory solutions with virtual reality. Such activities contribute to the creation of digital twins of devices and processes, which in turn enables remote and in many cases automatic control of physical objects and the course of real processes. In the course of this research, such an approach has been used to develop a solution that allows a robot to be controlled from anywhere and at any time. This work presents a prototype of a solution providing remote control of a Cobot arm robot

8.
Using the digital-twin technology in the Mi-17 mixed reality simulator
Piotr Golański, Marek Szczekala
Air Force Institute of Technology
piotr.golanski@itwl.pl, marek.szczekala@itwl.pl
Abstract: The article is aimed at the issue of combining the real world with the virtual world in Mixed Reality (MR) simulators. Mixed reality allows for integrating the real world with the virtual world – real objects with computer-generated objects. A person interacting with such a system receives both visual and tactile sensations. To ensure proper interaction with system elements, high reconstruction accuracy of virtual objects in relation to the corresponding real objects is necessary. The article presents the concept of combining the real and virtual world using a combi-nation of VR and digital-twin technology and aims to illustrate how to ensure high accuracy of mapping virtual objects in relation to their real originals on the example of the Mi-17 helicopter simulator made using MR technology.

9.
Fast discrete-time PID controller for current servo
Andrzej Bożek
Rzeszow University of Technology
abozek@kia.prz.edu.pl
Abstract: A tuning method for a discrete-time PID controller in a current sevro system was developed. The object is modelled by a double integrator. The method allows to obtain arbitrarily fast dynamics of the system, up to dead-beat control. Its use requires a four-parameter variant of the controller with a filtered derivative block. Analytical formulas were derived allowing the calculation of the controller settings based on simple basic design parameters: object gain, controller cycle time and settling time. The tuning method was verified by simulation and the relationship between the response dynamics and the sensitivity to deviation of the object gain from its design value was analyzed. In an experiment with a real object, the correct operation of the control system was confirmed for the settling time 5 and 10 times longer than the controller cycle time. The settings proposed in previous work allowed to obtain a settling time at least 25 times longer than the cycle time.

10.
Numerical Analysis of the Discrete, Fractional Order PID Controller using FOBD Approximation
Krzysztof Oprzędkiewicz
AGH University of Science and Technology
kop@agh.edu.pl
Abstract: This paper proposes a methodology of the numerical testing of the discrete, approximated Fractional Order PID Controller(FOPID). The fractional parts of the controller are approximated using the Fractional Order Backward Dierence (FOBD) operator. The goal of the analysis is to nd the memory length optimum from point of view both accuracy and duration of computations. To do it new cost functions describing both accuracy and numerical complexity were proposed and applied. Results of tests indicate that the optimum memory length lies between 200 and 400. The proposed approach can be also useful to examine of another discrete implementations of a fractional order operator using FOBD.

11.
Extremal Problems for Hyperbolic Systems with Boundary Conditions Involving Integral Time Lags
Adam Kowalewski
AGH University of Science and Technology
ako@agh.edu.pl
Abstract: Extremal problems for integral time lag hyperbolic systems are presented. The optimal boundary control problems for hyperbolic systems in which integral time lags appear in the Neumann boundary conditions are solved. Such systems constitute, in a linear approximation, a~universal mathematical model for many processes in which transmission signals at a certain distance with electric, hydraulic and other long lines take place. The time horizon is fixed. Making use of Dubovicki-Milyutin scheme, necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance functionals and constrained control are derived.

12.
Applicability of Fractional-Order PID Controllers for Twin Rotor Aerodynamic System Objects
Faisal Saleem, Józef Wiora
Silesian University of Technology
faisal.saleem@polsl.pl, jozef.wiora@polsl.pl
Abstract: The availability of two additional tunable parameters compared with Proportional Integral Derivative (PID) controllers makes it possible to incorporate fractional-order (FO) integral/derivative actions. The selection of the optimization algorithm and objective function is important for tuning the fractional-order PID controller. This paper presents the formulation of the FOPID controller design as an optimization problem and its solution using four built-in algorithms in MATLAB. Each algorithm solves the optimization by minimizing two cost functions resulting eight sets of controller parameters. To overcome the sensitivity of algorithms to the initial and boundary values of the parameters, we considered nine different initial and boundary conditions. The proposed method considers the minimum of the optimal values obtained in each case. This provides globally-optimal FOPID controllers. To validate its efficiency, the proposed method uses a Twin Rotor Aerodynamic System (TRAS) as an example. Comparison with a nonlinear approach shows that the proposed approach ensures tracking with minimal and smooth control efforts.

13.
Parametric identification of nonlinear and linear mathematical models of the BLDC motor
Łukasz Zawarczyński
Kielce University of Technology
l.zawarczynski@tu.kielce.pl
Abstract: The article presents the results of an analysis of the parametric identification process of typical mathematical models of a brushless DC motor with an electronic commutator (BLDC) in off-line conditions. The aim of the analysis was to examine the impact of changes in engine load and power supply conditions on the obtained parameter values of mathematical models. The experiments used a nonlinear and linear mathematical model of the BLDC motor drive system in the form of a system of differential equations of individual phases of the BLDC motor electric circuit and a differential equation of the input variable in the form of supply voltage and the output variable in the form of angular velocity, respectively. The identified parameters of the mathematical models were determined on the basis of electrical and mechanical measurements of the engine’s output values when excited with various stator voltage values (in relative units). The Nelder-Mead numerical static optimization method was used to identify the nonlinear and linear mathematical model of the engine. The identified model parameters were determined for various operating conditions of the drive system with an inertial mass load and a hydraulic pump operating in a power drive system with a proportional valve. The engine load torque in the hydraulic system was obtained by using the throttling method by changing the pressure and flow parameters of the working medium. The influence of supply voltage and load torque on the static and dynamic properties of the engine was also analyzed. The assessment of the convergence of the time responses of the drive system recorded in experiments and obtained from the solution of mathematical models was carried out on the basis of the correlation function. Laboratory tests were carried out in a drive system with motor BLDC of power 2.5 kW operating in a drive system with a piston pump.

14.
New sliding hyperplane for achieving bounded output performance in DSMC
Paweł Latosiński
Lodz University of Technology
pawel.latosinski@p.lodz.pl
Abstract: Sliding mode control strategies for discrete-time systems offer many advantages, such as high computational efficiency and a high degree of robustness with respect to disturbance. However, such strategies are typically only concerned with guiding the evolution of a virtual sliding variable, rather than the real output of the controlled plant. As a result, imposing practical bounds on the motion of the system may be challenging in sliding mode control. In response to this problem, we have introduced a new sliding hyperplane for discrete-time systems, with the aim of establishing a direct proportional relationship between the virtual sliding variable and the actual system output. As a result, when the sliding variable becomes strictly bounded during the control process, system output will become explicitly limited as well.

15.
Sliding Mode Inventory Control with a Pregenerated Reference Trajectory Profile
Katarzyna Adamiak, Tymoteusz Zwierzchowski
Łódź University of Technology
katarzyna.adamiak@p.lodz.pl, tymoteusz.zwierzchowski@p.lodz.pl
Abstract: This study tackles the problem of discrete time sliding mode control design for inventory management systems and proposes a new concept of demand structure and control. The paper considers a single product multi supplier inventory system. It is assumed that the demand divides into two sections: the unknown but bounded random demand and an a priori known contractual component. Therefore, it is proposed to firstly take into account the contractual demand only and generate the desired trajectory profile. In other words, the strategy aims to shape the chain of supplies according to the a priori known demand term. Next, the obtained trajectory profile is applied as a reference in the sliding mode control scheme, where an additional compensation of the random sales is introduced. This concept guarantees satisfaction of both contractual and random demand within their bound at any time instant. Moreover, the proposed strategy greatly simplifies the control design process.

16.
Navigation support system for rotating missiles
Dawid Florczak, Dariusz Miedziński, Robert Głębocki
Warsaw University of Technology
01105138@pw.edu.pl, dariusz.miedzinski2.dokt@pw.edu.pl, robert.glebocki@pw.edu.pl
Abstract: The key problem in the navigation of rotating missiles based on inertial navigation using MEMS sensors is the problem of precisely calculating the rotational speed. Limitations in the accuracy of rotational speed measurement are the main cause of errors in inertial navigation. This problem constitutes a significant barrier to the improvement and control of traditional, unguided rotating missile designs. As a potential solution, an innovative system supporting rotational speed calculation is proposed, which would measure changes in the missiles surroundings. The work presents the issue of developing a system supporting the precise calculation of the rotational speed of a rotating missile. A dedicated research stand is presented along with the results of preliminary laboratory tests, which indicate the possibility of obtaining data on the missiles inclination angle by analyzing the light intensity in its surroundings.

17.
Tuning the Heading Controller for the Ship’s Autopilot
Zbigniew Świder
Rzeszow University of Technology
swiderzb@prz-rzeszow.pl
Abstract: Selected methods of PID settings for the heading controller in the ship’s autopilot are presented. The consistency of the design is possible due to the fact that the Nomoto model was used for the ship and thanks to the elimination of the time constant of the object by the controller, so that the closed system becomes a 2nd order system. In two cases, it was additionally assumed that the system is to have a double time constant, differing in a given ratio r from the time constant of the object. It has been shown that the heading controller designed in this way provides critical aperiodic waveforms at a step change in the setpoint value and suppresses environmental disturbances better than standardly tuned controllers.

18.
Model and implementation of a dual-core programmable controller based on a virtual machine
Marcin Hubacz, Jan Sadolewski, Bartosz Trybus
Rzeszow University of Technology
m.hubacz@prz.edu.pl, jsad@prz.edu.pl, btrybus@kia.prz.edu.pl
Abstract: The concept, semantic model, and prototype implementation of a dual-core programmable controller have been presented. The controller’s design concept involves parallel processing of two execution programs through a virtual machine, utilizing a shared memory area for global variables. The presented model provides a formal description of the execution of portable binary programs created based on the languages of the IEC 61131-3 standard in the CPDev programming environment. The architecture described outlines the operation of the virtual machine using abstract algebraic objects. The solution has been implemented in C/C++ on a dual-core microcontroller platform.

19.
Laundry control system using textronics and cloud computing
Marcin Hubacz, Mateusz Salach, Bartosz Trybus, Bartosz Pawłowicz
Rzeszow University of Technology
m.hubacz@prz.edu.pl, m.salach@prz.edu.pl, btrybus@kia.prz.edu.pl, barpaw@prz.edu.pl
Abstract: Electronic devices in the 21st century come equipped with nu-merous network components, including modules for wireless or wired internet access. Connecting devices to networks and cloud services enables them to access new functionalities, unlock system updates, and benefit from security enhancements. This article presents the concept of an intelligent laundry management system based on RFID and cloud computing. Connecting to the internet not only unlocks additional features of the washing machine, such as various washing modes but also allows for selecting the appropriate detergent level and washing parameters based on the textile type. Additionally, the article presents a solution and measurement studies regarding the accuracy of textile identification.

20.
A system for testing and verifying prototypes of models for vehicle traffic control
Marcin Hubacz, Andrzej Paszkiewicz, Bartosz Pawłowicz, Mateusz Salach, Bartosz Trybus, Konrad Żak
Rzeszow University of Technology
m.hubacz@prz.edu.pl, andrzejp@prz.edu.pl, barpaw@prz.edu.pl, m.salach@prz.edu.pl, btrybus@kia.prz.edu.pl, 160818@stud.prz.edu.pl
Abstract: The paper presents an overview of a prototype model for testing various concepts and scenarios related to monitoring and managing traffic in urban and industrial environments using RFID and the Internet of Things (IoT) concepts. The challenges posed by identification of moving objects and the need for efficient communication protocols in multi-access environments are indicated. The use of Automatic vehicle identification (AVI) for access control and real-time traffic management is also explored, emphasizing the benefits of RFID technology in creating fully automated access management systems. The presented distributed testing system allows for validating prototypes and algorithms related to processes and structures for traffic management. The model considers the use of cloud solutions, in particular the Azure IoT Hub to collect and control vehicle traffic data. The flexibility of the proposed architecture allows for testing different hardware and software configurations in various usage scenarios, leading to faster development and deployment.

21.
Optimization of Mixed Reading of Binary and Register Variables in Modbus Protocol from PLC Implementing CPDev
Dariusz Rzońca, Andrzej Bożek
Rzeszow University of Technology
drzonca@kia.prz.edu.pl, abozek@kia.prz.edu.pl
Abstract: Efficient communication is crucial for the proper operation of distributed automation systems. The article focuses on one of the aspects of such communication, related to the mixed reading of binary and register variables from the PLC controller in the Modbus RTU protocol. The research assumed a memory architecture with common addressing of variables of different types, allowing reading binary variables not only using dedicated bit functions (such as FC1), but also Modbus register functions (such as FC3). Such an architecture occurs, e.g., in controllers implementing the CPDev engineering environment. The article proposes a method of appropriate grouping of variables, leading to a reduction of the total communication cycle time. An optimization model has been implemented to automatically find the optimal grouping. Experiments were carried out and the obtained results were discussed. The results of the conducted research will be used in the development of the CPDev engineering environment.

22.
Using Node-Red to visualize dairy production data via Modbus
¹Samoilenko Yuliia, ¹Smitiukh Yaroslav, ²Kostiuk Yuliia, ²Stepashkina Kateryna, ²Hnatchenko Dmytro, ²Yaremych Valentyn
¹National University of Food Technologies, ²State University of Trade and Economics
juliyasamoil@gmail.com, smityuh1@gmail.com, kostyuk.yu@ukr.net, k.stepashkina@knute.edu, hnatchenko@knute.edu.ua, valentyn.yaremych@outlook.com
Abstract: The dairy industry is under consideration, namely the possibility of collecting data from sensors of the technological process of whipping cream into butter to assess the quality of the finished product. In today’s conditions of general digitalization and the Industry 4.0 strategy, the industrial sector is gradually integrating industrial IoT trends that combine automation, big data, IoT, Cloud. In this work, we will try to make it clear how easy it is to store, analyze and visualize data from certain industrial systems with the help of innovative IT developments using the advantages of the Node-RED interface. At industrial plants, the set of data on technological parameters is available only to the equipment operator through the HMI. The integration of Node-RED with the cloud application Google Sheet (spreadsheet) is shown for storing data in the cloud, analyzing and visualizing data of technological parameters. Node-RED, along with the Modbus and Dashboard modules, can easily create a web dashboard that can be shared via a web link and viewed in any web browser on the network.

23.
Failure modeling of industrial electric motors using unsupervised learning methods
¹Nata Lutska, ²Nataliia Zaiets, ³Vlasenko Lidiia
¹NUFT, ²National University of Life and Environmental Sciences of Ukraine, ³KNUTE
lutskanm2017@gmail.com, z-n@ukr.net, vlasenko.lidia1@gmail.com
Abstract: The task of detecting breakdowns helps to improve the reliability of industrial devices through early identification of problems and their timely resolution, which helps to improve the resource and energy efficiency of production as a whole. When modeling breakdowns of industrial electric motors, the following characteristics are primarily taken into account: average load, rotational frequency, power supply voltage, current consumption, leakage current, collected from data from a traditional automated control system and breakdown logs of repair teams of an industrial enterprise. The model for detecting reliability and breakdowns of electric motors in the work is built on an anomaly detection algorithm using unsupervised machine learning methods. Its effectiveness has been successfully tested using many evaluation metrics. It can be used for a range of tasks and applications in equipment management and maintenance, visualization, forecasting and management decision support.

24.
Diagnosis of Communication Between the Elements of a Distributed Control System – Part 2
Marcin Bednarek
Rzeszow University of Technology
bednarek@prz.edu.pl
Abstract: The article describes selected fragments of the process diagnosing communication between process stations of a mini-DCS based on an AC800F modular industrial controller. Conducted experiments provided information on the transmission method and location of process variable values in transferred messages. The information can be used to communicate the system’s stations with a gateway to expand communication capabilities in the future.

25.
Automatic functional tests of cash registers
¹Agnieszka Hys, ²Pawel Drapikowski
¹Central Office of Measures, ²Poznan University of Technology
agnieszka.hys@doctorate.put.poznan.pl, pawel.drapikowski@put.poznan.pl
Abstract: The paper presents formal requirements and a prototype of a stand for automatic functional tests of cash registers. The authors are unaware of any au-tomatic cash register test stands offered on the market and operating. An OCR system was used to detect digits and inscriptions on keys, and their spa-tial coordinates are determined using stereo vision. Deep neural networks were used to detect pictograms from outside the OCR database. Due to the different size of the cash registers, the stereo vision system must be reconfigured in terms of the height of the cameras and their base. Fast stereo calibration based on only a pair of images was used, which provides sufficient measurement properties. The calculated key coordinates are sent to an industrial robot equipped with a flexible pointer adapted to pressing the keys. The key sequence enabling individual tests is entered by the operator based on the cash register documentation. The advantage of the proposed stand is its versatility, which allows for testing of cash registers of different manufacturer and other devices with similar functionality. The stand is intended for implementation at Central Office of Measures.

26.
Expert use of advanced artificial neural network algorithms in non-linear identification, modeling and control of the cement grinding processes – preliminary research
Dawid Pawuś, Szczepan Paszkiel
Opole University of Technology
dawid.pawus@student.po.edu.pl, s.paszkiel@po.edu.pl
Abstract: The work carried out preliminary research on the identification and control of the multidimensional, non-linear and non-stationary cement grinding process using non-linear models based on artificial neural networks. It was decided to reliably model the grinding system. The author proposes the structure of the NARX neural model based on a feed-forward network. Unlike linear models, the nonlinear model performs much better in the process of modeling such a complex system. In the further part of the research, a prototype of a neurocontroller working as an expert system proposing control signals to operators was proposed. Inverse identification of the plant was used. As tests have proven, the development of such expert approaches can improve the quality, simplicity and efficiency of cement grinding process control.

27.
Applications of Machine Learning Methods for Positioning in Scanning Electrochemical Microscope
¹Vadimas Ivinskij, ²Vijitashwa Pandey, ¹Inga Morkvėnaitė-Vilkončienė
¹Vilnius Gediminas Technical University, ²Oakland University
vadimas.ivinskij@vilniustech.lt, pandey2@oakland.edu, inga.morkvenaite-vilkonciene@vilniustech.lt
Abstract: A typical scanning electrochemical microscope (SECM) consists of a three-axis positioning system, usually with stepper motors and potentiostat. Working at a micro and nanoscale, the big problem is vibrations, which an antivibration table can solve. However, this is not a solution for some devices placed in small environments. Therefore, we suggest reducing vibrations by machine learning methods, making SECM more modular. In this paper, we compare and evaluate the use of neural networks within similar systems that have specialized architecture requirements, the use of samples that require a specialized approach to attribute extraction concerning feature fidelity for learning algorithms, control-machine learning combination methods for static and dynamic applications in electrochemical systems as well as application of neural network functions as stand-alone packages. The results were taken for the application of prototyping a tangible and portable electrochemical scanning device system. Potential improvements, such as micro stepping instead of time delay between steps, are considered.

28.
Employing Generative Artificial Intelligence in Replacement of Traditional Backend Systems
Artur Moroz, Illia Solohubov, Andrii Oliinyk, Sergey Subbotin, Stepan Skrupsky
National University “Zaporizhzhya Polytechnic”
arthur.official.moroz@gmail.com, illia.solohubov@gmail.com, olejnikaa@gmail.com, subbotin.csit@gmail.com, sskrupsky@gmail.com
Abstract: This paper investigates the application and benefits of using Generative Artificial Intelligence (GenAI) techniques, with an emphasis on large language models (LLMs) as an innovative approach in the development of information systems. The focus lies primarily on systems employing open datasets where data confidentiality is not a focal concern. By replacing the traditional programmed logic with these advanced AI models, this paper presents the measurable improvements in the efficiency and adaptability of system design, development, and maintenance. The key advantages discussed include an enhanced rate and accuracy in query processing and response provision. Despite accentuating these substantial benefits, the paper acknowledges potential limitations with the alignment of these models to certain user-specific needs. A noteworthy component of this study includes an in-depth exploration of Large Language Models usage and its implications in system interactivity and personalisation realms. The results suggest that the implementation of LLMs not only ensures precise and contextually relevant responses to user queries, but it also contributes to a significant reduction in time and resources expended during system design and development phases. Thus, replacing standard programmed logic with LLMs in systems utilizing open datasets accelerates the development timeline, simplifies maintenance procedures and boost the overall dynamism of the system.

29.
The Modified Genetic Algorithm for Solving the Traveling Salesman Problem
Illia Solohubov, Artur Moroz, Andrii Oliinyk, Sergey Subbotin, Stepan Skrupsky
National University “Zaporizhzhya Polytechnic”
illia.solohubov@gmail.com, arthur.official.moroz@gmail.com, olejnikaa@gmail.com, subbotin.csit@gmail.com, sskrupsky@gmail.com
Abstract: The traveling salesman problem is one of the most relevant challenges today, as the need to solve it arises in various fields. However, there is no clear algorithm for its solution. It falls within the realm of NP-complete problems and is optimization-oriented. The only way to tackle such problems is through exhaustive search, which needs to be optimized as much as possible. Different algorithms and approaches are often employed to address these problems, aiming to reduce the volume of analyzed solutions. This includes methods like branch and bound to expedite the search or artificial intelligence approaches such as the ant colony algorithm and genetic algorithms to accelerate the process while achieving the closest possible solution. Genetic methods are one of the most powerful tools for solving such tasks. These algorithms model evolutionary processes, which allow, thanks to the basic principles of evolution, to find better solutions. This approach allows representing a task as a certain evolutionary process. It is based on the fact that from the very beginning, a certain set of solutions is chosen, and they start competing with each other. Each solution represents an individual, and a set of its solutions represents a “gene”. Each of these genes during the algorithm’s operation can evolve, adapt, or mutate according to the rules of the environment. In the end, only the strongest genes should remain, which will be the approximate optimal solution. A characteristic of these algorithms is that each implementation can be unique. An important task in building algorithms is precisely the optimization of their parameters, as well as choosing the right approach to some of its stages, where only the best of them will remain in the end. This methodology not only allows finding optimal solutions but also provides flexibility and adaptability for various requirements and constraints.

30.
Using LoLiMoT (Local Linear Model Trees) Algorithm for Dynamic Control System
¹Dominik Ożóg, ²Joanna Maziarka-Ożóg, ¹Paweł Kuraś
¹Rzeszow University of Technology, ²ES-Systems S.A.
d.ozog@prz.edu.pl, mziarka@gmail.com, p.kuras@prz.edu.pl
Abstract: The LoLiMoT algorithm, standing for “Local Linear Model Trees”, represents an efficacious tool employed in dynamic control systems for the accurate determination of control signal values. Owing to its proficiency in realtime systems, it has garnered significant popularity, especially concerning its implementation on microcontrollers and FPGA systems, which have proven to be markedly faster in operation than conventional programming methodologies. This algorithm also facilitates effective network training in various modes – on-chip, online, and offline, thereby offering flexibility in adapting to diverse operational conditions. At the core of LoLiMoT lies a neural network with a distinct structure, which deviates from traditional neural networks, primarily in terms of neuron construction and the number of neurons within the network. The paper presents a detailed description of the algorithm, its neural network structure and implementation in MATLAB and Simulink environments. In addition, the paper analyzes practical examples of the use of the algorithm in the context of the approximation of polynomial functions, as well as the application of this method to the control of an oscillatory object with a certain transmittance, emphasizing its efficiency and precision. The paper also addresses interesting directions for potential further research in the development of this algorithm, especially in automation applications. The LoLiMoT promises a bright future for control systems by amalgamating advanced artificial intelligence techniques with pragmatic engineering applications.

31.
Architektura oprogramowania systemu kontrolno-pomiarowego wykorzystującego interfejs USB
Rafał Wojszczyk
Koszalin University of Technology
rafal.wojszczyk@tu.koszalin.pl
Abstract: W pracy zaproponowano implementację wysokopoziomowej architektury oprogramowania, która pozwala na komunikację z urządzeniem zewnętrznym w sposób obiektowy. Opracowane rozwiązanie wraz z autorskim urządzeniem podłączanym do portu USB stanowią gotowy system kontrolno-pomiarowy.
Wykorzystanie wielowarstwowej architektury oraz wybranych wzorców projektowych pozwoliło na opracowanie rozwiązania programowego, które zapewnia niski koszt rozbudowy, pozwala na łatwe wykorzystanie w sposób obiektowy oraz zapewnia możliwość wymiany modułów. Dodatkowo uniwersalność opracowanego narzędzia pozwala na wprowadzanie wybranych modyfikacji systemu bez konieczności ponownej kompilacji kodu źródłowego.

32.
Positioning of mobile robots on the ground
Oleksii Shatokhin, Vytautas Bučinskas, Andrius Dzedzickis
Vilniaus Gedimino technikos universitetas
oleksii.shatokhin@vilniustech.lt, vytautas.bucinskas@vilniustech.lt, andrius.dzedzickis@vilniustech.lt
Abstract: Currently, mobile robots are gaining popularity due to their relevance and widespread use in modern society. Their ability to navigate their environment without the need for physical or electromechanical guidance devices makes them more promising and useful. The application of autonomous mobile robots is reflected in various fields such as enterprises, medicine, education, agriculture and consumer services, with the aim of improving services and daily life. With the advancement of technology, there is a growing demand for mobile robots that successfully perform tasks such as transporting heavy objects, monitoring, search and rescue operations, and others. Various studies conducted by scientists highlight the importance of mobile robots, their varied applications and the challenges they face. This review covers the current literature and examines the key issues faced by mobile robots. A comprehensive study of devices and sensors, as well as common methods for combining them, designed to solve problems such as localization, estimation and navigation in mobile robots is also presented. These aspects are organized based on their relevance, strengths, and weaknesses, providing a good basis for future research and development of methods to overcome the challenges faced by autonomous mobile robots.

33.
Conception of the channel robot navigation
Vygantas Ušinskis, Nikolaj Šešok, Tadas Rasimavičius, Dominykas Čičiurėnas, Muhammad Zulkifal, Vytautas Bučinskas
Vilnius Gediminas technical university
vygantas.usinskis@vilniustech.lt, nikolaj.sesok@vilniustech.lt, tadas.rasimavicius@vilniustech.lt, dominykas.ciciurenas@vilniustech.lt, muhammad.zuikifal@stud.vilniustech.lt, vytautas.bucinskas@vilniustech.lt
Abstract: Mobile robot navigation has gained increasing interest in academical and industrial fields. Navigation task mainly consists of three main parts including object detection and mapping, path planning and motion execution. Various sensors exist which separately or in fusion can acquire different kind of information from surrounding environment recognizing distances, shapes, colors etc. Nevertheless, navigation tasks are becoming more difficult requiring to adjust to varying static and dynamic obstacles and unknown environments. To efficiently deal with adaptive navigation tasks it is important not only to acquire correct data from environment but also to process this data using algorithms for path planning. Adaptivity challenges classical path planning methods like protentional field histogram (PFH), visual graph (VG) and Djikstra and require to look into heuristic methods and in some cases the use of artificial intelligence. This paper contains a review of classical and heuristic methods of path planning and possible combinations analyzing main advantages and disadvantages. Moreover, taking into account presented analysis specific obstacle detection and path planning method is presented for autonomous mobile robot used to navigate in under soil tunnels. Finally, conclusions and research situations are presented.

34.
Search and detection of people in the water using YOLO architectures: A comparative analysis from YOLOv3 to YOLOv8
Nataliya Bilous, Vladyslav Malko, Nazarii Moshenskyi
Kharkiv National University of Radio Electronics
nataliya.bilous@nure.ua, vladyslav.malko@nure.ua, nazarii.moshenskyi@nure.ua
Abstract: The rapid development of computer vision and deep learning technologies has significantly improved the accuracy and speed of object recognition in a variety of applications, including security, surveillance, and search and rescue. One of the key challenges in this area is the detection of people in water areas, which is crucial for improving water safety and emergency response. In this research, a detailed comparative analysis of YOLOv3 to YOLOv8, is performed to evaluate their ability for effective detection people in the water. The analysis focuses on assessing the accuracy of each version’s identification of people in the water, the speed of real-time image processing, the ability to adapt to different water conditions, and the required computing resources for effective operation. The purpose of the research is to perform a detailed comparative analysis of YOLO architectures, from YOLOv3 to YOLOv8, for evaluating their ability to effectively detect people in the water area. The research not only assesses current capabilities, but also suggests directions for future innovation to improve the efficiency and reliability of detecting and tracking people on water.

35.
Adaptive Neural Network Control for Mobile Robot with Mecanum Wheels: Experimental Validation.
¹Zenon Hendzel, ²Maciej Kołodziej
¹Rzeszow University of Technology, ²Doctoral School of the Rzeszow University of Technology
zenhen@prz.edu.pl, csraziel@gmail.com
Abstract: In this paper, neural network (NN) adaptive tracking control for uncertain nonlinear systems is proposed to attenuate the effects caused by unmodeled dynamics, disturbances and variable operating conditions of a wheeled mobile robot with mecanum wheels. A NN with basic sigmoid functions is used to compensate for the nonlinearity and variable operating conditions of the robot. There are two features in our approach. The first one is that the drive structure of a Mecanum wheeled mobile robot with four wheels has 3 degrees of freedom and four drive modules, it is an object of an over-actuated type, the missing moment is determined on the basis of the power balance of the drive systems. The second one is that experiments are performed to clarify the effectiveness and advantage of the proposed method.

36.
Adaptive Controller using Genetic Algorithm for Autonomous Wheeled Mobile Robot
Paweł Penar, Zenon Hendzel
Rzeszow University of Technology
ppenar@prz.edu.pl, zenhen@prz.edu.pl
Abstract: This paper presents the application of a genetic algorithm (GA) to the problem of tracking and stabilizing the motion of a wheeled mobile robot (WMR) operating under variable conditions. The proposed approach is to apply GA to adaptive control. Its novelty is the transformation of the parameter adaptation law into an iterative form, which allows the application of GA in real time. In addition, by introducing a supervisory control into the control signal, the asymptotic stability of the closed-loop control system can be obtained. This is confirmed by the simulation carried out, which indicates that the control system achieves a high degree of motion accuracy under varying operating conditions.

37.
A system of semi-autonomous tandem mowers for mowing roadside area
¹Andrzej Typiak, ¹Rafał Typiak, ²Zbigniew Zienowicz, ²Mateusz Nowakowski, ³Patrycja Patejek
¹Wojskowa Akademia Techniczna, ²HYDROMEGA sp. z o.o., ³Stowarzyszenie Robotyków SKALP
andrzej.typiak@wat.edu.pl, rafal.typiak@wat.edu.pl, zienowicz@hydromega.com.pl, Mateusz.nowakowski@hydromega.com.pl, patrycja.matejek@srskalp.pl
Abstract: Maintaining the road requires regular mowing of ditches and roadside areas. Currently, this is mainly done using mowers mounted on agricultural tractors. The trend is to introduce autonomous mowing systems, but so far there have been a number of autonomous robot solutions for mowing short grass (home lawns, golf courses), and there are few autonomous mower solutions for mowing tall grass on the market. The first part of the article describes the conditions determining work on the development of lawn mowers. Then, a proposal for a semi-autonomous control system for tandem mowers for mowing roadside areas was presented. As part of its construction, a fully functional set was designed and built, consisting of two mowers: wheeled and tracked, a remote-control system for the first mower, and a high-level computer with implemented software ensuring autonomous mowing with the second mower under active operator supervision. A series of field tests conducted allowed us to assess the effectiveness and practicality of the proposed solution. Mowing efficiency was assessed by the consistency of subsequent mowing paths. The obtained results indicate that the development of the developed system will significantly improve mowing efficiency and increase employee safety.

38.
Requirements Specification for Visual Localization System of Unmanned Aircraft
¹Tomasz Pogorzelski, ¹Sebastian Rutkowski, ²Teresa Zielińska
¹Łukasiewicz Research Network – Institute of Aviation, ²Warsaw University of Technology
tomasz.pogorzelski@ilot.lukasiewicz.gov.pl, sebastian.rutkowski@ilot.lukasiewicz.gov.pl, teresaz@meil.pw.edu.pl
Abstract: Unmanned aerial vehicles (UAVs) are used for many tasks, such as military missions, environmental observations, and cargo deliveries. Reliable navigation systems are essential here. Unfortunately, traditional systems using satellite communications (GNSS) fail in the event of loss of connectivity or lack of access to the GNSS service. Moreover, they are susceptible to GNSS transmission interference and fraud. This raises the need to introduce information redundancy in UAV location systems. However, such expansion should not result in the need for additional equipment. One of the promising concepts is a localization method using the analysis of images obtained from the UAV’s on-board camera. In such a system, location information is processed inside the unmanned vehicle, eliminating dependence on external data sources. The method uses image analysis and detection of objects seen by the on-board camera, which enables precise location of the unmanned vessel in real time. In this article, we will discuss the presented architecture in detail, highlighting key aspects of its structure, components and interfaces. Moving through the subsequent chapters, we will pay attention to the design assumptions, requirements specifications for individual components and communication infrastructure. We’ll show you how these elements work together to achieve your project’s intended goals. The conclusions we draw based on the analysis will be crucial for understanding the benefits of the adopted architectural concept. We will highlight not only the goals we set for our project, but also compare the achieved results with the expected results. This detailed analysis will allow us to understand the benefits of requirements specification in the design of a video localization system.

39.
Literature-based analysis of lower extremity kinematics and dynamics during task-oriented physiotherapy for rehabilitation robot design
¹Tomasz Osiak, ²Natalia Osiak, ¹Piotr Falkowski, ³Mehmet Emin Aktan, ⁴Piotr Czerechowicz, ⁵Vasfi Emre Ömürlü
¹ŁUKASIEWICZ Research Network – Industrial Research Institute of Automation and Measurements PIAP, ²Z Miłości Do Kości, ³Bartin University, ⁴Elmiko Biosignals, ⁵3LS R&D Consulting Industry and Trade Inc
tomasz.osiak@awf.edu.pl, kontakt@z-milosci-do-kosci.pl, piotr.falkowski@piap.lukasiewicz.gov.pl, maktan@bartin.edu.tr, piotr.czerechowicz@elmiko.eu, omurlu@yildiz.edu.tr
Abstract: Robot-assisted rehabilitation is becoming an increasingly common method and allows using previously unavailable solutions. Designers of rehabilitation robots must ensure that their devices’ exercises lead to the most functional movements. This review aimed to collect biomechanical, kinematic, and dynamic data on lower limb movement that can assist designers of rehabilitation robots. Seventeen studies were retrieved from Scopus and reviewed. The partial information regarding ranges of motion, angular velocities and joint torques during gait and daily life activities. It was found that the gait involves mainly motion in the parasagittal plane, while the activities of daily living often require full activation of the hip joint. The research proves that more experimental trials for modelling task-oriented rehabilitation movements are needed.

40.
Design and construction of a 6-DOF modular robotic Arm-Z
¹Krzysztof Zawalski, ²Michał Jarek, ¹Piotr Falkowski, ³Ela Zawidzka, ³Machi Zawidzki
¹Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements, PIAP, ²Warsaw University of Technology, ³Institute of Fundamental Technological Research, PAN
krzysztof.zawalski@piap.lukasiewicz.gov.pl, michal.jarek.stud@pw.edu.pl, piotr.falkowski@piap.lukasiewicz.gov.pl, zawidzka@ippt.pan.pl, zawidzki@ippt.pan.pl
Abstract: This paper presents the design and construction process of the Arm-Z manipulator, which represents the concept of a hyper-redundant manipulator based on a connected sequence of identical modules. Each module provides a single degree of freedom (1-DOF), specifically a twist relative to the previous module. The uniformity of the modules gives Arm-Z the potential to be cost-effective and robust. Standardized modules allow for mass production and can be easily replaced in case of failure. This paper discusses each stage of the design process from mechanical perspective, including: module’s geometry, simulation based on Denavit-Hartenberg parameters, and manufacturing process. The section covering work on the electrical system discusses issues such as selection of: motors, power supply, protections, and the network’s topology connecting EPOS controllers.

41.
Simulation of 6-DOF modular Arm-Z manipulator in MATLAB Simulink
¹Michał Jarek, ²Krzysztof Zawalski, ²Piotr Falkowski, ³Ela Zawidzka, ³Machi Zawidzki
¹Warsaw University of Technology, ²Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP, ³Institute of Fundamental Technological Research of the Polish Academy of Sciences
michal.jarek.stud@pw.edu.pl, krzysztof.zawalski@piap.lukasiewicz.gov.pl, piotr.falkowski@piap.lukasiewicz.gov.pl, zawidzka@ippt.pan.pl, zawidzki@ippt.pan.pl
Abstract: Arm-Z is a concept of a hyper-redundant manipulator based on linearly joined sequence of congruent units. Each unit has only one degree of freedom (1-DOF) – the twist relative to the previous unit. This paper presents the approach to design of modular robotic manipulator based on computer simulations. The approach is rather standard nowadays, however, it is applied to rather unique robotic system. The CAD model of the module structure for a manipulator with 6 degrees of freedom and respective Denavit-Hartenberg notation are presented. Simulink – a MATLAB-based graphical programming environment was used to determine the torques of individual modules. The results of three simulations are presented and discussed. Finally, based on critical observations, the drive and gear for the module of Arm-Z system were selected.

42.
Experimental analysis for the enhancement of industrial robot tool path planning
Mantas Makulavičius, Tadas Rasimavičius, Sigitas Petkevičius, Justas Makutėnas, Andrius Dzedzickis
Vilnius Gediminas Technical University
m.makulavicius@vilniustech.lt, tadas.rasimavicius@vilniustech.lt, sigitas.petkevicius@vilniustech.lt, justas.makutenas@vilniustech.lt, andrius.dzedzickis@vilniustech.lt
Abstract: Industrial robots play a key role in modern manufacturing processes with the contribution of increased efficiency, precision, and productivity. However, the dynamic nature of robotic movements can introduce vibrations that may impact performance and product quality. In this study, experimental analysis for the enhancement of the industrial robot tool path planning is implemented to get the initial knowledge of less robust robot configuration. In order to represent the impact of different robot configurations the RoboDK software for path generation, industrial robot Yaskawa Motoman HC10DTP with acceleration measurement setup have been utilized to analyse robot path following smoothness. The obtained information is presented in time and frequency domains, and key points like root mean square error and main frequencies at specific configurations were underlined.

43.
Method for Parametrs Selection for Manipulators of Man Portable Unmanned Ground Vehicles
¹Tomasz Krakówka, ²Andrzej Typiak, ¹Maciej Cader, ²Rafał Typiak
¹Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP, ²Wojskowa Akademia Techniczna
tomasz.krakowka@piap.lukasiewicz.gov.pl, andrzej.typiak@wat.edu.pl, maciej.cader@piap.lukasiewicz.gov.pl, rafal.typiak@wat.edu.pl
Abstract: The paper presents the topic of designing portable robot manipulators for special tasks. An adapted method for selecting manipulator parameters, based on user requirements and the database of available components, is presented. The process uses stages in which manipulator drives and geometric parameters are selected, as well as topological optimization of selected components. Particular emphasis was placed on load analysis and the definition of load cases used during the process. The process is presented on the example of a manipulator joint of a portable robot for special tasks.

44.
Harnessing two measurement techniques to assess the internal structure of SFRC
¹Janusz Kobaka, ¹Jacek Katzer, ²Machi Zawidzki
¹Faculty of Geoengineering, University of Warmia and Mazury in Olsztyn, ²Sieć Badawcza Łukasiewicz – Przemysłowy Instytut Automatyki i Pomiarów PIAP
janusz.kobaka@gmail.com, jacek.katzer@uwm.edu.pl, zawidzki@piap.lukasiewicz.gov.pl
Abstract: The article describes the examination of the internal structure of concrete reinforced with steel fibers using two non-destructive measurement techniques: a method using ultrasonic waves and a method using electromagnetic induction. The ultrasonic method allowed for the determination of material defects resulting from the non-uniform distribution of fibers in the space of the tested sample bodies. The method using electromagnetic induction allowed for the identification of fiber content. Research has shown that fiber concrete, characterized by a relatively high content of steel fibers (above 1.5% by volume), is susceptible to the formation of material discontinuities in its internal structure. This phenomenon occurs to a very small extent in concrete with steel fiber content below 1.5%.

45.
Dynamic properties of SFRC made on the basis of waste sand
¹Jacek Katzer, ¹Janusz Kobaka, ²Machi Zawidzki
¹Faculty of Geoengineering, University of Warmia and Mazury in Olsztyn, ²Sieć Badawcza Łukasiewicz – Przemysłowy Instytut Automatyki i Pomiarów PIAP
jacek.katzer@uwm.edu.pl, janusz.kobaka@gmail.com, zawidzki@piap.lukasiewicz.gov.pl
Abstract: The article presents the results of non-destructive testing of steel fiber reinforced concrete (SFRC) based on waste sand. Fiber concrete beams with different steel fiber content were subjected to two types of free vibrations: torsional and flexural vibrations. Based on the tests and Fourier analysis, the frequencies of these vibrations were determined. They were used to determine the dynamic modulus of elasticity (Young’s modulus), the dynamic shear modulus (modulus of rigidity) and the dynamic Poisson’s ratio. In the next stage, the influence of steel fibers on these parameters was determined.

46.
Studying the potential of iPAD-LiDAR technology in the inventory of building structures
¹Czesław Suchocki, ²Jacek Katzer, ³Machi Zawidzki, ⁴Rafał Nowak
¹Koszalin University of Technology, ²University of Warmia and Mazury in Olsztyn, ³Sieć Badawcza Łukasiewicz – Przemysłowy Instytut Automatyki i Pomiarów PIAP, ⁴Zachodniopomorski Uniwersytet Technologiczny w Szczecinie
czeslaw.suchocki@tu.koszalin.pl, jacek.katzer@uwm.edu.pl, zawidzki@piap.lukasiewicz.gov.pl, rnowak@zut.edu.pl
Abstract: The article presents a research program aimed at preliminary determination of the potential of iPAD-LiDAR technology in the inventory of building structures. The authors focused on the use of commercially available devices (mobile phones and tablets) equipped with a LiDAR sensor. Such devices can be treated as low-cost measuring devices and used for engineering measurements. The first possible area of use of the devices discussed is broadly understood construction inventories, which, when performed using traditional methods, always involve a large amount of work. The automation of this process and the quality and quantity of data obtained during the inventory create a completely new technical reality and related measurement and diagnostic possibilities.

47.
Properties of fiber-reinforced concrete made on the basis of lightweight sintered aggregate
¹Janusz Kobaka, ¹Jacek Katzer, ²Machi Zawidzki
¹Faculty of Geoengineering, University of Warmia and Mazury in Olsztyn, ²Instytut Podstawowych Problemów Techniki Polskiej Akademii Nauk
janusz.kobaka@gmail.com, jacek.katzer@uwm.edu.pl, zawidzki@ippt.pan.pl
Abstract: The paper describes research on the properties of fiber concrete made on the basis of lightweight sintered aggregate produced from fly ash, which is a waste product in the combustion of hard coal. The use of this material is a step towards a sustainable economy, in which care for the natural environment should be a priority. A series of tests showed a number of favorable properties of the tested materials, such as compressive strength in the strength range of structural concrete above 40 MPa, very good splitting tensile strength above 6 MPa, water absorption of approximately 25% and very good thermal insulation properties with a thermal conductivity coefficient λ at a level lower than 0.45 W/(m2*°K).

48.
The concept of wireless energy transmission intended for use in two-rotor wind turbines
¹Wojciech Miąskowski, ¹Bartosz Moczulak, ²Wojciech Kiński, ¹Paweł Pietkiewicz, ¹Krzysztof Nalepa
¹University of Warmia and Mazury in Olsztyn, Faculty of Technical Sciences, ²Łukasiewicz Research Network – Industrial Institute of Automation and Measurements PIAP
wojmek@uwm.edu.pl, bartosz.moczulak@o2.pl, wojciech.kinski@piap.lukasiewicz.gov.pl, papiet@uwm.edu.pl, nalepka@uwm.edu.pl
Abstract: The process of designing wind turbines requires multi-threaded work on the development of individual structural nodes, taking into account their mutual influence. The complexity of the wind turbine solutions proposed by the WNT/PIAP research team, whose members inc-lude the authors of this article, improving the efficiency of obtaining useful energy, forces the use of unconventional solutions in the field of energy transmission inside the wind turbine. The solution described in this article is a system of wireless transmission of electricity from the generator stator windings to the inverter. The article presents the effect of the team’s work on solving the said design problem. As a result of the work, a concept of wire-less transmission of electricity was proposed, aimed at its use in low-power two-rotor wind turbines.

49.
Evaluating the performance of machine learning models in predicting the amount of wastewater depending on weather conditions using the city of Rzeszow as an example
¹Bartosz Kowal, ¹Patryk Organiściak, ¹Paweł Kuraś, ²Adam Masłoń, ³Bartosz Wadiak
¹Department of Complex Systems, Rzeszow University of Technology, ²Department of Environmental Engineering and Chemistry, Rzeszow University of Technology, ³Miejskie Przedsiębiorstwo Wodociągów i Kanalizacji Sp. z o.o. w Rzeszowie
b.kowal@prz.edu.pl, org@prz.edu.pl, p.kuras@prz.edu.pl, amaslon@prz.edu.pl, bwadiak@mpwik.rzeszow.pl
Abstract: The parameters of wastewater treatment plants in Poland must meet certain standards that regulate the quality of water after the treatment process. The quantity and quality of incoming wastewater depends on many factors, including weather conditions. Forecasting these parameters helps ensure the optimal operation of treatment plants, which contributes to reducing the cost of their operation. In this regard, using weather data, an attempt was made to estimate the amount of sewage flowing into the treatment plant in Rzeszow. Over 1000 different models in various configurations and time intervals were used. The smallest mean absolute error (MAE) obtained was 3598m^3. The study demonstrated how the choice of parameters and machine learning (ML) models affects the accuracy of forecasts, which, based solely on basic time data, turns out to be a relatively difficult process.

50.
The concept of the 5-DOF passive exoskeleton for tracking the motion of a human upper extremity
¹Jan Oleksiuk, ²Mateusz Zadrożniak, ¹Piotr Falkowski
¹Łukasiewicz Research Network – Industrial Institute of Automation and Measurements PIAP, ²Warsaw University of Technology
jan.oleksiuk@piap.lukasiewicz.gov.pl, mateusz.zadrozniak.stud@pw.edu.pl, piotr.falkowski@piap.lukasiewicz.gov.pl
Abstract: With an increasing and aging population and potential challenges in providing conventional, manual physiotherapy, this research paper proposes the use of exoskeleton robots for remote motor telerehabilitation. This approach, particularly task-oriented rehabilitation, is considered to be efficient and cost-effective. In order to create reliable and safe rehabilitional exoskeleton system, precise data measurement during movements needs to be conducted. This study introduces a novel concept of an upper extremity trajectory recording system integrated with the construction of the passive exoskeleton with 5 degrees of freedom, manufactured by the 3D-printing technology, granting both durability and light-weight.

51.
Research of microrobot movement accuracy
Viktor Masalskyi, Jurga Subačiūtė-Žemaitienė, Rokas Bagdonas, Vytautas Bučinskas, Andrius Dzedzickis
Vilnius Gediminas Technical University
viktor.masalskyi@vilniustech.lt, jurga.subaciute-zemaitiene@vilniustech.lt, rokas.bagdonas@vilniustech.lt, vytautas.bucinskas@vilniustech.lt, andrius.dzedzickis@vilniustech.lt
Abstract: The range of applications of micropositioning systems is rapidly expanding in various fields such as manufacturing processes, medical diagnostics, scientific research and many others. As a result, the demand for high accuracy, reliability and high precision control of micropositioning systems is growing. The main problems requiring research in this area are the search for solutions related to vibrations, inertial effects, mechanical, thermal and assembly errors. This paper describes a micromanipulation solution consisting of drivers of 4-axis (X, Y, Z1, Z2) micropositioning system and determining errors of system (drives with stepper motors, ball screws and slider) from the movement distance. Experimental studies have been conducted on high accuracy micropositioning based on position data received in almost real time with low latency. The experiments included series of measurements the accuracy of the micropositioning system and analyzing the results. The system is control by a computer with user interface and generates commands of movement and send it to motion controller. The results obtained allow an assessment of the influence of the accumulated error, friction of the actuator and etc. The experimental results show that the positioning errors of the microrobot positioning drive are within acceptable limits and the high accuracy is sufficient for micromanipulation purpose.

52.
Understanding Properties of driveBay Electromagnetic Tracker for Use in Soft Robot Experiments
Tomasz Smaż, Igor Zubrycki
Lodz University of Technology
tomasz.smaz@p.lodz.pl, igor.zubrycki@p.lodz.pl
Abstract: Soft Robotics experiments necessitate advanced measurement techniques to track robot pose and deformations accurately. Electromagnetic tracking systems provide substantial benefits over vision-based systems, especially in capturing both the position and orientation of a robot’s surface without occlusion issues. However, these systems are typically designed for applications in controlled environments, with multiple guidelines stated by the producers, necessitating an evaluation of their effectiveness in different contexts. This paper presents a series of foundational experiments to assess the capabilities and limitations of such a system in Soft Robotics. We investigate the impact of distance from the base station, resistance to environmental interference, effects of metallic elements, and the accuracy of rotational measurements. The results demonstrate a significant influence of positional accuracy relative to the distance from the transmitter, with a tenfold decrease in accuracy observed. Additionally, the presence of metallic objects in close proximity (less than 20 mm) to the probes adversely affects accuracy, as do large metallic elements such as construction materials. This effect is particularly pronounced when the sampling frequency of the system aligns with multiples of the electrical network frequency, resulting in more than a tenfold reduction in accuracy.

53.
Hyperspectral lighting design for industrial applications
Piotr Garbacz, Piotr Czajka, Wojciech Mizak, Marcin Powroźnik
Łukasiewicz Research Network – Institute for Sustainable Technologies
piotr.garbacz@itee.lukasiewicz.gov.pl, piotr.czajka@itee.lukasiewicz.gov.pl, wojciech.mizak@itee.lukasiewicz.gov.pl, marcin.powroznik@itee.lukasiewicz.gov.pl
Abstract: The paper raises the issue of lighting in industrial hyperspectral imaging. In the first part of the article, based on the literature review, a general overview of hyperspectral imaging is presented. Examples of applications of this unique technology are briefly listed. Despite significant progress in the area of data analysis and hyperspectral cameras, much remains to be done in terms of reliability and adaptation to industrial conditions. The authors emphasize the role of lighting in machine vision systems. Existing illumination solutions are described, along with their advantages and limitations. Due to specific requirements to be met in the case of hyperspectral imaging the authors propose two types of lighting devices. The prototype of a general usage halogen illuminator characterized by spatial uniformity and broadband spectral range is described in detail. The last part of the article presents the process of designing a dedicated illuminator along with the method of selecting relevant spectral bands for a particular application

54.
Experimental research of carrageenan-based compression force sensors
¹Jurate Jolanta Petroniene, ¹Gediminas Braziulis, ²Uldis Zaimis, ¹Andrius Dzedzickis, ¹Egle Pastarnokiene, ¹Vytautas Bucinskas
¹Vilnius Tech University, ²Institute of Science and Innovative Technology, Liepaja University, Latvia
jurate-jolanta.petroniene@vilniustech.lt, gediminas.braziulis@vilniustech.lt, uldis.zaimis@liepu.lv, andrius.dzedzickis@vilniustech.lt, egle.pastarnokiene@vilniustech.lt, vytautas.bucinskas@vilniustech.lt
Abstract: Carrageenan is natural polysaccharide derived from Baltic seaweed Furcellaria lumbricalis. This natural polysaccharide has wide application in sensor industry. Such products as the humidity sensors, stretch sensors are already proposed with various solutions. Since the abundance of these seawead on the coast poses ecological prob-lems, it is necessary to carefully evaluate the circumstances of the more active use of this product of natural origin in production. Our scientific group conducted research on the production of a stretch sensor from carrageenan collected on the shores of Riga. Carrageenan itself is electrically conductive until it has some moisture in its structure. The formed carrageenan biopolymer film was enriched with various metal oxides. The most suitable and cheap additive is iron oxides. We chose Fe2O3 oxide because of its unique properties already confirmed in previous studies. The performed stretching tests of the product confirmed the possibility of using this carrageenan, which is not fully chemically purified, as the main material of the stretching sensor after protecting it from moisture loss with an additional layer of ecologically friendly polymer. Such a sensor can be used as a disposable product suitable for recording small deformations. The advantage of such a sensor is sustainability, since carrageenan is environmentally friendly and non-toxic in contact with the human body. The resulting characteristic of the force sensor is close to quadratic. Such a sensor can be used for loads up to 1 N per square centimeter unit. Elaborated carrageenan-based sensor has quadratic dependence of resistance on applied force.

55.
Methods of reduction of fuel consumption measurement error by thermo-anemometric flow meter
¹Andrii Ilchenko, ²Igor Korobiichuk
¹Agricultural Engineering and Technical Service Department of Polissya National University, ²Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
avi_77@ukr.net, igor.korobiichuk@piap.lukasiewicz.gov.pl
Abstract: It was analyzed the ways of influence on the indexes of radial heat flow in thermo-anemometric flow meter that will influence the indexes of axial heat flow, will make them more informative and this, in its turn, will affect the consumption measurement error. It was formulated the condition of selecting the temperatures distribution with the minimal measurement error for multi-sectional flow meter, it can be obtained by the indexes of thermal transformers of the very pipe of multi-sectional thermo-anemometric flow meter, where the maximal total temperatures difference between all the neighboring thermal transformers was measured. Expanding the range of fuel consumption measurement by the thermo-anemometric flow meter was suggested due to the application of sequentially axially installed sections with different diameters.

56.
Improving the Operational Reliability of Ground-Based Navigation Systems
¹Igor Korobiichuk, ²Viktorij Mel’Nick, ²Vera Kosova, ²Zhanna Ostapenko, ²Nonna Gnateiko, ²Galyna Boiko, ³Iana Piskivets
¹Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP, ²National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”, ³Independent Researcher
igor.korobiichuk@piap.lukasiewicz.gov.pl, v.melnyk71@gmail.com, vera_62@ukr.net, zhanna.ost@gmail.com, nonna.gnateiko@gmail.com, g.boyko@kpi.ua, ianapiskivets@gmail.com
Abstract: The most commonly used suspension in primary measuring instruments and vibration reproduction systems is a suspension on flat springs. In the paper analyses one of the methods for reducing the natural frequency of an elastic suspension on flat springs. A theoretical substantiation of the possibility of increasing the vibration isolation efficiency of navigation equipment by reducing the natural frequency of the elastic suspension by using a system of additional loading of the moving part is presented. The correlations between the natural frequency of the suspension and the system parameters are determined.

57.
Method of fitting a nonlinear function to measurement data, its uncertainty and as example the application in thermistor circuits
¹Jacek Puchalski, ²Zygmunt Warsza
¹Central Office of Measures, ²Polish Metrological Society, PTM
jacek.puchalski@gum.gov.pl, zlw1936@gmail.com
Abstract: The paper presents a method of determining parameters and uncertainty bands of a specific non-linear function fitted to given examined measured data. One or both of the variables of this non-linear function are changed so as to linearize it. Using the linear regression method, fined are the most favorable parameters of this straight line for its adjustment to the measured values of the coordinates of points tested according to the weighted total mean square WTLS criterion. Their autocorrelation and cross-correlation coefficients as well as uncertainties estimated according to the rules of the GUM guide are considered. The parameters and the uncertainty band of the non-linear function result from the parameters of this straight line and its uncertainty band. In the part 2 numerical examples of determining the parameters and uncertainty bands for the characteristic of thermistor (two methods) alone and with resistance twoport sensor are given.

58.
Application of the Polynomial Maximization Method for Estimating Nonlinear Regression Parameters with Non-Gaussian Asymmetric Errors
¹Serhii Zabolotnii, ²Oleksandr Tkachenko, ³Waldemar Nowakowski, ⁴Zygmunt Warsza
¹Cherkasy State Business College, ²Uzhhorod National University, ³Casimir Pulaski Radom University, ⁴Polish Metrological Society
zabolotniua@gmail.com, tkachenko.ck@gmail.com, W.Nowakowski@uthrad.pl, zlw1936@gmail.com
Abstract: In the article, an alternative approach to estimating parameters in nonlinear regres-sion models under asymmetric error distributions is examined. A novel approach for adaptive estimation is proposed, which is based on the use of second-order polynomial functions. This enables a straightforward implementation to account for deviations from Gaussian idealization in the form of moments up to the fourth order. It is demonstrated that the overall problem can algorithmically be reduced to the numerical solution of a system of nonlinear stochastic equations. Analytical expressions are obtained, which facilitate the estimation of parameters and the analysis of their asymptotic variance. Statistical modeling using the Monte Carlo method was conducted, and the results indicate that the accuracy of PMM2 estimates is comparable to SLS estimates and significantly so exceeds the accuracy of OLS estimates.