Automation 2020

1.
Control systems for device noise reduction
Marek Pawełczyk
Politechnika Śląska w Gliwicach

Abstract: Acoustic noise is one of the most severe side effects accompanying rapid development of industry and transport, and equipping residential spaces with different sorts of industrial or household devices. In many cases passive isolation of noise sources in unfeasible or ineffective, especially for low frequencies. Rapid development of technology including microelectronics, and signal processing methods opens a new possibility to reduce the noise. In active noise control additional secondary sound sources are used to cancel noise from the original primary source. One of the physical justification is given by Young’s interference principle, i.e. interference of two out-of-phase sounds of equal amplitudes results in their mutual cancellation. The secondary source can also change the radiation acoustic impedance of the primary source, the primary noise can be absorbed by the secondary source, or for a confined space the primary noise can be reflected by the secondary source. An original active casing method has been recently developed. The idea is to use the device’s own casing or enclose the device in another thin-walled casing and excite the walls to vibrate in such a way that the noise is blocked inside. Such approach, when properly implemented allows for global noise reduction in the entire enclosure around the noisy source. Another challenging problem is to reduce the noise in large spaces, e.g. industrial halls. This is a sophisticated environment, usually of many sources, with a number of users moving around. To effectively reduce the noise a system of time-varying structure should be used. These and many other problems will be discussed during the lecture, demonstrating challenges and possibilities, structures and algorithms.

2.
Modern Industrial Robotics
Mariusz Olszewski
Politechnika Warszawska
marindustry4.0@gmail.com
Abstract: In the past decade, robots have become the basic tools for the automatization and robotization of industrial production, as they used to be in the 70s programmable controllers, in the 80s processor drive controllers, in the 90s of the twentieth century frequency controlled AC motors and in the first years of the 21st century digitization, expressed in the significant advancement and dissemination of computerization, telecommunications and internetization. This role is evidenced by further, beyond conventional robotics, extension of its application and the emergence of new hardware and software solutions oriented towards joint, by robots and human, undertaking of hitherto not rationalized production tasks. This essay is devoted to these transformations in contemporary robotics.

3.
Metrology for pipelines transporting gaseous and liquid fuels
Mateusz Turkowski
Politechnika Warszawska
m.turkowski@mchtr.pw.edu.pl
Abstract: Flow metrology plays an important role during transport of liquid and gaseous fuels with the use of long range pipelines and during storage of these media. The paper raises some specific questions concerning measurement of these fluids, especially for the purposes of financials settlements and custody transfer. The paper raises also the issues of flowmeters calibration. A strong tendency to calibrate flowmeter with the use of a fluid that is measured and without dismantling it from metering system is underlined. Contemporary pipeline systems are usually equipped with leak detection systems. The role of metrology and uncertainty analysis during design of such systems is underlined. Some aspects of liquified natural gas measurements are also highlighted.

4.
Linearization of fractional nonlinear systems by state-feedbacks
Tadeusz Kaczorek
Politechnika Białostocka
kaczorek@ee.pw.edu.pl
Abstract: Using the conformable fractional derivative the notions of Lie derivative and full relative degree are extended to the fractional nonlinear systems. The canonical form of the fractional nonlinear systems is introduced and sufficient conditions for the existence of the canonical form for the systems are established. A method for finding nonlinear state-feedbacks linearizing the fractional nonlinear system is proposed.

5.
Accuracy estimation of the discrete, approximated Atangana-Baleanu operator
Krzysztof Oprzędkiewicz
Akademia Górniczo-Hutnicza im. St. Staszica w Krakowie
kop@agh.edu.pl
Abstract: In the paper the accuracy analysis of the discrete approximations of the Atangana-Baleanu (AB) operator is addressed. The AB operator is the nonsingular kernel operator proposed by Atangana and Baleanu in the papers [1], [2]. It is obtained by replacing the exponential function in the Caputo-Fabrizio operator by the Mittag-Leer function. The use of the the AB operator at a digital platform (PLC, microcontroller) reuqires to apply the discrete approximation of the factor s. This can be done using discrete ORA or CFE approximations. The step responses of the both approximations are compared to the analytical response of operator. As the cost function the FIT function available in MATLAB is employed. Results of simulations show that the discrete ORA approximation gives better results than the CFE approximation calculated at the same time grid.

6.
Fractional order PIαDβ controller for the inverted pendulum
Krzysztof Oprzędkiewicz, Jakub Żegleń, Maciej Rosół
Akademia Górniczo-Hutnicza im. St. Staszica w Krakowie
kop@agh.edu.pl, zeglenjakub@gmail.com, maciej.rosol@agh.edu.pl
Abstract: In the paper the Fractional Order PID (FOPID) control for inverted pendulum system is addressed. The fractional order parts of the both controllers are approximated using ORA approximation, the FOPID-s were tuned using simulations. As the cost function the integral from sum of square control and position was considered. Results of simulations show that the use of FOPID controllers allows to obtain the better control performance in the sense of considered cost function than use of classic PID controllers, however the control performance in the FOPID control system is determined also by parameters of ORA approximation used to describe fractional parts of controllers.

7.
Tuning the fractional order PID controller in the forced air heating system using biologically inspired algorithms
Klaudia Dziedzic
Akademia Górniczo-Hutnicza im. St. Staszica w Krakowie
klaudia.dziedzic04@gmail.com
Abstract: The main objective of this research is to present the tuning of the fractional order PID controller for the forced air heating system using the particle swarm optimization algorithm (PSO), cockroach swarm optimization algorithm (CSO), grey wolf optimizer algorithm (GWO). In preliminaries, fractional calculus is discussed. Then, all three biological algorithms are briefly presented. Obtained simulation results allow comparison of individual algorithms in terms of overshoot, settling time and performance criteria (IAE, ITAE).

8.
Component-based Simulation Tool for Virtual Commissioning of Control Systems for Heat Exchange and Distribution Processes
¹Michał Frątczak, ¹Paweł Nowak, ¹Tomasz Kłopot, ¹Jacek Czeczot, ²Szymon Bysko, ¹Sara Bysko
¹Politechnika Śląska w Gliwicach, ²ProPoint Sp. z o.o. Sp. K
Michal.Fratczak@polsl.pl, Pawel.Nowak@polsl.pl, Tomasz.Klopot@polsl.pl, Jacek.Czeczot@polsl.pl, Szymon.Bysko@propoint.pl, Sara.Alszer@polsl.pl
Abstract: This paper deals with the validation of the concept of the component-based simulation tool and its application for virtual commissioning of the industrial control systems. It is shown how to decompose the heat exchange and dis-tribution system into the general-purpose components and then how to use these components for designing the component-based simulator of the process, which is suitable to use in virtual commissioning environment. Simulator based on SIMULINK® and WinMOD®. General hardware configuration and logical layers of the experimental setup, which was used during the experiments, are shown and described in details. Then, this simulator is tested for its simulation accuracy and the hardware experimental setup is tested for its applicability for virtual commissioning of the control systems for continuous dynamical processes of medium and high complexity. Communications lags between examined control system and simulator are analyzed due to checking whether the experiment results obtained depend of simulator’s time scaling factor.

9.
The system optimization of technical, technological and construction parameters of polder systems
¹Anatoliy Rokochinskiy, ²Igor Korobiichuk, ³Lyudmyla Kuzmych, ¹Pavlo Volk, ¹Anna Kuzmych
¹National University of Water Management and Environmental Engineering, Rivne, Ukraine, ²Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP, ³National Aviation University of Ukraine, Kyiv
a.m.rokochindkiy@nuwm.edu.ua, igor@mchtr.pw.edu.pl, klv@nau.edu.ua, p.p.volk@nuwm.edu.ua, annekuzmych@gmail.com
Abstract: The article substantiates the necessity and considers possible approaches to the system optimization of technological and constructive parameters of polder systems as a necessary condition for the creation and functioning of water management and reclamation facilities on ecological and economic bases under changing climatic conditions.

10.
The method of multi-criteria parametric optimization
¹Igor Korobiichuk, ²Volodymyr Drevetsky, ³Lyudmyla Kuzmych, ⁴Ivan Kovela
¹Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP, ²National University of Water Management and Environmental Engineering, Rivne, Ukraine, ³National Aviation University of Ukraine, Kyiv, ⁴Lviv Polytechnic National University, Ukraine
igor@mchtr.pw.edu.pl, westra.rv@ukr.net, klv@nau.edu.ua, kim@ukr.net
Abstract: The theoretical bases of the method of multi-criteria parametric optimization are developed, algorithms of calculation of continuous systems with typical linear regulators is given. Algorithms of the calculation of systems with digital controllers is given and shown on the example of the calculation of system with digital PI- regulator and objects with self-alignment and delay at a given value of the period of discreteness.

11.
Constraining the State and Control Signal Variation Using the Sliding Mode Control
Marek Jaskuła
Politechnika Łódzka
marek.jaskula@edu.p.lodz.pl
Abstract: In this article the discrete-time system violated by unknown, but bounded perturbations was considered. Using the reaching law approach the sliding mode controller was designed. The fastest, finite-time, monotonic convergence of the representative point to the predefined, fixed sliding hyperplane in the presence of state and control input constraints was analyzed. Moreover, the reaching law was improved by considering also the limitation of state and control signal variations. Proposed strategy does not require the fulfillment of the matching conditions.

12.
Sliding Mode Control with Minimization of IAE and Elastic Constraints on the Input Signal
Mateusz Pietrala
Politechnika Łódzka
800904@edu.p.lodz.pl
Abstract: This work considers the second order, continuous-time system affected by unknown, but bounded external disturbances. The main goal is to obtain the robustness with respect to these disturbances from the very beginning of the control process. Moreover, it is essential to drive the representative point to the demand state in fnite time. For that purpose, the time-varying, parabolic sliding line is introduced. The performance of our controller is evaluated by minimizing the quality index, which is a sum of Integral Absolute Error and a function, which provides a penalty for the excessive values of the control signal.

13.
Model reference QSM control strategy for higher relative degree outputs
Katarzyna Adamiak
Politechnika Łódzka
katarzyna.adamiak@edu.p.lodz.pl
Abstract: This paper deals with the problem of sliding mode control for discrete time, linear, time-invariant disturbed systems. Our aim is to improve the robustness of the system by minimization of the disturbance impact. We adopt the switching type definition of the quasi-sliding mode and propose a new, model reference based control strategy with higher relative degree sliding variables. Our idea is to first generate the desired evolution of the switching variable with the application of the conventional switching type reaching law developed by Gao et al. Next, we propose new model following, higher relative degree reaching laws for real disturbed systems. We consider sliding variable of relative degree one and two. We prove that the combination of the model reference strategy with higher relative degree output concept allows to ensure all the properties of the quasi-sliding mode as defined in the seminal paper of Gao et al. and reduces the width of the quasi-sliding mode band. Therefore, our strategy ensures the improvement of the system robustness. Finally, we conclude our paper with a simulation example.

14.
Control of the operation mode of the production facility based on the control charts of relevant characteristics of the technological process
¹Igor Korobiichuk, ²Liudmyla Davydenko, ³Nina Davydenko, ³Volodymyr Davydenko
¹Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP, ²Lutsk National Technical University, Ukraine, ³National University of Water Management and Environmental Engineering, Rivne, Ukraine
ikorobiichuk@piap.pl, l.davydenko033@gmail.com, ninadavydenko1992@gmail.com, v.a.davydenko@nuwm.edu.ua
Abstract: The article deals with the control of the operation mode of a production facility taking into consideration its actual operation conditions. Control procedure, which is based on the application of Shewhart charts for technological process characteristics, has been proposed. This procedure provides not only identification of the discrepancies in the process, but also the reasons that caused them. Construction of control charts is based on data obtained from the monitoring system and organized taking into consideration cyclic changes in the production process. This allows taking into consideration the actual operation conditions of the production facility and setting the correct standards for controlled parameters. The principles of interpretation of control charts and set of alarms about exceeding the standards, which take into consideration the nature of the influence of the controlled parameters on the production process efficiency, have been proposed. The proposed procedure has been applied to control the operation mode of the water supply pumping station. Standards for controlled technological parameters have been set taking into consideration cyclic changes in the water supply process. The description of alarms, which have been used to notify the operator of the control results, has been performed. The analysis of control charts of technological parameters enabled to determine moments of the discrepancy between the operation mode of the pumping station and the actual needs of the technological process, and to identify its reasons. The obtained results confirm the expediency of using the proposed procedure to take a decision on the need to improve the production process efficiency.

15.
System for detection of vehicles in multiple video streams in road infrastructure monitoring
Marcin Słomiany, Piotr Gemza, Filip Jędrzejczyk, Mateusz Maciaś, Jakub Główka
Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP
mslomiany@piap.pl, pgemza@piap.pl, fjedrzejczyk@piap.pl, mmacias@piap.pl, jglowka@piap.pl
Abstract: This article describes hardware and software architecture of system for road infrastructure monitoring. The specific emphasis is on camera based vehicle detection based on information coming from multiple sensors. Extensive overview of available visual vehicle detectors is provided and choice made for the Roadsens+ system development is explained. Presented experimental results includes quality rates for two different detection implementations and samples of positive detections as well as false positives. Achieved results allow to assess system usefulness in practical conditions.

16.
Monte-Carlo based lateral thruster parameters optimization for 122 mm rocket
Mariusz Jacewicz, Robert Głębocki, Rafał Ożóg
Politechnika Warszawska
mjacewicz@meil.pw.edu.pl, rgleb@meil.pw.edu.pl, rozog@meil.pw.edu.pl
Abstract: One of the current tendencies is to equip the unguided munition designed for ballistic shooting with low cost, solid propellant lateral thrusters based, actuators to achieve the controlled flight functionality and reduce the collateral damage. The basic technical challenge connected with this type of pulsed control system is that each from the thrusters could be used only once which results in projectile low control authority. The thruster parameters have crucial impact on the achieved hit accuracy. The main goal of this article was to investigate and understand the influence of control force magnitude on the guidance process using six-degree-of-freedom numerical simulation. 122 mm artillery rocket steered with the aim of 30 solid propellant thrusters mounted before center of mass was chosen a test object. Single channel control was considered. The impact point prediction algorithm based on point mass model was developed and implemented into a Matlab software. Using Monte-Carlo simulations the optimum lateral thruster force amplitude was obtained for shots at low elevation angle. The numerical experiments showed that with the proposed method the circular error probable of the projectile might be reduced 7 times when compared to unguided case.

17.
Idea of Automatically Controlled Anti-Collision Manoeuvre to Avoid an Unpredictably Moving Obstacle
Jerzy Graffstein
Sieć Badawcza ŁUKASIEWICZ – Instytut Lotnictwa
jerzy.graffstein@ilot.edu.pl
Abstract: Detection of an obstacle, assessment whether it is a threat to aircraft’s safety and making the appropriate decisions for the scenario of passing by, are necessary in a search for the solution for collision avoidance problem in the airspace. All of this phases precedes and are essentially important for the automatically executed manoeuvre of passing by a moving obstacle. In the article, an algorithm for passing by the moving obstacle is presented. This algorithm is synthesized assuming that the motion of the obstacle is unpredictable. The logical diagram is presented to illustrate the operations aimed at both: safe avoidance of a collision with manoeuvring obstacle and, after this manoeuvre, returning to the route pre-planned before the start. Proposed method is illustrated by simulation – the example of motion passing by the obstacle mentioned above in accordance with selected scenario.

18.
A proactive approach to resistant UAV mission planning
¹Grzegorz Radzki, ²Peter Nielsen, ¹Grzegorz Bocewicz, ¹Zbigniew Banaszak
¹Politechnika Koszalińska, ²Aalborg University, Denmark
radzki.grzegorz@gmail.com, peter@mp.aau.dk, bocewicz@ie.tu.koszalin.pl, zbigniew.banaszak@tu.koszalin.pl
Abstract: Proactive mission planning for a fleet of Unmanned Aerial Vehicles (UAVs) can be seen as a sequence of routing problems mathematically formalized as 0-1 knapsack problems. Taking into account the fact that weather conditions change during a mission,the time horizon of the planned mission is subdivided into time windows corresponding to periods ofstable weather. Also, keeping in mind fuel constraints, each knapsack problem is formulated as follows: Given isthe fleet size and a set of spatially dispersed target points specified by the volume of ex-pected deliveries and the coordinates of their location, whichallow to determine the amount of fuel consumed during flightalong a particular route segment/from one drop-off point to another. Determine a subset of locations so that the total fuel required to cover the total distance traveled by the UAV fleet is less than or equal to the given limit e.g. determined by battery capacity, and the total volume of deliveries is as large as possible. In this context, policies aimed at minimizing the total travel time and/or the total distance traveled are considered. Some poten-tial directions of future research on resistant UAV mission planning are dis-cussed.

19.
The use of CUSUM-charts for identification the technological process disorder at the initial stage
¹Yevhen Volodarskyi, ²Igor Pototskiy, ³Zygmunt Warsza
¹National Technical University of Ukraine “KPI”, Kyiv, ²SE «Ukrmetrteststandart», Kyiv, ³Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP
vet-1@ukr.net, pototskiy@ukrcsm.kiev.ua, zlw1936@gmail.com
Abstract: The accumulated sum control charts use the data obtained at the current and at all previous control stages. The using of these charts allows to determine the moment when the process goes out of statistically controlled state with less delay than the Shewhart charts. However, the presence of a time delay between the occurred event and its detection on the control chart can lead to large production losses (sometimes irreparable losses). The article considers a new approach that allows to identify violations in the process at the initial stage. For this it was suggested to consider not the average values of sample results at control points, but the standard deviations at these points. Using Pearson statistics, the probabilities of finding the standard deviation in elementary intervals are determined, into which the area of permissible deviations is divided in a statically controlled process. The initial premise is the assumption that the output of the sample dispersion outside the range of tol-erances at the control point is evidence that there are violations in the pro-cess. The probability of a control point falling beyond acceptable limits is the upper limit in the presence of violations in the process. This probability is a measure to detect violations at the initial stage. As a criterion, the number of consecutive control points falling in elementary intervals was selected. The probability of such a complex event should be less than the value of the measure to identify violations in the process. A concept is introduced and a critical number of points is determined. The efficiency of identifying process violations is determined. Recommendations on the use of the results are given.

20.
Modeling Thermal Modes of Induction Installation for Heating Dispersive Plant Materials
Taras Lendiel, Lysenko Vitaliy, Dmitruy Komarchuk, Roman Kalinichenko, Viktor Trokhaniak, Volodymyr Hryshchenko
National University of Life and Environmental Sciences of Ukraine
taraslendel@gmail.com, lysenko@nubip.edu.ua, dmitruyk@gmail.com, rkalinichenko@ukr.net, v1kt0r_t@ukr.net, vlgr@nubip.edu.ua
Abstract: A mathematical model of the non-stationary heating process of grain material is formulated on the basis of the analysis of the processes of heat transfer in a moving layer of disperse material with immersed fuel elements placed in a cylindrical inductor. The analytical dependences of grain temperature distribution in the direction of motion are acquired, taking into account unevenly distributed thermal power in stationary mode. Static and transition characteristics of the induction heater, the distribution of the temperature of the core loading and the change in its temperature over time are analytically determined and verified according to the experiments. Dynamic properties of the installation as a control object are defined in the form of transfer functions through the control and perturbation channels.

21.
Graphic editors of LD and FBD in CPDev package
Zbigniew Świder
Politechnika Rzeszowska
swiderzb@prz-rzeszow.pl
Abstract: The article describes graphic editors of LD and FBD languages used in the CPDev proprietary engineering community. The diagrams created with the help of these editors are pre-converted to source code in ST, and then translated into the author’s intermediate code (called VMASM). A unique feature of these editors is the mechanism of automatically determining connections between schematic elements using the A* algorithm. Individual elements of the diagram do not have a rigid position in the working field (e.g. LD ladder), which significantly affects the transparency of the diagram. In online tracking mode, the output values of its individual elements are displayed directly on the graphic scheme (diagram). To ensure this, the graphic schema is first converted to an AOV graph, and then simplified and the ST source code is directly generated from it. Developed graphic editors allow creating both simple and complex control programs (diagrams), as well as ensure easy editing, cloning of fragments of the scheme, saving, loading and printing of the created diagram.

22.
Implementation of Engineering Environment – Case Study: CPDev Package
Dariusz Rzonca, Jan Sadolewski, Andrzej Stec, Zbigniew Świder, Bartosz Trybus, Leszek Trybus
Politechnika Rzeszowska
drzonca@prz-rzeszow.pl, js@kia.prz.edu.pl, astec@kia.prz.edu.pl, swiderzb@prz-rzeszow.pl, btrybus@kia.prz.edu.pl, ltrybus@kia.prz.edu.pl
Abstract: The IEC 61131-3 standard defines five languages, dedicated for programming industrial controllers. The standard is commonly used, there are numerous engineering environments fully or partially compatible with it. Several academic solutions have been described in the literature, but they typically implement only selected parts of the IEC 61131-3 standard (e.g. only one or two languages). On the other hand, commercial engineering environments usually implement all languages, but their documentation focuses on the application of the environment, whereas details about internal architecture and implementation are rarely disclosed. The paper describes such internal details of the CPDev engineering environment. The architecture based on the virtual machine makes the environment portable, thus facilitate implementation on diverse hardware platforms. Several industrial implementations of CPDev are also mentioned.

23.
Performance Improvement of PLC – HMI Communication in CPDev Engineering Environment
Dariusz Rzońca
Politechnika Rzeszowska
drzonca@prz-rzeszow.pl
Abstract: HMI (Human-Machine Interface) panels are commonly used in industrial automation systems. They facilitate the visualization of industrial process control as well as enable the change of parameters. The values displayed on a HMI are read from a controller or controllers connected by a communication link. Thus efficient PLC – HMI communication is essential for proper functioning of the whole automation system. Several aspects of such communication are analyzed in the paper and some solutions proposed to reduce the communication cycle. The described methods have been implemented in the CPDev engineering environment.

24.
Recent advances in mechanical micro- and nano-manipulation
Mantas Makulavicius, Oleksii Balitskyi, Rimgaudas Urbonas, Andrius Dzedzickis, Vytautas Bucinskas, Algirdas Petronis, Mykyta Kovalenko, Inga Morkvenaite-Vilkonciene
Vilnius Gediminas Technical University, Lithuania
m.makulavicius@vgtu.lt, 0671493710@ukr.net, rimgaudas.urbonas@stud.vgtu.lt, andrius.dzedzickis@vgtu.lt, vytautas.bucinskas@vgtu.lt, algirdas.petronis@stud.vgtu.lt, mykyta.kovalenko@vgtu.lt, inga.morkvenaite-vilkonciene@vgtu.lt
Abstract: In order to achieve an accurate positioning for an investigation of micro- or nano-objects or to operate with them in micro or nano scale, modern and sophisticated tools are required. Over the past years of the development of micro- and nano-manipulation tools, novel types were invented, or old ones were upgraded. Those tools such as microgrippers, microrobots for micromanipulation and piezoelectric actuators for nanomanipulation with visual monitoring using atomic force microscopy (AFM) are implemented in nowadays research. In this article different types and tools of micro- and nano-manipulation, the design of micro- or nano- manipulation devices, the environment for work with, and the development process are described. Furthermore, the comparison of different types of micromanipulation and, separately, of nanomanipulation are provided

25.
Improving positioning accuracy of an articulated robot using deep q-learning algorithms
Marius Sumanas, Algirdas Petronis, Vytautas Bučinskas, Andrius Dzedzickis, Liudas Petrauskas, Nikita Edgar Sitiajev, Inga Morkvenaite-Vilkonciene
Vilnius Gediminas Technical University, Lithuania
m.sumanas@gmail.com, algirdas.petronis@vgtu.lt, vytautas.bucinskas@vgtu.lt, andrius.dzedzickis@vgtu.lt, liudas.petrauskas@stud.vgtu.lt, nikita.edgar.sitiajev@stud.vgtu.lt, inga.morkvenaite-vilkonciene@vgtu.lt
Abstract: Positioning accuracy of articulated robots decreases significantly when they are fully loaded and operated at maximum speeds due to increased inertia. Hard-coding correction algorithms using traditional methods is extremely difficult. A system, which could automatically detect patterns in deviations and offer possible corrections at every motion cycle would be preferable. This work explores the possibility to use deep q-learning algorithms to achieve this. Around forty exper-iments of various lengths were conducted. They were divided into three experi-mental groups, each of which had various parameters values and elements of al-gorithms. While algorithms in two experimental groups were unsuccessful in achieving improved accuracy, one offered comparable accuracy, while resulting in more stable and predictable deviations compared to uncorrected positioning.

26.
Leveraging Object Recognition in Reliable Vehicle Localization from Monocular Images
Tomasz Nowak, Michał R. Nowicki, Krzysztof Ćwian, Piotr Skrzypczyński
Politechnika Poznańska
tomasz.nowak@put.poznan.pl, michal.nowicki@put.poznan.pl, krzysztof.cwian@put.poznan.pl, piotr.skrzypczynski@cie.put.poznan.pl
Abstract: We present the processing pipeline of a monocular vision system that successfully performs the task of detecting, identifying and localizing a city bus electric charger station. This task is essential to the operation of an advanced driver assistance system that helps the driver to dock the long vehicle at the charging station. The focus is on the role of machine learning techniques in developing a robust detection and classification procedure that allows our system to localize the camera with respect to the charger even from long distance and considering an arbitrary environment of the charging post. We present experimental results for three variants of the proposed solution, demonstrating that the learned detection procedure improves robustness of the classic 3-D vision techniques for monocular localization, while the geometric relations estimated by our system can be used to improve the learning results.

27.
Motion Planning of the Cooperative Robot with Visual Markers
¹Dominik Belter, ²Michał Spławski, ¹Rafał Staszak, ²Filip Jarecki, ²Jakub Chudziński, ¹Piotr Kaczmarek, ¹Paweł Drapikowski
¹Politechnika Poznańska, ²A.S. Adrian Stern, Poznań
dominik.belter@put.poznan.pl, m.splawski@rob-tech.pl, rafal.staszak@doctorate.put.poznan.pl, f.jarecki@rob-tech.pl, j.chudzinski@rob-tech.pl, piotr.kaczmarek@put.poznan.pl, pawel.drapikowski@put.poznan.pl
Abstract: In recent years numerous robotic solutions have been developed to improve production processes. However, most of the robotic arms are applied in large factories where they perform repetitive tasks supporting mass production. The complexity of programming and adapting robots for changing production is still a barrier for the application of robot arms in flexible and small-scale production. In this paper, we present the system which allows programming the robot using visual cameras and a set of visual markers. We develop a method for flexible motion planning for the cooperative robot to quickly define the trajectory of the robot in the 3D space. We present the architecture of the system, calibration method and the performance of the system. We also show how to significantly improve the detection range of the visual markers using Convolutional Neural Networks for object detection.

28.
Comparation Methods of Positioning Mobile Robot System on Terrain
Kamil Borycki, Szczepan Kostecki, Daniel Włodarczyk, Michał Sokołowski
Politechnika Świętokrzyska
kborycki96@gmail.com, szczepan.kostecki@gmail.com, danielwlodarczyk1995@interia.pl, michal.sokolowski95@gmail.com
Abstract: This thesis deals with three specific positioning methods of mobile robot in terrain and test them at the test track, which was created especially for European Rover Challenge 2019. A Mars rover “IMPULS II” built by students of Kielce University of Technology was used for this tests. The tests performed was used to compare precision of positioning rover system according to using method. The special application was used to analysis and visualization, which allows on controlling and tracking mobile robot. Additionally measurements of distance between Mars rover and target point was performed. The experimental results indicate that precise map analyze and used algorithm allows approaching specific target point.

29.
Using a WebSocket server and the JSON format to transmit data for the purposes of implementing the brain-computer technology
Szczepan Paszkiel
Politechnika Opolska
szczepanpaszkiel@o2.pl
Abstract: This article describes the Emotiv Cortex software and a Raspberry Pl device comprising an original solution in the field of control based on the BCI brain-computer interface technology. For the purposes of the conducted research, a Raspberry PI with a Wi-Fi module was used. The Raspberry PI was connected to a universal board, which enabled easy linking of other modules, to be controlled by the persons operating the solution. The brain-computer interface developed by Emotiv (EPOC+ Neuro Headset) communicates with the Emotiv Cortex software, the messages are sent to the Raspberry PI 2B and then used to control a sample device operating within a smart home system.

30.
The use of facial expressions identified from the level of the EEG signal for controlling a mobile vehicle based on a state machine
Szczepan Paszkiel
Politechnika Opolska
szczepanpaszkiel@o2.pl
Abstract: The development of brain-computer technology resulted in affordable Brain-Computer Interface peripherals. The purpose of the article is to choose BCI device and the way of passing commands to remote vehicle. Next part of the work is preparation of physical device, which can be controlled through Wi-Fi from Personal Computer. The vehicle is expected to make movements like forward, backward and rotation. Finally, the whole process will be orchestrated by software on PC, which passes commands from BCI device to the vehicle. Thus the robot is controlled with facial expressions, intercepted by BCI device.

31.
The Infrastructure of RFID-based Fast Moving Consumer Goods system using Cloud
Bartosz Pawłowicz, Mateusz Salach, Bartosz Trybus
Politechnika Rzeszowska
barpaw@prz.edu.pl, m.salach@prz.edu.pl, btrybus@kia.prz.edu.pl
Abstract: The paper presents the application of RFID identification in the field of fast moving consumer goods (FMCG). The concept of a distributed system including household appliances, local embedded controllers and mobile platforms for product identification is presented, and RFID data processing is discussed. An important element of the solution is the use of cloud solutions, such as a central database, middleware connecting household appliances with other system modules and cloud services. The prototype of this solution has been developed using RFID read/write devices and the popular Raspberry Pi platform as a communication module for a home fridge with Microsoft Azure cloud services.

32.
An approach towards high precision docking of the mobile robots for industrial purposes
¹Piotr Falkowski, ¹Michał Smater, ¹Jakub Koper, ¹Arkadiusz Myśliwiec, ²Tomasz Mackiewicz
¹Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP, ²Centrum Badań i Rozwoju Nowoczesnych Technologii
piotr.falkowski@piap.pl, msmater@piap.pl, jkoper@piap.pl, amysliwiec@piap.pl, tomasz.mackiewicz@cbirnt.wrzesnia.powiat.pl
Abstract: The fourth industrial revolution caused a dynamic development of production capabilities. To manufacture faster and more efficiently, production lines are being equipped with numerous sensors based on IoT technology. Thus, the machines, and especially robots working in the factories, need to operate in an even more flexible way. This does not only apply to the interchangeability of their tasks but also requires their mobility between the different workstations. Not necessarily does it have to be realised with the linear tracks. The era of Industry 4.0 brings about a real need for the implementation of autonomous mobile robots in the manufacturing sector. Therefore, dedicated docking systems need to be developed to allow improved mobility of industrial manipulators and maintain a satisfactory level of their precision. The following paper constitutes a case study exploring the viability of the implementation of industrial robots, placed on a manual trolley and an autonomous mobile robot MiR 100, for automotive training purposes. A detailed description of the design-and-test iteration process is presented herein, followed by results obtained from a real-life validation.

33.
Hip twist device for wearable robot
Paweł Rękas
Politechnika Warszawska
pawel.rekass@gmail.com
Abstract: Paper contains considerations on the implementation of the design of the hip twist module. It presents the genesis of the topic and a detailed description of the mod-ule operation. Attention is paid to user safety. The device requirements have been formulated. The loads that the module should be carrying, the kinematics and the dynamics of motion were determined – the angular range of rotation, the moment at which the limb can be rotated and the positioning time. With knowledge of the requirements that the device must meet, the initial schematic diagram of the device was made. Curvilinear rolling guides were constructed. A drive transmission sys-tem consisting of 3 different types of mechanical gears was constructed. The kin-ematic schematic diagram of the device was made. In the last stage, the pusher was analyzed in case of bending stresses using the FEM method. After analyzing the results, it was found that the dimensions of the pusher were selected correctly and the appropriate material was selected. Three-dimensional models of the entire module were made.

34.
Investigation of GNSS jamming incidences on main transport corridors in Central Europe
Artur Wieczyński, Konrad Bożek, Maria Baczyńska-Wilkowska, Arkadiusz Perski
Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP
awieczynski@piap.pl, kbozek@piap.pl, mbaczynska@piap.pl, aperski@piap.pl
Abstract: In the article there are presented results of investigation on GNSS jamming incidences in different localizations on main transport corridors in Poland taking into account also traffic from neighbouring countries: Germany, Belarus and Lithuania. Localisations of the measurement sessions were carefully chosen to enable the general analysis of the GNSS jamming problem on the main transport corridors in Central Europe. Static and mobile measuring systems were designed and built in ŁUKASIEWICZ Research Network – Industrial Research Institute for Automation and Measurements PIAP based on software defined radio (SDR) platform. The system scans among all GNSS bands and seeks for the in-band interference signals. The detected and recorded jamming signals were further ana-lysed. The analysis was done to assess the volume and types of GNSS jamming incidences. The collected data allow to estimate the scale of the problem and prepare a road map for the development of legislative documents and technical coun-termeasures. The research was done in the frame of “Evaluation of Galileo/EGNOS services jamming incidence in Central Europe” project founded by European Space Agency.

35.
Theoretical estimates of the accuracy of determination of geometric parameters of objects on digital images
¹Igor Korobiichuk, ²Yuriy Podchashinskiy, ²Oksana Luhovykh, ²Vitalii Levkivskyi, ³Katarzyna Rzeplińska-Rykała
¹Politechnika Warszawska, ²Zhytomyr Polytechnic State University, Ukraine, ³Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP
igor@mchtr.pw.edu.pl, ju.podchashinskiy@gmail.com, ksyxon@gmail.com, levkivskij.vl@gmail.com, krykala@piap.pl
Abstract: The article provides theoretical estimates of the accuracy of determining the geometric parameters of objects in digital images. The geometric parameter error estimates take into account a digital video conversion with measurement information about the geometric parameters. This transformation takes place in the process of imaging by a digital video camera, which is a part of the measurement of mechanical quantities. Therefore, the article considers the measurement errors caused by the quantization of video signal level and sampling, and their statistical characteristics. The results can be used to calculate geometrical measurement errors and measurements of object motion parameters, as well as to formulate requirements for hardware and software for processing experimental data.

36.
Utilization of vibration energy from vehicle using smart damper
Tadas Lenkutis, Vytautas Bučinskas, Gediminas Vaičiūnas, Nikolaj Šešok, Igor Iljin, Dainius Kunkis
Vilnius Gediminas Technical University, Lithuania
tadas.lenkutis@vgtu.lt, vytautas.bucinskas@vgtu.lt, gediminas.vaiciunas@vgtu.lt, nikolai.sesok@vgtu.lt, igor.iljin@vgtu.lt, dainius.kunkis@stud.vgtu.lt
Abstract: Harvesting of mechanical vibration energy recently is popular idea, but its implementation is still limited due to real size of harvesters and efficiency of the systems. Here provided an idea and realization of smart shock absorber with smart liquid, able to generate electric energy from vehicle suspension excitation and thus damping vehicle vibrations. Linear type of electric generators are not very efficient due to limited stroke, therefore its efficiency of energy transformation is far from ideal. This paper provides experimental research of energy harvesting efficiency using smart liquid core, magnetic core and fer-romagnetic core of shock absorber. Comparison of these materials in the shock absorber provides clear ability to use smart liquid as ferromagnetic core in the process of power generating. Such device proves possibility to be implemented in the vehicle suspension and allows power-damping control as well as data transmission energy request. Generated power and its dependency from excita-tion frequency provided in the result graphs.

37.
Estimation of uncertainties in multivariable measurements Part 1. Case of correlated quantities
¹Zygmunt Warsza, ²Jacek Puchalski
¹Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP, ²Główny Urząd Miar
zlw1936@gmail.com, jacek.puchalski@gum.gov.pl
Abstract: This two-part paper presents an improved version of the method of evaluation uncertainties in the multiparameter indirect measurements stated in the Supplement 2 to GUM guide. In this part 1 it was done for the case of correlated quantities on the example of two-parameter (2D) jointed measurements. It consists the correlation of individual components of deviations from the estimator of result with the type A and/or type B uncertainty of measurands. The general formulas for the covariance matrix, final uncertainties and correlation coefficient were determined as well as formulas for several specif-ic cases, presented in Table 1. The graphs show the correlation coefficients of the output quantities as a function of the type B contribution in the uncertainty of the input quantities. The inclusion of correlations of uncertainty components makes the uncertainty evaluations of output quantities more reliable and accurate.

38.
Estimation of uncertainties of indirect multivariable measurements and of their instrumentation Part 2. Influence of the processing function accuracy
¹Zygmunt Lech Warsza, ²Jacek Grzegorz Puchalski
¹Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP, ²Główny Urząd Miar
zlw1936@gmail.com, jacek.puchalski@gum.gov.pl
Abstract: This two-part paper presents an improved version of the method of evaluation uncertainties in the multivariable indirect measurements. It has an extended scope of application compared to the method given in Supplement 2 of the international guide with the acronym GUM [1], which assumes a perfectly accurate parameters multidimensional function of processing input measurement data. Part 1 discussed the cases of various correlations of measured values. The law of variance propagation is described in the form of dependencies between input and output covariance matrices. General formulas for uncertainty and cor-relation coefficients at the output are given as well as formulas for several char-acteristic cases. It has been shown that for pairs of all measured quantities, the effect of correlation between sets of deviations with uncertainty for each of types A and B should be considered separately. Proposed is to calculate output covariance matrices of correlated variables separately for uncertainties type A and type B An example of associated two-parameter (2D) measurements is also discussed. In this Part 2, the effect of uncertainties of the processing function parame-ters on the elements of output multimeasurand covariance matrix has been de-termined. General formulas for full correlation and its absence are given. An ex-ample of the evaluation uncertainties of indirect current and voltage measure-ments on the inaccessible input of the T-type impedance twoport network based on measurements at its output is considered in detail. Final conclusions are giv-en. The proposed upgraded method is versatile, because it allows both the esti-mation of the accuracy of indirect multivariable measurements as well a descrip-tion of the accuracy of instruments and measuring systems performing such measurements.

39.
Numerical Modeling of Dynamic Disturbances Acting on the Sensitive Elements of an Instrument Navigation System
¹Igor Korobiichuk, ²Olena Bezvesilna, ³Yuriy Podchashinskiy, ⁴Katarzyna Rzeplińska-Rykała
¹Politechnika Warszawska, ²National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”, ³Zhytomyr Polytechnic State University, Ukraine, ⁴Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP
igor@mchtr.pw.edu.pl, o.bezvesilna@gmail.com, ju.podchashinskiy@gmail.com, krykala@piap.pl
Abstract: The numerical methods for modeling dynamic disturbances that influence a sensitive element (accelerometer) of the instrument navigation system were considered. Algorithms of reproduction of dynamic disturbances on a digital computer with a given correlation function were developed. In the paper presented the results of the studies of numerical modeling of dynamic disturbances in the instrument navigation system with acceptable reproduction accuracy of the statistical characteristics of these disturbances.

40.
Microbial fuel cell-based toxicity sensor
¹Juste Rozene, ²Antanas Zinovicius, ¹Barbora Kacinskaite, ¹Vytautas Bucinskas, ²Arunas Ramanavicius, ¹Inga Morkvenaite-Vilkonciene
¹Vilnius Gediminas Technical University, Lithuania, ²Vilnius University, Lithuania
juste.rozene@gmail.com, sodokalno@gmail.com, barbora.kacinskaite@vgtu.lt, vytautas.bucinskas@vgtu.lt, arunas.ramanavicius@chf.vu.lt, inga.morkvenaite-vilkonciene@vgtu.lt
Abstract: The increase in energy consumption also increases the damage to the environment and the toxicity of water still is one of the main problems in the world. Microbial fuel cells (MFCs) are one of the alternative energy sources. The study demonstrates the possibility to use yeast as a probe to assess redox and electrophile-based toxicities and to extend the life of a MFCs. But as it is known, the quinones cause the oxidative stress of the cells. That is why the main aim of our research was to create a real-time biomonitoring system using MFCs to detect the concentration of quinones in solution, using one and two redox mediator’s systems. Atomic force microscopy (AFM) was used to analyse the topography of the modified and non-modified graphite electrode and Potentiostat/Galvanostat Autolab PGSTAT 30 was used for the electrochemical measurements, which results are described in this paper.

41.
Stability of Jiles-Atherton anhysteretic magnetization curve model for magnetic materials with uniaxial anisotropy
Roman Szewczyk
Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP
rszewczyk@piap.pl
Abstract: Anhysteretic magnetization curve plays the key role in modelling the characteris-tics of components made of soft magnetic materials. However, due to the positive feedback, for some set of parameters the most common model of magnetization curve might be unstable. Moreover, formal stability assessment of anhysteretic magnetization curve is sophisticated due to nonlinearities. Paper presents practical approach to stability assessment of Jiles-Atherton anhysteretic magnetization curve model for magnetic materials with uniaxial anisotropy. Results of this as-sessment enable the increase of efficiency of the process of identification of the model’s parameters, and as a result enable more efficient description of function-al characteristics of inductive components with cores made of anisotropic soft magnetic materials.

42.
Magnetic permeability tensor with saturation flux density description for 2D materials with uniaxial anisotropy
Roman Szewczyk
Sieć Badawcza ŁUKASIEWICZ – Przemysłowy Instytut Automatyki i Pomiarów PIAP
rszewczyk@piap.pl
Abstract: During the development of advanced models of mechatronics devices with cores made of anisotropic soft magnetic materials, magnetic permeability has to be described as tensor. However commonly used tensor magnetic perme-ability descriptions doesn’t consider saturation phenomenon for flux density. As a result accuracy of such simulations is significantly limited, especially for higher values of magnetizing field. Paper is proposing new method of magnetic permeability description considering saturation flux density. Proposed concept is based on the anisotropy energy analyze and was verified for magnetization curve of soft magnetic materials with uniaxial anisotropy. Results of modeling confirm good agreement with the results experimental measurements for soft magnetic materials with uniaxial anisotropy.

43.
Estimation of Azimuth and Elevation Angles of Ultrasonic Signal Arrival by Indirect Phase Determination
Bogdan Kreczmer
Politechnika Wrocławska
bogdan.kreczmer@pwr.edu.pl
Abstract: The paper presents the concept of the method of determining the direction of ultrasonic signal arrival, i.e. the azimuth and elevation angles. This methods is an extension of the previous approach which was proposed to determine only the azimuth angle. The approach is based on indirect phase determination. This makes it possible to tolerate spacing of receivers greater than half the wavelength of the received signal. At the same time, it provides increased measurement accuracy and reduced hardware requirements. For the proposed method, the preliminary implementation was performed and tested in simulations. Measurement errors were not included in current simulations.