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\nMay 8-9, 2024 \u2013 \u0141ukasiewicz Research Network – Industrial Research Institute for Automation and Measurements (PIAP).
\n3 keynote talks and 55 regular papers in 3 topic sessions.
\nTitles and abstracts of the papers ordered by topic session are presented below.
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\n1.<\/strong>
\nReview: Biodegradable Force Sensors<\/strong>
\nVytautas Bucinskas<\/em>
\nVilnius Gediminas Technical University
\nvytautas.bucinskas@vgtu.lt<\/em>
\nAbstract: <\/strong>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 \u2013 they can be piezoresistive, fiber-based multi-contact or material dimension \u2013 based resistance change. Flexible sensors are produced using various physical forms \u2013 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.<\/p>\n
2.<\/strong>
\nCascade-like Feedback Control System for Automated Articulated Vehicles<\/strong>
\nMaciej Marcin Micha\u0142ek<\/em>
\nPoznan University of Technology
\nmaciej.michalek@put.poznan.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
3.<\/strong>
\nModelling of dynamic systems using fractional order calculus<\/strong>
\nAndrzej Dzieli\u0144ski<\/em>
\nWarsaw University of Technology
\nandrzej.dzielinski@pw.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
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\n4.<\/strong>
\nOptimizing ambulance routing for timely delivery and pick-up of nursing teams visiting patients undergoing home therapy<\/strong>
\n^{1<\/sup>Eryk Szwarc<\/em>, ^{2<\/sup>Robert Wojcik<\/em>, ^{1<\/sup>Grzegorz Bocewicz<\/em>, ^{1<\/sup>Zbigniew Banaszak<\/em>
\n^{1<\/sup>Koszalin University of Technology, ^{2<\/sup>Wroc\u0142aw University of Science and Technology
\neryk.szwarc@tu.koszalin.pl, robert.wojcik@pwr.edu.pl, grzegorz.bocewicz@tu.koszalin.pl, zbigniew.banaszak@tu.koszalin.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}
5.<\/strong>
\nAutomatyzacja technologii formowania i dystrybucji opakowa\u0144 kartonowych<\/strong>
\nJustyna Szylman<\/em>
\nZak\u0142ady Mi\u0119sne Skiba S.A.
\nj.szylman@zmskiba.pl<\/em>
\nAbstract: <\/strong>Celem realizacji projektu pod tytu\u0142em Automatyzacja technologii formowania i dystrybucji opakowa\u0144 kartonowych jako odpowied\u017a na potrzeby w zakresie efektywno\u015bci realizacji proces\u00f3w logistycznych w skali krajowej i europejskiej, zrealizowanego przez Zak\u0142ady Mi\u0119sne Skiba S. A., by\u0142o opracowanie innowacji procesowej w postaci technologii formowania i dystrybucji opakowa\u0144 kartonowych klapowych i skrzyniowych, wykorzystywanych do transportu wyrob\u00f3w gotowych Sp\u00f3\u0142ki. Potrzeba realizacji projektu by\u0142a zwi\u0105zana bezpo\u015brednio z potrzebami rynkowymi oraz ograniczeniami w rozwoju samej sp\u00f3\u0142ki. Z racji braku automatyzacji produkcji opakowa\u0144 klapowych i niewystarczaj\u0105co wydajnego procesu formowania opakowa\u0144 skrzynkowych niemo\u017cliwe by\u0142o obni\u017cenie jednostkowego kosztu ich produkcji, a tak\u017ce produkowanie ich z wydajno\u015bci\u0105 niezb\u0119dn\u0105 dla zaspokojenia potrzeb zak\u0142adu. Dzi\u0119ki automatyzacji technologii formowania i dystrybucji opakowa\u0144 kartonowych osi\u0105gni\u0119te zosta\u0142y rezultaty w postaci: zmniejszenie materia\u0142och\u0142onno\u015bci procesu formowania opakowa\u0144 kartonowych, zmniejszenie czasoch\u0142onno\u015bci procesu, zmniejszenie pracoch\u0142onno\u015bci procesu formowania karton\u00f3w, zapewnienie wytrzyma\u0142o\u015bci opakowa\u0144 kartonowych, zwi\u0119kszenie wydajno\u015bci i elastyczno\u015bci produkcji w obliczu rosn\u0105cego zapotrzebowania na opakowania. Realizacja Projektu umo\u017cliwi\u0142a uzyskanie wysokokonkurencyjnego procesu stanowi\u0105cego innowacj\u0119 w skali krajowej cechuj\u0105cego si\u0119 wysokim poziomem automatyzacji i zwi\u0119kszon\u0105 elastyczno\u015bci\u0105. Powy\u017csze efekty zosta\u0142y osi\u0105gni\u0119te dzi\u0119ki zaplanowanym pracom projektowym obejmuj\u0105cym prace rozwojowe w oparciu o zasoby kadrowe i techniczne oraz know-how badawczo-produkcyjny Sp\u00f3\u0142ki. Wdro\u017cenie rezultat\u00f3w odby\u0142o si\u0119 poprzez wprowadzenie wynik\u00f3w prac projektowych do w\u0142asnej dzia\u0142alno\u015bci Sp\u00f3\u0142ki. Sp\u00f3\u0142ka zabezpieczy\u0142a prawa w\u0142asno\u015bci intelektualnej a opracowana innowacja procesowa przyczyni\u0142a si\u0119 do rozwoju strategii ZM Skiba skupiaj\u0105cej si\u0119 m.in. na zwi\u0119kszeniu kosztowej mar\u017cy bezpiecze\u0144stwa w przypadku waha\u0144 cen na rynku krajowym i mi\u0119dzynarodowym.<\/p>\n
6.<\/strong>
\nUsing enterprise architecture assumptions for analysis and optimization of production control <\/strong>
\nZbigniew Juzo\u0144<\/em>, Jaros\u0142aw Wikarek<\/em>, Pawe\u0142 Sitek<\/em>
\nKielce University of Technology
\nzjuzon@tu.kielce.pl, j.wikarek@tu.kielce.pl, sitek@tu.kielce.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
7.<\/strong>
\nRemote control of an arm robot using VR in the field of Industry 4.0<\/strong>
\nMateusz Salach<\/em>, Arkadiusz St\u0119ch\u0142y<\/em>, Andrzej Paszkiewicz<\/em>, Patryk Organi\u015bciak<\/em>, Grzegorz Budzik<\/em>
\nRzeszow University of Technology
\nm.salach@prz.edu.pl, arkadiusz.stechly@kneiti.prz.edu.pl, andrzejp@prz.edu.pl, org@prz.edu.pl, gbudzik@prz.edu.pl<\/em>
\nAbstract: <\/strong>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<\/p>\n
8.<\/strong>
\nUsing the digital-twin technology in the Mi-17 mixed reality simulator<\/strong>
\nPiotr Gola\u0144ski<\/em>, Marek Szczekala<\/em>
\nAir Force Institute of Technology
\npiotr.golanski@itwl.pl, marek.szczekala@itwl.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
9.<\/strong>
\nFast discrete-time PID controller for current servo<\/strong>
\nAndrzej Bo\u017cek<\/em>
\nRzeszow University of Technology
\nabozek@kia.prz.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
10.<\/strong>
\nNumerical Analysis of the Discrete, Fractional Order PID Controller using FOBD Approximation<\/strong>
\nKrzysztof Oprz\u0119dkiewicz<\/em>
\nAGH University of Science and Technology
\nkop@agh.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
11.<\/strong>
\nExtremal Problems for Hyperbolic Systems with Boundary Conditions Involving Integral Time Lags<\/strong>
\nAdam Kowalewski<\/em>
\nAGH University of Science and Technology
\nako@agh.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
12.<\/strong>
\nApplicability of Fractional-Order PID Controllers for Twin Rotor Aerodynamic System Objects<\/strong>
\nFaisal Saleem<\/em>, J\u00f3zef Wiora<\/em>
\nSilesian University of Technology
\nfaisal.saleem@polsl.pl, jozef.wiora@polsl.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
13.<\/strong>
\nParametric identification of nonlinear and linear mathematical models of the BLDC motor<\/strong>
\n\u0141ukasz Zawarczy\u0144ski<\/em>
\nKielce University of Technology
\nl.zawarczynski@tu.kielce.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
14.<\/strong>
\nNew sliding hyperplane for achieving bounded output performance in DSMC<\/strong>
\nPawe\u0142 Latosi\u0144ski<\/em>
\nLodz University of Technology
\npawel.latosinski@p.lodz.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
15.<\/strong>
\nSliding Mode Inventory Control with a Pregenerated Reference Trajectory Profile<\/strong>
\nKatarzyna Adamiak<\/em>, Tymoteusz Zwierzchowski<\/em>
\n\u0141\u00f3d\u017a University of Technology
\nkatarzyna.adamiak@p.lodz.pl, tymoteusz.zwierzchowski@p.lodz.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
16.<\/strong>
\nNavigation support system for rotating missiles<\/strong>
\nDawid Florczak<\/em>, Dariusz Miedzi\u0144ski<\/em>, Robert G\u0142\u0119bocki<\/em>
\nWarsaw University of Technology
\n01105138@pw.edu.pl, dariusz.miedzinski2.dokt@pw.edu.pl, robert.glebocki@pw.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
17.<\/strong>
\nTuning the Heading Controller for the Ship’s Autopilot<\/strong>
\nZbigniew \u015awider<\/em>
\nRzeszow University of Technology
\nswiderzb@prz-rzeszow.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
18.<\/strong>
\nModel and implementation of a dual-core programmable controller based on a virtual machine<\/strong>
\nMarcin Hubacz<\/em>, Jan Sadolewski<\/em>, Bartosz Trybus<\/em>
\nRzeszow University of Technology
\nm.hubacz@prz.edu.pl, jsad@prz.edu.pl, btrybus@kia.prz.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
19.<\/strong>
\nLaundry control system using textronics and cloud computing<\/strong>
\nMarcin Hubacz<\/em>, Mateusz Salach<\/em>, Bartosz Trybus<\/em>, Bartosz Paw\u0142owicz<\/em>
\nRzeszow University of Technology
\nm.hubacz@prz.edu.pl, m.salach@prz.edu.pl, btrybus@kia.prz.edu.pl, barpaw@prz.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
20.<\/strong>
\nA system for testing and verifying prototypes of models for vehicle traffic control<\/strong>
\nMarcin Hubacz<\/em>, Andrzej Paszkiewicz<\/em>, Bartosz Paw\u0142owicz<\/em>, Mateusz Salach<\/em>, Bartosz Trybus<\/em>, Konrad \u017bak<\/em>
\nRzeszow University of Technology
\nm.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<\/em>
\nAbstract: <\/strong>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.<\/p>\n
21.<\/strong>
\nOptimization of Mixed Reading of Binary and Register Variables in Modbus Protocol from PLC Implementing CPDev<\/strong>
\nDariusz Rzo\u0144ca<\/em>, Andrzej Bo\u017cek<\/em>
\nRzeszow University of Technology
\ndrzonca@kia.prz.edu.pl, abozek@kia.prz.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
22.<\/strong>
\nUsing Node-Red to visualize dairy production data via Modbus<\/strong>
\n^{1<\/sup>Samoilenko Yuliia<\/em>, ^{1<\/sup>Smitiukh Yaroslav<\/em>, ^{2<\/sup>Kostiuk Yuliia<\/em>, ^{2<\/sup>Stepashkina Kateryna<\/em>, ^{2<\/sup>Hnatchenko Dmytro<\/em>, ^{2<\/sup>Yaremych Valentyn<\/em>
\n^{1<\/sup>National University of Food Technologies, ^{2<\/sup>State University of Trade and Economics
\njuliyasamoil@gmail.com, smityuh1@gmail.com, kostyuk.yu@ukr.net, k.stepashkina@knute.edu, hnatchenko@knute.edu.ua, valentyn.yaremych@outlook.com<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}}
23.<\/strong>
\nFailure modeling of industrial electric motors using unsupervised learning methods<\/strong>
\n^{1<\/sup>Nata Lutska<\/em>, ^{2<\/sup>Nataliia Zaiets<\/em>, ^{3<\/sup>Vlasenko Lidiia<\/em>
\n^{1<\/sup>NUFT, ^{2<\/sup>National University of Life and Environmental Sciences of Ukraine, ^{3<\/sup>KNUTE
\nlutskanm2017@gmail.com, z-n@ukr.net, vlasenko.lidia1@gmail.com<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}
24.<\/strong>
\nDiagnosis of Communication Between the Elements of a Distributed Control System – Part 2<\/strong>
\nMarcin Bednarek<\/em>
\nRzeszow University of Technology
\nbednarek@prz.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
25.<\/strong>
\nAutomatic functional tests of cash registers<\/strong>
\n^{1<\/sup>Agnieszka Hys<\/em>, ^{2<\/sup>Pawel Drapikowski<\/em>
\n^{1<\/sup>Central Office of Measures, ^{2<\/sup>Poznan University of Technology
\nagnieszka.hys@doctorate.put.poznan.pl, pawel.drapikowski@put.poznan.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}
26.<\/strong>
\nExpert use of advanced artificial neural network algorithms in non-linear identification, modeling and control of the cement grinding processes – preliminary research<\/strong>
\nDawid Pawu\u015b<\/em>, Szczepan Paszkiel<\/em>
\nOpole University of Technology
\ndawid.pawus@student.po.edu.pl, s.paszkiel@po.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
27.<\/strong>
\nApplications of Machine Learning Methods for Positioning in Scanning Electrochemical Microscope<\/strong>
\n^{1<\/sup>Vadimas Ivinskij<\/em>, ^{2<\/sup>Vijitashwa Pandey<\/em>, ^{1<\/sup>Inga Morkv\u0117nait\u0117-Vilkon\u010dien\u0117<\/em>
\n^{1<\/sup>Vilnius Gediminas Technical University, ^{2<\/sup>Oakland University
\nvadimas.ivinskij@vilniustech.lt, pandey2@oakland.edu, inga.morkvenaite-vilkonciene@vilniustech.lt<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}
28.<\/strong>
\nEmploying Generative Artificial Intelligence in Replacement of Traditional Backend Systems<\/strong>
\nArtur Moroz<\/em>, Illia Solohubov<\/em>, Andrii Oliinyk<\/em>, Sergey Subbotin<\/em>, Stepan Skrupsky<\/em>
\nNational University “Zaporizhzhya Polytechnic”
\narthur.official.moroz@gmail.com, illia.solohubov@gmail.com, olejnikaa@gmail.com, subbotin.csit@gmail.com, sskrupsky@gmail.com<\/em>
\nAbstract: <\/strong>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.<\/p>\n
29.<\/strong>
\nThe Modified Genetic Algorithm for Solving the Traveling Salesman Problem<\/strong>
\nIllia Solohubov<\/em>, Artur Moroz<\/em>, Andrii Oliinyk<\/em>, Sergey Subbotin<\/em>, Stepan Skrupsky<\/em>
\nNational University “Zaporizhzhya Polytechnic”
\nillia.solohubov@gmail.com, arthur.official.moroz@gmail.com, olejnikaa@gmail.com, subbotin.csit@gmail.com, sskrupsky@gmail.com<\/em>
\nAbstract: <\/strong>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.<\/p>\n
30.<\/strong>
\nUsing LoLiMoT (Local Linear Model Trees) Algorithm for Dynamic Control System<\/strong>
\n^{1<\/sup>Dominik O\u017c\u00f3g<\/em>, ^{2<\/sup>Joanna Maziarka-O\u017c\u00f3g<\/em>, ^{1<\/sup>Pawe\u0142 Kura\u015b<\/em>
\n^{1<\/sup>Rzeszow University of Technology, ^{2<\/sup>ES-Systems S.A.
\nd.ozog@prz.edu.pl, mziarka@gmail.com, p.kuras@prz.edu.pl<\/em>
\nAbstract: <\/strong>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 \u2013 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.<\/p>\n}}}}}
31.<\/strong>
\nArchitektura oprogramowania systemu kontrolno-pomiarowego wykorzystuj\u0105cego interfejs USB<\/strong>
\nRafa\u0142 Wojszczyk<\/em>
\nKoszalin University of Technology
\nrafal.wojszczyk@tu.koszalin.pl<\/em>
\nAbstract: <\/strong> W pracy zaproponowano implementacj\u0119 wysokopoziomowej architektury oprogramowania, kt\u00f3ra pozwala na komunikacj\u0119 z urz\u0105dzeniem zewn\u0119trznym w spos\u00f3b obiektowy. Opracowane rozwi\u0105zanie wraz z autorskim urz\u0105dzeniem pod\u0142\u0105czanym do portu USB stanowi\u0105 gotowy system kontrolno-pomiarowy.
\nWykorzystanie wielowarstwowej architektury oraz wybranych wzorc\u00f3w projektowych pozwoli\u0142o na opracowanie rozwi\u0105zania programowego, kt\u00f3re zapewnia niski koszt rozbudowy, pozwala na \u0142atwe wykorzystanie w spos\u00f3b obiektowy oraz zapewnia mo\u017cliwo\u015b\u0107 wymiany modu\u0142\u00f3w. Dodatkowo uniwersalno\u015b\u0107 opracowanego narz\u0119dzia pozwala na wprowadzanie wybranych modyfikacji systemu bez konieczno\u015bci ponownej kompilacji kodu \u017ar\u00f3d\u0142owego.<\/p>\n
[\/vc_column_text][\/vc_tta_section][vc_tta_section title=”SESSION II \u2013 ROBOTICS” tab_id=”1466586031251-dd43a716-85d1″][vc_column_text]
\n32.<\/strong>
\nPositioning of mobile robots on the ground<\/strong>
\nOleksii Shatokhin<\/em>, Vytautas Bu\u010dinskas<\/em>, Andrius Dzedzickis<\/em>
\nVilniaus Gedimino technikos universitetas
\noleksii.shatokhin@vilniustech.lt, vytautas.bucinskas@vilniustech.lt, andrius.dzedzickis@vilniustech.lt<\/em>
\nAbstract: <\/strong>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.<\/p>\n
33.<\/strong>
\nConception of the channel robot navigation<\/strong>
\nVygantas U\u0161inskis<\/em>,\u00a0Nikolaj \u0160e\u0161ok<\/em>,\u00a0Tadas Rasimavi\u010dius<\/em>,\u00a0Dominykas \u010ci\u010diur\u0117nas<\/em>,\u00a0Muhammad Zulkifal<\/em>,\u00a0Vytautas Bu\u010dinskas<\/em>
\nVilnius Gediminas technical university
\nvygantas.usinskis@vilniustech.lt, nikolaj.sesok@vilniustech.lt, tadas.rasimavicius@vilniustech.lt, dominykas.ciciurenas@vilniustech.lt, muhammad.zuikifal@stud.vilniustech.lt, vytautas.bucinskas@vilniustech.lt<\/em>
\nAbstract: <\/strong>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.<\/p>\n
34.<\/strong>
\nSearch and detection of people in the water using YOLO architectures: A comparative analysis from YOLOv3 to YOLOv8<\/strong>
\nNataliya Bilous<\/em>, Vladyslav Malko<\/em>, Nazarii Moshenskyi<\/em>
\nKharkiv National University of Radio Electronics
\nnataliya.bilous@nure.ua, vladyslav.malko@nure.ua, nazarii.moshenskyi@nure.ua<\/em>
\nAbstract: <\/strong>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.<\/p>\n
35.<\/strong>
\nAdaptive Neural Network Control for Mobile Robot with Mecanum Wheels: Experimental Validation.<\/strong>
\n^{1<\/sup>Zenon Hendzel<\/em>, ^{2<\/sup>Maciej Ko\u0142odziej<\/em>
\n^{1<\/sup>Rzeszow University of Technology, ^{2<\/sup>Doctoral School of the Rzeszow University of Technology
\nzenhen@prz.edu.pl, csraziel@gmail.com<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}
36.<\/strong>
\nAdaptive Controller using Genetic Algorithm for Autonomous Wheeled Mobile Robot<\/strong>
\nPawe\u0142 Penar<\/em>, Zenon Hendzel<\/em>
\nRzeszow University of Technology
\nppenar@prz.edu.pl, zenhen@prz.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
37.<\/strong>
\nA system of semi-autonomous tandem mowers for mowing roadside area<\/strong>
\n^{1<\/sup>Andrzej Typiak<\/em>, ^{1<\/sup>Rafa\u0142 Typiak<\/em>, ^{2<\/sup>Zbigniew Zienowicz<\/em>, ^{2<\/sup>Mateusz Nowakowski<\/em>, ^{3<\/sup>Patrycja Patejek<\/em>
\n^{1<\/sup>Wojskowa Akademia Techniczna, ^{2<\/sup>HYDROMEGA sp. z o.o., ^{3<\/sup>Stowarzyszenie Robotyk\u00f3w SKALP
\nandrzej.typiak@wat.edu.pl, rafal.typiak@wat.edu.pl, zienowicz@hydromega.com.pl, Mateusz.nowakowski@hydromega.com.pl, patrycja.matejek@srskalp.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}}
38.<\/strong>
\nRequirements Specification for Visual Localization System of Unmanned Aircraft<\/strong>
\n^{1<\/sup>Tomasz Pogorzelski<\/em>, ^{1<\/sup>Sebastian Rutkowski<\/em>, ^{2<\/sup>Teresa Zieli\u0144ska<\/em>
\n^{1<\/sup>\u0141ukasiewicz Research Network – Institute of Aviation, ^{2<\/sup>Warsaw University of Technology
\ntomasz.pogorzelski@ilot.lukasiewicz.gov.pl, sebastian.rutkowski@ilot.lukasiewicz.gov.pl, teresaz@meil.pw.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}
39.<\/strong>
\nLiterature-based analysis of lower extremity kinematics and dynamics during task-oriented physiotherapy for rehabilitation robot design<\/strong>
\n^{1<\/sup>Tomasz Osiak<\/em>, ^{2<\/sup>Natalia Osiak<\/em>, ^{1<\/sup>Piotr Falkowski<\/em>, ^{3<\/sup>Mehmet Emin Aktan<\/em>, ^{4<\/sup>Piotr Czerechowicz<\/em>, ^{5<\/sup>Vasfi Emre \u00d6m\u00fcrl\u00fc<\/em>
\n^{1<\/sup>\u0141UKASIEWICZ Research Network – Industrial Research Institute of Automation and Measurements PIAP, ^{2<\/sup>Z Mi\u0142o\u015bci Do Ko\u015bci, ^{3<\/sup>Bartin University, ^{4<\/sup>Elmiko Biosignals, ^{5<\/sup>3LS R&D Consulting Industry and Trade Inc
\ntomasz.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<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}}}}}
40.<\/strong>
\nDesign and construction of a 6-DOF modular robotic Arm-Z<\/strong>
\n^{1<\/sup>Krzysztof Zawalski<\/em>, ^{2<\/sup>Micha\u0142 Jarek<\/em>, ^{1<\/sup>Piotr Falkowski<\/em>, ^{3<\/sup>Ela Zawidzka<\/em>, ^{3<\/sup>Machi Zawidzki<\/em>
\n^{1<\/sup>\u0141ukasiewicz Research Network – Industrial Research Institute for Automation and Measurements, PIAP, ^{2<\/sup>Warsaw University of Technology, ^{3<\/sup>Institute of Fundamental Technological Research, PAN
\nkrzysztof.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<\/em>
\nAbstract: <\/strong>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\u2019s 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\u2019s topology connecting EPOS controllers.<\/p>\n}}}}}}}}
41.<\/strong>
\nSimulation of 6-DOF modular Arm-Z manipulator in MATLAB Simulink<\/strong>
\n^{1<\/sup>Micha\u0142 Jarek<\/em>, ^{2<\/sup>Krzysztof Zawalski<\/em>, ^{2<\/sup>Piotr Falkowski<\/em>, ^{3<\/sup>Ela Zawidzka<\/em>, ^{3<\/sup>Machi Zawidzki<\/em>
\n^{1<\/sup>Warsaw University of Technology, ^{2<\/sup>\u0141ukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP,\u00a0^{3<\/sup>Institute of Fundamental Technological Research of the Polish Academy of Sciences
\nmichal.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<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}}
42.<\/strong>
\nExperimental analysis for the enhancement of industrial robot tool path planning<\/strong>
\nMantas Makulavi\u010dius<\/em>,\u00a0Tadas Rasimavi\u010dius<\/em>,\u00a0Sigitas Petkevi\u010dius<\/em>,\u00a0Justas Makut\u0117nas<\/em>,\u00a0Andrius Dzedzickis<\/em>
\nVilnius Gediminas Technical University
\nm.makulavicius@vilniustech.lt, tadas.rasimavicius@vilniustech.lt, sigitas.petkevicius@vilniustech.lt, justas.makutenas@vilniustech.lt, andrius.dzedzickis@vilniustech.lt<\/em>
\nAbstract: <\/strong>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.<\/p>\n
43.<\/strong>
\nMethod for Parametrs Selection for Manipulators of Man Portable Unmanned Ground Vehicles<\/strong>
\n^{1<\/sup>Tomasz Krak\u00f3wka<\/em>, ^{2<\/sup>Andrzej Typiak<\/em>, ^{1<\/sup>Maciej Cader<\/em>, ^{2<\/sup>Rafa\u0142 Typiak<\/em>
\n^{1<\/sup>\u0141ukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP, ^{2<\/sup>Wojskowa Akademia Techniczna
\ntomasz.krakowka@piap.lukasiewicz.gov.pl, andrzej.typiak@wat.edu.pl, maciej.cader@piap.lukasiewicz.gov.pl, rafal.typiak@wat.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}
[\/vc_column_text][\/vc_tta_section][vc_tta_section title=”SESSION III \u2013 MEASURING TECHNIQUES” tab_id=”1466586031251-dd43a716-85d2″][vc_column_text]
\n44.<\/strong>
\nHarnessing two measurement techniques to assess the internal structure of SFRC<\/strong>
\n^{1<\/sup>Janusz Kobaka<\/em>, ^{1<\/sup>Jacek Katzer<\/em>, ^{2<\/sup>Machi Zawidzki<\/em>
\n^{1<\/sup>Faculty of Geoengineering, University of Warmia and Mazury in Olsztyn, ^{2<\/sup>Sie\u0107 Badawcza \u0141ukasiewicz – Przemys\u0142owy Instytut Automatyki i Pomiar\u00f3w PIAP
\njanusz.kobaka@gmail.com, jacek.katzer@uwm.edu.pl, zawidzki@piap.lukasiewicz.gov.pl<\/em>
\nAbstract: <\/strong>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%.<\/p>\n}}}}}
45.<\/strong>
\nDynamic properties of SFRC made on the basis of waste sand<\/strong>
\n^{1<\/sup>Jacek Katzer<\/em>, ^{1<\/sup>Janusz Kobaka<\/em>, ^{2<\/sup>Machi Zawidzki<\/em>
\n^{1<\/sup>Faculty of Geoengineering, University of Warmia and Mazury in Olsztyn, ^{2<\/sup>Sie\u0107 Badawcza \u0141ukasiewicz – Przemys\u0142owy Instytut Automatyki i Pomiar\u00f3w PIAP
\njacek.katzer@uwm.edu.pl, janusz.kobaka@gmail.com, zawidzki@piap.lukasiewicz.gov.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}
46.<\/strong>
\nStudying the potential of iPAD-LiDAR technology in the inventory of building structures<\/strong>
\n^{1<\/sup>Czes\u0142aw Suchocki<\/em>, ^{2<\/sup>Jacek Katzer<\/em>, ^{3<\/sup>Machi Zawidzki<\/em>, ^{4<\/sup>Rafa\u0142 Nowak<\/em>
\n^{1<\/sup>Koszalin University of Technology, ^{2<\/sup>University of Warmia and Mazury in Olsztyn, ^{3<\/sup>Sie\u0107 Badawcza \u0141ukasiewicz – Przemys\u0142owy Instytut Automatyki i Pomiar\u00f3w PIAP, ^{4<\/sup>Zachodniopomorski Uniwersytet Technologiczny w Szczecinie
\nczeslaw.suchocki@tu.koszalin.pl, jacek.katzer@uwm.edu.pl, zawidzki@piap.lukasiewicz.gov.pl, rnowak@zut.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}}
47.<\/strong>
\nProperties of fiber-reinforced concrete made on the basis of lightweight sintered aggregate<\/strong>
\n^{1<\/sup>Janusz Kobaka<\/em>, ^{1<\/sup>Jacek Katzer<\/em>, ^{2<\/sup>Machi Zawidzki<\/em>
\n^{1<\/sup>Faculty of Geoengineering, University of Warmia and Mazury in Olsztyn, ^{2<\/sup>Instytut Podstawowych Problem\u00f3w Techniki Polskiej Akademii Nauk
\njanusz.kobaka@gmail.com, jacek.katzer@uwm.edu.pl, zawidzki@ippt.pan.pl<\/em>
\nAbstract: <\/strong>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 \u03bb at a level lower than 0.45 W\/(m2*\u00b0K).<\/p>\n}}}}}
48.<\/strong>
\nThe concept of wireless energy transmission intended for use in two-rotor wind turbines<\/strong>
\n^{1<\/sup>Wojciech Mi\u0105skowski<\/em>, ^{1<\/sup>Bartosz Moczulak<\/em>, ^{2<\/sup>Wojciech Ki\u0144ski<\/em>, ^{1<\/sup>Pawe\u0142 Pietkiewicz<\/em>, ^{1<\/sup>Krzysztof Nalepa<\/em>
\n^{1<\/sup>University of Warmia and Mazury in Olsztyn, Faculty of Technical Sciences, ^{2<\/sup>\u0141ukasiewicz Research Network – Industrial Institute of Automation and Measurements PIAP
\nwojmek@uwm.edu.pl, bartosz.moczulak@o2.pl, wojciech.kinski@piap.lukasiewicz.gov.pl, papiet@uwm.edu.pl, nalepka@uwm.edu.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}
49.<\/strong>
\nEvaluating the performance of machine learning models in predicting the amount of wastewater depending on weather conditions using the city of Rzeszow as an example<\/strong>
\n^{1<\/sup>Bartosz Kowal<\/em>, ^{1<\/sup>Patryk Organi\u015bciak<\/em>, ^{1<\/sup>Pawe\u0142 Kura\u015b<\/em>, ^{2<\/sup>Adam Mas\u0142o\u0144<\/em>, ^{3<\/sup>Bartosz Wadiak<\/em>
\n^{1<\/sup>Department of Complex Systems, Rzeszow University of Technology, ^{2<\/sup>Department of Environmental Engineering and Chemistry, Rzeszow University of Technology, ^{3<\/sup>Miejskie Przedsi\u0119biorstwo Wodoci\u0105g\u00f3w i Kanalizacji Sp. z o.o. w Rzeszowie
\nb.kowal@prz.edu.pl, org@prz.edu.pl, p.kuras@prz.edu.pl, amaslon@prz.edu.pl, bwadiak@mpwik.rzeszow.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}}
50.<\/strong>
\nThe concept of the 5-DOF passive exoskeleton for tracking the motion of a human upper extremity<\/strong>
\n^{1<\/sup>Jan Oleksiuk<\/em>, ^{2<\/sup>Mateusz Zadro\u017cniak<\/em>, ^{1<\/sup>Piotr Falkowski<\/em>
\n^{1<\/sup>\u0141ukasiewicz Research Network – Industrial Institute of Automation and Measurements PIAP, ^{2<\/sup>Warsaw University of Technology
\njan.oleksiuk@piap.lukasiewicz.gov.pl, mateusz.zadrozniak.stud@pw.edu.pl, piotr.falkowski@piap.lukasiewicz.gov.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}
51.<\/strong>
\nResearch of microrobot movement accuracy<\/strong>
\nViktor Masalskyi<\/em>, Jurga Suba\u010di\u016bt\u0117-\u017demaitien\u0117<\/em>, Rokas Bagdonas<\/em>, Vytautas Bu\u010dinskas<\/em>, Andrius Dzedzickis<\/em>
\nVilnius Gediminas Technical University
\nviktor.masalskyi@vilniustech.lt, jurga.subaciute-zemaitiene@vilniustech.lt, rokas.bagdonas@vilniustech.lt, vytautas.bucinskas@vilniustech.lt, andrius.dzedzickis@vilniustech.lt<\/em>
\nAbstract: <\/strong>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.<\/p>\n
52.<\/strong>
\nUnderstanding Properties of driveBay Electromagnetic Tracker for Use in Soft Robot Experiments<\/strong>
\nTomasz Sma\u017c<\/em>, Igor Zubrycki<\/em>
\nLodz University of Technology
\ntomasz.smaz@p.lodz.pl, igor.zubrycki@p.lodz.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n
53.<\/strong>
\nHyperspectral lighting design for industrial applications<\/strong>
\nPiotr Garbacz<\/em>, Piotr Czajka<\/em>, Wojciech Mizak<\/em>, Marcin Powro\u017anik<\/em>
\n\u0141ukasiewicz Research Network \u2013 Institute for Sustainable Technologies
\npiotr.garbacz@itee.lukasiewicz.gov.pl, piotr.czajka@itee.lukasiewicz.gov.pl, wojciech.mizak@itee.lukasiewicz.gov.pl, marcin.powroznik@itee.lukasiewicz.gov.pl<\/em>
\nAbstract: <\/strong>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<\/p>\n
54.<\/strong>
\nExperimental research of carrageenan-based compression force sensors<\/strong>
\n^{1<\/sup>Jurate Jolanta Petroniene<\/em>, ^{1<\/sup>Gediminas Braziulis<\/em>, ^{2<\/sup>Uldis Zaimis<\/em>, ^{1<\/sup>Andrius Dzedzickis<\/em>, ^{1<\/sup>Egle Pastarnokiene<\/em>, ^{1<\/sup>Vytautas Bucinskas<\/em>
\n^{1<\/sup>Vilnius Tech University, ^{2<\/sup>Institute of Science and Innovative Technology, Liepaja University, Latvia
\njurate-jolanta.petroniene@vilniustech.lt, gediminas.braziulis@vilniustech.lt, uldis.zaimis@liepu.lv, andrius.dzedzickis@vilniustech.lt, egle.pastarnokiene@vilniustech.lt, vytautas.bucinskas@vilniustech.lt<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}}
55.<\/strong>
\nMethods of reduction of fuel consumption measurement error by thermo-anemometric flow meter<\/strong>
\n^{1<\/sup>Andrii Ilchenko<\/em>, ^{2<\/sup>Igor Korobiichuk<\/em>
\n^{1<\/sup>Agricultural Engineering and Technical Service Department of Polissya National University, ^{2<\/sup>\u0141ukasiewicz Research Network \u2013 Industrial Research Institute for Automation and Measurements PIAP
\navi_77@ukr.net, igor.korobiichuk@piap.lukasiewicz.gov.pl<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}
56.<\/strong>
\nImproving the Operational Reliability of Ground-Based Navigation Systems<\/strong>
\n^{1<\/sup>Igor Korobiichuk<\/em>, ^{2<\/sup>Viktorij Mel’Nick<\/em>, ^{2<\/sup>Vera Kosova<\/em>, ^{2<\/sup>Zhanna Ostapenko<\/em>, ^{2<\/sup>Nonna Gnateiko<\/em>, ^{2<\/sup>Galyna Boiko<\/em>, ^{3<\/sup>Iana Piskivets<\/em>
\n^{1<\/sup>\u0141ukasiewicz Research Network \u2013 Industrial Research Institute for Automation and Measurements PIAP, ^{2<\/sup>National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”, ^{3<\/sup>Independent Researcher
\nigor.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<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}}}}
57.<\/strong>
\nMethod of fitting a nonlinear function to measurement data, its uncertainty and as example the application in thermistor circuits<\/strong>
\n^{1<\/sup>Jacek Puchalski<\/em>, ^{2<\/sup>Zygmunt Warsza<\/em>
\n^{1<\/sup>Central Office of Measures, ^{2<\/sup>Polish Metrological Society, PTM
\njacek.puchalski@gum.gov.pl, zlw1936@gmail.com<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}
58.<\/strong>
\nApplication of the Polynomial Maximization Method for Estimating Nonlinear Regression Parameters with Non-Gaussian Asymmetric Errors<\/strong>
\n^{1<\/sup>Serhii Zabolotnii<\/em>, ^{2<\/sup>Oleksandr Tkachenko<\/em>, ^{3<\/sup>Waldemar Nowakowski<\/em>, ^{4<\/sup>Zygmunt Warsza<\/em>
\n^{1<\/sup>Cherkasy State Business College, ^{2<\/sup>Uzhhorod National University, ^{3<\/sup>Casimir Pulaski Radom University, ^{4<\/sup>Polish Metrological Society
\nzabolotniua@gmail.com, tkachenko.ck@gmail.com, W.Nowakowski@uthrad.pl, zlw1936@gmail.com<\/em>
\nAbstract: <\/strong>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.<\/p>\n}}}}}}}}
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