Kybernetika a robotika

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Control Set Reduction for PMSM Predictive Controller via Assisted Learning Algorithm
(IEEE, 2024-06-18) Kozubík, Michal; Václavek, Pavel
This paper introduces innovative methods for reducing the control set in finite control set model predictive control of the Permanent Magnet Synchronous Motor powered by a 3-level voltage source inverter. The primary objective of this reduction is to address a crucial factor in the computational burden of the control algorithm-the exponential growth in the number of potential switching state combinations forming the controller’s control set with an increasing prediction horizon length. The proposed methods aim to decrease the number of switching states necessary for evaluation, mitigating the aforementioned exponential growth. These methods leverage information about the controller’s behavior. The first method relies solely on the count of transitions between individual switching states. Additionally, the second method incorporates information about the states of the controlled motor to construct a decision tree, forming the new control set. The behavior of the controllers with reduced and complete control sets is compared in the simulation experiment, emphasizing the proper tracking of the requested angular speed and their overall computational complexity.
Comparing the Measurement Methods for Testing the Piezoelectric Ring Element in a Knock Sensor
(IIAV CZECH s.r.o., 2023-07-09) Klusáček, Stanislav; Fialka, Jiří; Havránek, Zdeněk; Skalský, Michal; Beneš, Petr
The paper presents experimental research of the ring PZT ceramics that are used as the active element in knock sensors. The aim is to compare selected methods for determining the material coefficients, the pie-zoelectric charge coefficient d33 of an active toroidal PZT element in particular. In the research, we measured the material coefficients of an active ring PZT element to test some of the property detection approaches. Before being employed, each such ring element has to be checked in terms of its overall quality and functionality. The relevant procedure comprises several predefined stages, in-cluding verification of the geometry and material properties. In this context, the resonant frequency is measured to enable calculation of the effective electromechanical coefficient; the concrete values of the frequency and the coefficient enable us to partially assess the actual quality of the sample. This tech-nique, referred to as the frequency method, nevertheless cannot be used to determine the piezoelectric charge coefficient (d33) in the rings; for such a purpose, one of the direct charge determination techniques is regularly utilized. Advantageously, integrating both approaches generally allows us to characterize the applied piezoelement in a comprehensive manner, i.e., from the perspective of the resonant frequency stability in a ring and in terms of verifying the piezomaterial’s pa-rameters and polarization. The experiment relied on a set of Sonox P502-based rings by CeramTec. In these samples, we tested the resonant frequency stability via an Agilent 4294a impedance analyzer. Subsequently, we measured the rings with a d33 meter to determine the value of the charge on the electrodes that corre-sponds to the force applied to the sample. The entire experiment yields a comprehensive description of the involved methods for evaluating and verifying the quality and applicability of piezoelectric rings be-fore their use in knock sensors.
Utilizability of Navigation2/ROS2 in Highly Automated and Distributed Multi-Robotic Systems for Industrial Facilities
(ELSEVIER, 2022-07-20) Horeličan, Tomáš
The field of mobile robotics is a rapidly evolving space with a constant stream of new advancements. As the available technology matures and new features get accessible for lower prices, the scope of applicability for autonomous mobile robots naturally expands. Apart from simple home appliances, a particular area that currently attracts a surge of transformative research is that of industrial facilities and intelligent factories. A higher emphasis is gradually being placed on autonomous operations, where mobile robots start being suitable complements to human workers. Such an application, however, requires complex mechanisms to be able to handle even simple tasks, such as transferring cargo from one place to another while navigating a changing environment and avoiding dynamic obstacles. Robust localization and navigation solutions utilizing the most effective algorithms are necessary for such long and continuous operations that require a high degree of reliability and low error rates. Robot Operating System (ROS) is a highly flexible open-source framework enjoying wide adoption over the years. Its next-generation implementation (ROS2), together with the Navigation2 project (created as a successor to the original ROS Navigation Stack), provide substantial conceptual enhancements with a strong focus on reliability, security, and performance, promising better compatibility with numerous sensor types, higher modularity, and a more controllable deterministic behavior. This paper will guide the reader through necessary steps to deploy the Navigation2 stack onto an existing custom-built ROS2-operating robotic test-bed platform, serving as a concept for future research.
Capacity Building in Mathematics and Statistics Learning Support in Norway and the Czech Republic (MSLS Net)
(sigma network, 2024-01-03) Rebenda, Josef; Pátíková, Zuzana; Chvátal, Martin; Rogovchenko, Svitlana; Bakke, Trris Kolen; Croft, Tony
This report describes the final meeting of the project "Capacity Building in Mathematics and Statistics Learning Support in Norway and the Czech Republic (MSLS Net)" held at the Tomas Bata University in Zlín, Czech Republic (June 12-14, 2023). Provision of mathematics and statistics learning support (MSLS) is developing rapidly in many parts of the world and activity in Norway and the Czech Republic has been accelerated significantly through this EEA Grants funded project. Representatives of each of the five partner institutions worked on creating a summary of good practices in tutor training, designing learning resources, and in delivering, monitoring and evaluation of mathematics and statistics support. Provision varied considerably across the institutions and the centres represented demonstrated diverse and innovative ways in which mathematics support is evolving. Outputs from the project include a Handbook on good practice and a booklet concerned with mathematics support centre tutor training, including pedagogic training and learning resources for the development of the tutors as described below. Finally, consideration turned to the value of establishing a professional network to continue this important work. The report will be relevant to other international groups interested in working in university level mathematics and statistics support.
Robust perception systems for automated, connected, and electrified vehicles: advances from EU project ArchitectECA2030
(Elsevier, 2023-12-13) Recekenzaun, Jakob; Solmaz, Selim; Goelles, Thomas; Hilbert, Marc; Weimer, Daniel; Mayer, Peter; Chromý, Adam; Hentschel, Uwe; Modler, Niels; Toth, Mate; Hennecke, Marcus
The perception supply chain (SC1) of the ArchitectECA2030 project investigates failure modes, fault detection, and residual risk in perception systems of electrified, connected, and automated (ECA) vehicles. This accounts for the needs of a reliable understanding of the surrounding environment. The three demonstrators of SC1, described in this paper, address steps of a typical ECA usage cycle: charge - drive - restart charging. The foreign object detection (FOD) demonstrator improves safety within a wireless charging system. The robust physical sensors demonstrator creates a more robust perception by detecting failures within fused and single sensor data. The position enhancement demonstrator improves vehicle localization in areas with reduced GNSS signal coverage. All demonstrators are linked to the challenges that occur during the ECA vehicle usage cycle

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