Automation, Operation and Maintenance of Control and Communication Systems

A special issue of Electronics (ISSN 2079-9292). This special issue belongs to the section "Systems & Control Engineering".

Deadline for manuscript submissions: closed (30 May 2023) | Viewed by 29322

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Special Issue Editors

Faculty of Mechanical and Electrical Engineering, Polish Naval Academy, Inżyniera Jana Śmidowicza 69, 81-103 Gdynia, Poland
Interests: remote sensing of maritime unmanned vehicles; remote sensing and artificial intelligence in autonomous control and navigation
Special Issues, Collections and Topics in MDPI journals
Faculty of Mechanical and Electrical Engineering, Polish Naval Academy, 81-127 Gdynia, Poland
Interests: underwater vehicle propulsion system; fluid–structure interaction; biomimetic propulsion system; undulatory motion; robotic fish
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

This Special Issue is dedicated to control and communication systems research. With their provision of safety and autonomy, they have become critical in various civilian and military operations. Recently, with this given role, they have generated substantial research investigation. This has resulted in significant progress in their automation and operation of sophisticated tasks using advanced algorithms, methods and state-of-the-art devices. The Special Issue is devoted to displaying noteworthy studies that are concerned with recent advancements in control and communication system technological aspects.

This Special Issue calls for original research papers that address advancements in automation, operation, and maintenance of control and communication systems. The topics should include the latest techniques, solutions, and their applications in a range of civilian and military fields. The preferred research study should include artificial intelligence methods with an emphasis on neural networks and deep learning.

We seek high-quality submissions reporting research and real applications covering topics including, but not limited to:

  • Automation and robotics;
  • Autonomous systems;
  • Mechatronic systems;
  • Telecommunication systems;
  • Renewable energy;
  • Diagnostic and measurement systems;
  • Microwave technique;
  • Modeling and simulation of dynamic objects;
  • Ship technology;
  • Educational aspects of control and communication systems.

Prof. Dr. Piotr Szymak
Dr. Stanisław Hożyń
Dr. Paweł Piskur
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Electronics is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • automation of control systems
  • operation of control systems
  • maintenance of control systems
  • automation of communication systems
  • operation of communication systems
  • maintenance of communication systems

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Published Papers (15 papers)

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Editorial

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5 pages, 375 KiB  
Editorial
Automation, Operation and Maintenance of Control and Communication Systems
by Piotr Szymak, Paweł Piskur and Stanisław Hożyń
Electronics 2023, 12(14), 3119; https://doi.org/10.3390/electronics12143119 - 18 Jul 2023
Viewed by 598
Abstract
The special issue is devoted to selected papers, which results of the research were presented during the XVIII Conference on Automation, Operation and Maintenance of Control and Communication Systems ASMOR 2022. The conference was conducted from the 12th to the 14th of October [...] Read more.
The special issue is devoted to selected papers, which results of the research were presented during the XVIII Conference on Automation, Operation and Maintenance of Control and Communication Systems ASMOR 2022. The conference was conducted from the 12th to the 14th of October 2022 in Władysławowo, Poland. The scope of the conference is quite wide, focusing mainly on automation and exploitation aspects of the control and communications systems. Due to the specified scope of the Electronics, only the papers selected by the ASMOR Scientific Committee and the Electronics Editors were published after an extensive reviewing and revising process. Full article
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Research

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16 pages, 6623 KiB  
Article
Dynamics of Separation of Unmanned Aerial Vehicles from the Magnetic Launcher Cart during Takeoff
by Edyta Ładyżyńska-Kozdraś, Anna Sibilska-Mroziewicz, Krzysztof Sibilski, Danyil Potoka and Andrzej Żyluk
Electronics 2023, 12(13), 2883; https://doi.org/10.3390/electronics12132883 - 29 Jun 2023
Cited by 1 | Viewed by 867
Abstract
Most aircraft launchers exhibit a rapid acceleration of the launching aircraft, often exceeding ten times the acceleration due to gravity. However, only magnetic launchers offer flexible control over the propulsion force of the launcher cart, enabling precise control over the aircraft’s acceleration and [...] Read more.
Most aircraft launchers exhibit a rapid acceleration of the launching aircraft, often exceeding ten times the acceleration due to gravity. However, only magnetic launchers offer flexible control over the propulsion force of the launcher cart, enabling precise control over the aircraft’s acceleration and speed during its movement on the launcher. Consequently, extensive research is being conducted on magnetic launchers to ensure the repeatability of launch parameters, protect against aircraft overloads, and ensure operator safety. This article describes the process of modeling and analyzing the dynamical properties of a launch cart of an innovative prototype launcher, which employs a passive magnetic suspension with high-temperature superconductors, developed under the GABRIEL project. The developed mathematical model of the magnetic catapult cart was employed to conduct numerical studies of the longitudinal and lateral movement of the cart, as well as the configuration of the UAV–cart system during UAV takeoff under variable atmospheric conditions. An essential aspect of the research involved experimentally determining the magnetic levitation force generated by the superconductors as a function of the gap. The results obtained demonstrate that the analyzed catapult design enables safe UAV takeoff. External factors and potential vibrations resulting from uneven mass distribution in the UAV–cart system are effectively balanced by the magnetic forces arising from the Meissner effect and the flux pinning phenomenon. The primary advantage of the magnetic levitation catapult, in comparison to commercial catapults, lies in its ability to provide a reduced and consistent acceleration throughout the entire takeoff process. Full article
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17 pages, 2768 KiB  
Article
Selection of the Depth Controller for the Biomimetic Underwater Vehicle
by Michał Przybylski
Electronics 2023, 12(6), 1469; https://doi.org/10.3390/electronics12061469 - 20 Mar 2023
Cited by 1 | Viewed by 978
Abstract
The aim of this paper is to select a depth controller for innovative biomimetic underwater vehicle drives. In the process of optimizing depth controller settings, two classical controllers were used, i.e., the proportional–integral–derivative (PID) and the sliding mode controllers (SM). The parameters of [...] Read more.
The aim of this paper is to select a depth controller for innovative biomimetic underwater vehicle drives. In the process of optimizing depth controller settings, two classical controllers were used, i.e., the proportional–integral–derivative (PID) and the sliding mode controllers (SM). The parameters of the regulators’ settings were obtained as a result of optimization by three methods of the selected quality indicators in terms of the properties of the control signal. The starting point for the analysis was simulations conducted in the MATLAB environment for the three optimization methods on three types of indicators for three different desired depth values. The article describes the methods and quality indicators in detail. The paper presents the results of the fitness function obtained during the optimization. Moreover, the time courses of the vehicle position relative to the desired depth, the side fin deflection angles, the calculated parameters of the control signals, and the observations and conclusions formulated in the research were presented. Full article
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15 pages, 6014 KiB  
Article
Analysis of Impulse Responses Measured in Motion in a Towing Tank
by Agnieszka Czapiewska, Andrzej Luksza, Ryszard Studanski and Andrzej Zak
Electronics 2022, 11(22), 3819; https://doi.org/10.3390/electronics11223819 - 20 Nov 2022
Cited by 3 | Viewed by 1285
Abstract
The growing interest in developing autonomous underwater vehicles (AUVs) and creating underwater sensor networks (USNs) has led to a need for communication tools in underwater environments. For obvious reasons, wireless means of communication are the most desirable. However, conducting research in real conditions [...] Read more.
The growing interest in developing autonomous underwater vehicles (AUVs) and creating underwater sensor networks (USNs) has led to a need for communication tools in underwater environments. For obvious reasons, wireless means of communication are the most desirable. However, conducting research in real conditions is troublesome and costly. Moreover, as hydroacoustic propagation conditions change very significantly, even during the day, the assessment of proposed underwater wireless communication methods is very difficult. Therefore, in the literature, there are considered simulators based on real measurements of underwater acoustic (UWA) channels. However, these simulators make an assumption that, during the transmission of elementary signals, the impulse response does not change. In this article, the authors present the results of the measurements realized in a towing tank where the transmitter could move with a precisely set velocity and show that the analyzed channel was non-stationary, even during the time of the transmission of a single chirp signal. The article presents an evaluation method of channel stationarity at the time of the chirp transmission, which should be treated as novelty. There is also an analysis of the impulse responses measured in motion in a towing tank. Full article
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13 pages, 7497 KiB  
Article
Quaternion Attitude Control System of Highly Maneuverable Aircraft
by Michał Gołąbek, Michał Welcer, Cezary Szczepański, Mariusz Krawczyk, Albert Zajdel and Krystian Borodacz
Electronics 2022, 11(22), 3775; https://doi.org/10.3390/electronics11223775 - 17 Nov 2022
Cited by 3 | Viewed by 4961
Abstract
In the era of rapid advancements in manned and unmanned aviation and robotics, there is a need for high-performance, robust attitude control of highly maneuverable fixed-wing aircraft, both manned and unmanned (UAVs). This paper presents an extension to research on spacecraft attitude control. [...] Read more.
In the era of rapid advancements in manned and unmanned aviation and robotics, there is a need for high-performance, robust attitude control of highly maneuverable fixed-wing aircraft, both manned and unmanned (UAVs). This paper presents an extension to research on spacecraft attitude control. The article extends existing concepts and applies them to the control problem of aircraft operating in Earth’s atmosphere. First, a general concept of quaternions is presented. Next, the attitude controller’s architecture is discussed. The controller synthesis is described using quaternion algebra. The quaternion-based attitude controller is then compared with a classical Euler-based attitude controller. The methodology for comparison and performance evaluation of both controllers is described. Lastly, the results of the simulations and a comparison of the two controllers are presented and discussed. The presented control scheme outperforms classical methods based on Euler angles, particularly at the aircraft’s high pitch and roll angles. Full article
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19 pages, 11064 KiB  
Article
TCP Parameters Monitoring of Robotic Stations
by Andrzej Burghardt, Dariusz Szybicki, Piotr Gierlak, Krzysztof Kurc, Magdalena Muszyńska, Artur Ornat and Marek Uliasz
Electronics 2022, 11(20), 3415; https://doi.org/10.3390/electronics11203415 - 21 Oct 2022
Cited by 1 | Viewed by 1916
Abstract
The impulse for writing the paper is the observation of the works related to the implementation of robotization of processes such as machining, glue application, welding and painting. The abovementioned processes, in addition to the correct implementation of the trajectory, require the definition [...] Read more.
The impulse for writing the paper is the observation of the works related to the implementation of robotization of processes such as machining, glue application, welding and painting. The abovementioned processes, in addition to the correct implementation of the trajectory, require the definition of various parameters (e.g., speed) in the robot’s software. In the trajectories where the reconfiguration of the robot arms is observed, there are significant errors in the implementation of the defined speed. Robotic technology suppliers, in the event of speed disturbances, manually increase the defined speed value or experimentally select other parameters. It is a cumbersome process, and the lack of information about the process parameters makes it time-consuming and inaccurate. In this paper, one representative process is selected, namely machining performed with various tools by ABB robots. In order for the robotic process to be controlled, it is necessary to compare the defined path with the speed profile. Then, the speed parameters can be controlled and corrected. The approach proposed in the paper allows for improving the quality of implemented robotic processes. It presents the available IT tools for station monitoring and how to use them. The advantages of the proposed solutions and their limitations are shown in the examples of implementation of robotic stations in the industry. Full article
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19 pages, 4711 KiB  
Article
Development of a Dedicated Application for Robots to Communicate with a Laser Tracker
by Dariusz Szybicki, Paweł Obal, Paweł Penar, Krzysztof Kurc, Magdalena Muszyńska and Andrzej Burghardt
Electronics 2022, 11(20), 3405; https://doi.org/10.3390/electronics11203405 - 20 Oct 2022
Cited by 2 | Viewed by 2525
Abstract
The paper presents the concept of operation and methods of using laser trackers in robotics. So far, a small amount of research on software for sharing and exchanging data with trackers has been done. As a result of the identified demand, a proprietary [...] Read more.
The paper presents the concept of operation and methods of using laser trackers in robotics. So far, a small amount of research on software for sharing and exchanging data with trackers has been done. As a result of the identified demand, a proprietary application for communication between the laser tracker and robots, as well as other software, was developed. The developed solution is based on the software development kit (SDK) provided by Leica and the Python language. The structure and functioning of the developed software were described in detail. The software meets the goals set at the beginning of the design process regarding online communication with the tracker and using the universal, popular TCP/IP standard. The functioning of the developed software was shown in the paper in a few examples related to manipulating robots and mobile robots. The capabilities of the developed software were described, as well as the planned work on its development. Full article
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16 pages, 9181 KiB  
Article
Application of a 3D Scanner in Robotic Measurement of Aviation Components
by Krzysztof Kurc, Andrzej Burghardt, Piotr Gierlak, Magdalena Muszyńska, Dariusz Szybicki, Artur Ornat and Marek Uliasz
Electronics 2022, 11(19), 3216; https://doi.org/10.3390/electronics11193216 - 07 Oct 2022
Cited by 3 | Viewed by 1701
Abstract
The aviation industry is associated with high precision and accuracy standards of the manufactured components, and thus the need to ensure precise quality control. Measurement processes, depending on the manufactured components, take place before, during and after the processing stage. Optical scanners can [...] Read more.
The aviation industry is associated with high precision and accuracy standards of the manufactured components, and thus the need to ensure precise quality control. Measurement processes, depending on the manufactured components, take place before, during and after the processing stage. Optical scanners can be used for these measurements, the measurement results of which can be displayed on the operator panel or used to prepare a report. The innovative approach is to measure, compare the results with a pattern, send the deviations to a neural decision-making system, select the forces and send the results to a robot controller for adaptive machining. The presented proprietary solution includes a data acquisition system, a neural decision-making system and a robot that carries out the machining process via force control. The proposed solution was verified on aviation components. During the process parameter optimization stage for the diffuser and ADT gearbox, the points describing the change in width of the chamfer being performed and the blade thickness in the control sections were approximated. Full article
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13 pages, 5304 KiB  
Article
Selection of Robotic Machining Parameters with Pneumatic Feed Force Progression
by Andrzej Burghardt, Magdalena Muszyńska, Piotr Gierlak, Krzysztof Kurc, Dariusz Szybicki, Artur Ornat and Marek Uliasz
Electronics 2022, 11(19), 3211; https://doi.org/10.3390/electronics11193211 - 07 Oct 2022
Cited by 1 | Viewed by 1266
Abstract
The subject matter of the above paper presents part of the research carried out as part of the robotization of the manufacturing processes of aircraft engine components. The paper concerns robotic deburring of the V2500 diffuser’s sharp edges. The diffuser is a precision [...] Read more.
The subject matter of the above paper presents part of the research carried out as part of the robotization of the manufacturing processes of aircraft engine components. The paper concerns robotic deburring of the V2500 diffuser’s sharp edges. The diffuser is a precision casting characterized by a slight variation in the geometry of the workpiece depending on the accuracy of the casting molds and the phenomenon of shrinkage during solidification. Due to the small degree of deburring and thus low cutting forces, robotic machining with the FDB150 tool was used. This tool is characterized by compliance with adjustable force, which enables machining of workpieces with a randomly changing shape. The authors of the paper propose a procedure for carrying out work allowing for the selection of suboptimal process parameters. In the analyzed case, these parameters are the speed of movement of the characteristic point of the tool (TCP) and the tool/workpiece contact force. The proposed procedure for determining the parameters of the force and speed of movement allowed for indicating a set of parameters ensuring the performance of the product in accordance with the requirements defined in the documentation. The proposed solution is of an engineering nature and is not a classic search for the extreme of a function from the point of view of the adopted criteria (quality indicators). Its advantage is simplicity, which is very important from the point of view of an industrial application. Full article
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14 pages, 6825 KiB  
Article
LTE and NB-IoT Performance Estimation Based on Indicators Measured by the Radio Module
by Robert Burczyk, Agnieszka Czapiewska, Malgorzata Gajewska and Slawomir Gajewski
Electronics 2022, 11(18), 2892; https://doi.org/10.3390/electronics11182892 - 13 Sep 2022
Cited by 4 | Viewed by 1584
Abstract
Monitoring the operating parameters of power grids is extremely important for their proper functioning as well as for ensuring the security of the entire infrastructure. As the idea of the Internet of Things becomes more ubiquitous, there are tools for monitoring the state [...] Read more.
Monitoring the operating parameters of power grids is extremely important for their proper functioning as well as for ensuring the security of the entire infrastructure. As the idea of the Internet of Things becomes more ubiquitous, there are tools for monitoring the state of the complex electrical grid and means to control it. There are also developed new measuring devices and transmission technologies allowing for the transfer of performed measurements from many places to the network management center. However, there are still no devices that act as data concentrators, which would integrate many transmission technologies and protocols in one device, supporting the communication between those different transmission technologies and which would realize edge computing to assist the management center by prioritizing and combining transmitted data. In this article, the authors present a device that meets the above-mentioned requirements. There are presented research results leading to the development of a decision algorithm, called Multilink—ML, dedicated to the presented device. This algorithm enables the selection between LTE and NB-IoT interfaces for packet transmission without the need to burden the communication system with additional transmissions. Full article
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17 pages, 490 KiB  
Article
A Concept of Autonomous Multi-Agent Navigation System for Unmanned Surface Vessels
by Agnieszka Lazarowska and Andrzej Żak
Electronics 2022, 11(18), 2853; https://doi.org/10.3390/electronics11182853 - 09 Sep 2022
Cited by 5 | Viewed by 1946
Abstract
The paper introduces a proposal of an Autonomous Navigation System for Unmanned Surface Vessels. The system architecture is presented with a special emphasis on collision avoidance and maneuver auto-negotiation. For the purpose of maneuver auto-negotiation, the concept of multi-agent systems has been applied. [...] Read more.
The paper introduces a proposal of an Autonomous Navigation System for Unmanned Surface Vessels. The system architecture is presented with a special emphasis on collision avoidance and maneuver auto-negotiation. For the purpose of maneuver auto-negotiation, the concept of multi-agent systems has been applied. The algorithm developed for the task of collision avoidance is briefly described and the results of the simulation tests, confirming the effectiveness of applied method, are also given. Presented outcomes include solutions of test scenarios from the perspectives of different ships taking part in the considered situations, confirming the applicability of the collision avoidance algorithm in the process of maneuver auto-negotiation. Full article
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27 pages, 580 KiB  
Article
Hill-Climb-Assembler Encoding: Evolution of Small/Mid-Scale Artificial Neural Networks for Classification and Control Problems
by Tomasz Praczyk
Electronics 2022, 11(13), 2104; https://doi.org/10.3390/electronics11132104 - 05 Jul 2022
Cited by 4 | Viewed by 1253
Abstract
The paper presents a neuro-evolutionary algorithm called Hill Climb Assembler Encoding (HCAE) which is a light variant of Hill Climb Modular Assembler Encoding (HCMAE). While HCMAE, as the name implies, is dedicated to modular neural networks, the target application of HCAE is to [...] Read more.
The paper presents a neuro-evolutionary algorithm called Hill Climb Assembler Encoding (HCAE) which is a light variant of Hill Climb Modular Assembler Encoding (HCMAE). While HCMAE, as the name implies, is dedicated to modular neural networks, the target application of HCAE is to evolve small/mid-scale monolithic neural networks which, in spite of the great success of deep architectures, are still in use, for example, in robotic systems. The paper analyses the influence of different mechanisms incorporated into HCAE on the effectiveness of evolved neural networks and compares it with a number of rival algorithms. In order to verify the ability of HCAE to evolve effective small/mid-scale neural networks, both feed forward and recurrent, it was tested on fourteen identification problems including the two-spiral problem, which is a well-known binary classification benchmark, and on two control problems, i.e., the inverted-pendulum problem, which is a classical control benchmark, and the trajectory-following problem, which is a real problem in underwater robotics. Four other neuro-evolutionary algorithms, four particle swarm optimization methods, differential evolution, and a well-known back-propagation algorithm, were applied as a point of reference for HCAE. The experiments reported in the paper revealed that the evolutionary approach applied in the proposed algorithm makes it a more effective tool for solving the test problems than all the rivals. Full article
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11 pages, 3351 KiB  
Article
Real-Time 3D Mapping in Isolated Industrial Terrain with Use of Mobile Robotic Vehicle
by Tomasz Buratowski, Jerzy Garus, Mariusz Giergiel and Andrii Kudriashov
Electronics 2022, 11(13), 2086; https://doi.org/10.3390/electronics11132086 - 03 Jul 2022
Cited by 5 | Viewed by 1720
Abstract
Simultaneous localization and mapping (SLAM) is a dual process responsible for the ability of a robotic vehicle to build a map of its surroundings and estimate its position on that map. This paper presents the novel concept of creating a 3D map based [...] Read more.
Simultaneous localization and mapping (SLAM) is a dual process responsible for the ability of a robotic vehicle to build a map of its surroundings and estimate its position on that map. This paper presents the novel concept of creating a 3D map based on the adaptive Monte-Carlo location (AMCL) and the extended Kalman filter (EKF). This approach is intended for inspection or rescue operations in a closed or isolated area where there is a risk to humans. The proposed solution uses particle filters together with data from on-board sensors to estimate the local position of the robot. Its global position is determined through the Rao–Blackwellized technique. The developed system was implemented on a wheeled mobile robot equipped with a sensing system consisting of a laser scanner (LIDAR) and an inertial measurement unit (IMU), and was tested in the real conditions of an underground mine. One of the contributions of this work is to propose a low-complexity and low-cost solution to real-time 3D-map creation. The conducted experimental trials confirmed that the performance of the three-dimensional mapping was characterized by high accuracy and usefulness for recognition and inspection tasks in an unknown industrial environment. Full article
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12 pages, 3669 KiB  
Article
Monitoring Time-Non-Stable Surfaces Using Mobile NIR DLP Spectroscopy
by Marek Gąsiorowski, Piotr Szymak, Aleksy Patryn and Krzysztof Naus
Electronics 2022, 11(13), 1945; https://doi.org/10.3390/electronics11131945 - 22 Jun 2022
Cited by 1 | Viewed by 1452
Abstract
In recent years, Near Infrared (NIR) spectroscopy has increased in popularity and usage for different purposes, including the detection of particular substances, evaluation of food quality, etc. Usually, mobile handheld NIR spectroscopy devices are used on the surfaces of different materials, very often [...] Read more.
In recent years, Near Infrared (NIR) spectroscopy has increased in popularity and usage for different purposes, including the detection of particular substances, evaluation of food quality, etc. Usually, mobile handheld NIR spectroscopy devices are used on the surfaces of different materials, very often organic ones. The features of these materials change as they age, leading to changes in their spectra. The ageing process often occurs only slowly, i.e., corresponding reflection spectra can be analyzed each hour or at an even longer interval. This paper undertakes the problem of analyzing surfaces of non-stable, rapidly changing materials such as waxes or adhesive materials. To obtain their characteristic spectra, NIR spectroscopy using a Digital Light Projection (DLP) spectrometer was used. Based on earlier experiences and the current state of the art, Artificial Neural Networks (ANNs) were used to process spectral sequences to proceed with an enormous value of spectra gathered during measurements. Full article
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Review

Jump to: Editorial, Research

30 pages, 3678 KiB  
Review
Review of Collision Avoidance and Path Planning Algorithms Used in Autonomous Underwater Vehicles
by Rafał Kot
Electronics 2022, 11(15), 2301; https://doi.org/10.3390/electronics11152301 - 23 Jul 2022
Cited by 22 | Viewed by 3771
Abstract
The rapid technological development of computing power and system operations today allows for increasingly advanced algorithm implementation, as well as path planning in real time. The objective of this article is to provide a structured review of simulations and practical implementations of collision-avoidance [...] Read more.
The rapid technological development of computing power and system operations today allows for increasingly advanced algorithm implementation, as well as path planning in real time. The objective of this article is to provide a structured review of simulations and practical implementations of collision-avoidance and path-planning algorithms in autonomous underwater vehicles (AUVs). The novelty of the review paper is to consider not only the results of numerical research but also the newest results of verifying collision-avoidance and path-planning algorithms in real applications together with a comparison of the difficulties encountered during simulations and their practical implementation. Analysing the last 20 years of AUV development, it can be seen that experiments in a real environment are dominated by classical methods. In the case of simulation studies, artificial intelligence (AI) methods are used as often as classical methods. In simulation studies, the APF approach is most often used among classical methods, whereas among AI algorithms reinforcement learning and fuzzy logic methods are used. For real applications, the most used approach is reactive behaviors, and AI algorithms are rarely used in real implementations. Finally, this article provides a general summary, future works, and a discussion of the limitations that inhibit the further development in this field. Full article
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