Pub Date : 2024-03-01DOI: 10.24425/opelre.2024.149234
Karolina Krzykowska-Piotrowska, Emilia Grabka, Ewa Dudek, Adam Rosiński, Kamil Maciuk
A companion robot is capable of performing a variety of activities and thus supporting the elderly and people withdisabilities. It should be able to overcome obstacles on its own, respond to what is happening around it in real-time, andcommunicate with its surroundings. It is particularly important to pay attention to these issues, as a companion robot is likely tobecome a participant in traffic. The aim of the research is to develop a mathematical model that takes into account the use of twonavigation solutions in the companion robot. Thanks to this, it will be possible to use the obtained mathematical relationships tocompare various types of navigation and make a rational choice, enabling the implementation of the assumed activities in aspecific external environment. What is new in this article is the analysis of several navigation methods and the presentation ofresearch carried out in real time using an actual robot.
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Pub Date : 2024-02-29DOI: 10.24425/opelre.2024.149230
E. Girejko, Agnieszka Malinowska
This paper addresses the problem of designing secure control for networked multi-agent systems (MASs) under Denial-of-Service (DoS) attacks. We propose a constructive design method based on the interaction topology. The MAS with a non-attack communication topology, modeled by quasi-Abelian Cayley graphs subject to DoS attacks, can be represented as a switched system. Using switching theory, we provide easily applicable sufficient conditions for the networked MAS to remain asymptotically stable despite DoS attacks. Our results are applicable to both continuoustime and discrete-time systems, as well as to discrete-time systems with variable steps or systems that combine discrete and continuous times.
本文探讨了在拒绝服务（DoS）攻击下为网络多代理系统（MAS）设计安全控制的问题。我们提出了一种基于交互拓扑的建设性设计方法。由受 DoS 攻击的准阿贝尔卡莱图（quasi-Abelian Cayley graphs）建模的无攻击通信拓扑的 MAS 可以表示为一个交换系统。利用交换理论，我们提供了网络化 MAS 在受到 DoS 攻击时仍能保持渐近稳定的简便适用的充分条件。我们的结果既适用于连续时间和离散时间系统，也适用于具有可变步长的离散时间系统或结合了离散时间和连续时间的系统。
{"title":"On applications of quasi-Abelian Cayley graphs to Denial-of-Service protection","authors":"E. Girejko, Agnieszka Malinowska","doi":"10.24425/opelre.2024.149230","DOIUrl":"https://doi.org/10.24425/opelre.2024.149230","url":null,"abstract":"This paper addresses the problem of designing secure control for networked multi-agent systems (MASs) under Denial-of-Service (DoS) attacks. We propose a constructive design method based on the interaction topology. The MAS with a non-attack communication topology, modeled by quasi-Abelian Cayley graphs subject to DoS attacks, can be represented as a switched system. Using switching theory, we provide easily applicable sufficient conditions for the networked MAS to remain asymptotically stable despite DoS attacks. Our results are applicable to both continuoustime and discrete-time systems, as well as to discrete-time systems with variable steps or systems that combine discrete and continuous times.","PeriodicalId":54670,"journal":{"name":"Opto-Electronics Review","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2024-02-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140411151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-28DOI: 10.24425/opelre.2023.148992
A. Kurzych, L. Jaroszewicz
Vibration is a ubiquitous phenomenon that occurs in everyday life and people are exposed to it almost all the time. Most often, vibration is measured using electromechanical devices such as piezoelectric, piezoresistive, or capacitive accelerometers. However, attention should be paid to the limitations of such vibration sensors. They cannot operate in the presence of strong electromagnetic fields. Measurements with electromechanical devices require physical contact between the sensor and the vibrating object, which is not always possible due to the design of the sensor and device. The possibility of a non-contact vibration measurement in harsh environments is provided by the technology of interferometric fibre optic sensors. This paper reports the principle of operation, design aspects, experimentation, and performance of a Mach-Zehnder interferometric setup for the measurement of vibration frequency. There are different sensing arms implemented in the interferometer: single-mode, polarization-maintaining, and tapered optical fibre. The paper emphasises the simplicity of the set-up structure and the detection capabilities based on the interferometric sensing giving the possibility of constructing a commercial vibration sensor for all industry demands.
{"title":"Vibration sensing with the optical fibre Mach-Zehnder interferometer","authors":"A. Kurzych, L. Jaroszewicz","doi":"10.24425/opelre.2023.148992","DOIUrl":"https://doi.org/10.24425/opelre.2023.148992","url":null,"abstract":"Vibration is a ubiquitous phenomenon that occurs in everyday life and people are exposed to it almost all the time. Most often, vibration is measured using electromechanical devices such as piezoelectric, piezoresistive, or capacitive accelerometers. However, attention should be paid to the limitations of such vibration sensors. They cannot operate in the presence of strong electromagnetic fields. Measurements with electromechanical devices require physical contact between the sensor and the vibrating object, which is not always possible due to the design of the sensor and device. The possibility of a non-contact vibration measurement in harsh environments is provided by the technology of interferometric fibre optic sensors. This paper reports the principle of operation, design aspects, experimentation, and performance of a Mach-Zehnder interferometric setup for the measurement of vibration frequency. There are different sensing arms implemented in the interferometer: single-mode, polarization-maintaining, and tapered optical fibre. The paper emphasises the simplicity of the set-up structure and the detection capabilities based on the interferometric sensing giving the possibility of constructing a commercial vibration sensor for all industry demands.","PeriodicalId":54670,"journal":{"name":"Opto-Electronics Review","volume":null,"pages":null},"PeriodicalIF":1.6,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139148697","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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