Applied sciences

Bulletin of the Polish Academy of Sciences Technical Sciences

Content

Bulletin of the Polish Academy of Sciences Technical Sciences | 2025 | 73 | No. 2

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Abstract

The choice of C/C++ compiler significantly impacts the performance and energy consumption of multithreaded numerical algorithms related to linear algebra. This study investigates the effects of the C/C++ compiler choice and processor frequency scaling (using dynamic voltage frequency scaling) on the performance and energy consumption of the multithreaded WZ factorization on three different computing platforms, two featuring Intel Xeon processors and one featuring AMD EPYC processor. The factorization is implemented both without optimization techniques and with strip-mining. Based on time and energy tests, we have demonstrated that, for the WZ factorization (in both implementations), each compiler reacts somewhat differently to frequency changes, thus affecting overall performance and energy consumption. The Intel compilers achieved the best performance and energy savings in a multithreaded environment compared to the other compilers on each of the tested computing platforms.
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Authors and Affiliations

Beata Bylina
1
ORCID: ORCID
Monika Piekarz
1
Jarosław Bylina
1
ORCID: ORCID

  1. Maria Curie-Sklodowska University, Pl. M. Curie-Skłodowskiej 5, 20-031 Lublin, Poland
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Abstract

Our paper presents a nonparametric data-driven technique that can enhance the accuracy of robot kinematics models by reducing geometric and nongeometric inaccuracies. We propose this approach based on the theory of singular maps and the Large Dense Diffeomorphic Metric Mapping (LDDMM) framework, which has been developed in the field of Computational Anatomy. This framework can be thought of as a method for identifying nonlinear static models that encode a priori knowledge as a nominal model that we deform using diffeomorphisms. To tackle the kinematic calibration problem, we implement Calibration by Diffeomorphisms and obtain a solution using an image registration formalism. We evaluate our approach via simulations on double pendulum robot models, which account for both geometric and nongeometric discrepancies. The simulations demonstrate an improvement in the precision of the kinematics results for both types of inaccuracies. Additionally, we discuss the potential application of physical experiments. Our approach provides a fresh perspective on robot kinematics calibration using Calibration by Diffeomorphisms, and it has the potential to address inaccuracies caused by unknown or difficult-to-model phenomena.
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Authors and Affiliations

Roberto Orozco
1
ORCID: ORCID
Adam Ratajczak
2

  1. Faculty of Electronics, Photonics and Microsystems, Wrocław University of Science and Technology, Poland
  2. Faculty of Information and Communication Technology, Wrocław University of Science and Technology, Poland
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Abstract

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed.
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Authors and Affiliations

Mikołaj Mrotek
1
ORCID: ORCID
Jacek Michalski
1
ORCID: ORCID
Rafał Madonski
2
ORCID: ORCID
Dariusz Pazderski
3
ORCID: ORCID
Marek Retinger
1
ORCID: ORCID

  1. Faculty of Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, Poland
  2. Faculty of Automatic Control, Electronics and Computer Science, Department of Automatic Control and Robotics, Silesian Universityof Technology, Akademicka 16, 44-100, Gliwice, Poland
  3. Faculty of Control, Robotics and Electrical Engineering, Institute of Automatic Control and Robotics, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, Poland
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Abstract

This paper introduces a new modification to the motion planning algorithm of nonholonomic robotic systems using the endogenous configuration space approach which allows imposing restrictions on control functions. The end and via points define the values which the control function should take in a predefined time, either at the beginning, the end or during the motion time horizon. Such a modification can be used to set the values of the control function, which usually are of velocity-like type, to be physically realizable. The constraints are introduced to the algorithm through the extension of the Jacobian. The efficiency of the presented method is shown with the computer simulation results for a nonholonomic space manipulator. A modified Jacobian motion planning algorithm is used for planning consisting of a sequence of two subtasks.
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Authors and Affiliations

Joanna Ratajczak
1
ORCID: ORCID

  1. Department of Cybernetics and Robotics, Wrocław University of Science and Technology, Wrocław, Poland
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Abstract

Autonomous driving is currently an issue of heated debate in automotive engineering. Accurate prediction of the future trajectory of self-driving cars can significantly reduce the occurrence of traffic accidents. However, predicting the future trajectories of vehicles is a challenging task since it is influenced by the interaction behaviours of neighbouring vehicles. This paper proposes a framework that allows for parameter sharing and cross-layer independence, based on a dynamic graph convolutional spatiotemporal network, to study the interactions between vehicles and the temporal dynamics in historical trajectories. By extracting dynamic adjacency matrices from different vehicle interaction features, the model can describe dynamic spatiotemporal relationships and facilitate addressing changes in traffic scenarios. Finally, the proposed model is experimentally compared with existing mainstream trajectory prediction methods using the NGSIM dataset. The results demonstrate that our trajectory prediction model achieved excellent performance in terms of model parameters and prediction accuracy. Compared to the four mainstream models, our model improved accuracy by 35.73%. In addition, we also analyze the relationship between model complexity and efficiency.
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Authors and Affiliations

Hao Chen
1
ORCID: ORCID
Xuncheng Wu
1
Ruoping Zhang
1
Wenfeng Guo
2
Yang Chen
3
Jiejie Xu
3
Weiwei Zhang
3
Wangpengfei Yu
3

  1. School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China
  2. School of Vehicle and Mobility, Tsinghua University, Beijing, 100084, China
  3. Shanghai Smart Vehicle Cooperating Innovation Center Co., Ltd., Shanghai, 201805, China
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Abstract

In this paper, necessary and sufficient conditions for zeroing of the transfer matrices of descriptor continuous-time and discrete-time linear systems are established. The conditions are illustrated by simple numerical examples of the descriptor continuous-time and discrete-time linear systems. Also some remarks on the systems with delays in control are given.
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Authors and Affiliations

Tadeusz Kaczorek
1
ORCID: ORCID
Jerzy Klamka
2
ORCID: ORCID
Andrzej Dzieliński
3
ORCID: ORCID

  1. Bialystok University of Technology, Faculty of Electrical Engineering, ul. Wiejska 45D, Bialystok, Poland
  2. Polish Academy of Sciences, Institute of Theoretical and Applied Informatics, ul. Bałtycka 5, Gliwice, Poland
  3. Warsaw University of Technology, Faculty of Electrical Engineering, ul. Koszykowa 75, Warsaw, Poland
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Abstract

Human activities predominantly depend on hydrocarbons, which are essential resources and pivotal drivers of economic growth and development in many nations. Countries with substantial hydrocarbon reserves have capitalized on these resources to generate wealth. However, the complex physicochemical properties of hydrocarbons pose significant risks to both human safety and environmental integrity. Hazard studies conducted across various Algerian oil (NAFTAL) regions, particularly at CBR (cost-benefit ratio) industrial sites, indicate that the primary dangers involve fire and explosion. Investigations into accidents within the ARV (Arrival) terminal zone have identified a strong correlation with hydrocarbon storage practices. This work aims to evaluate the risks associated with specific phenomena linked to the storage of gas oil products. To perform a semi-quantitative risk analysis of potential accident scenarios, we employed the hazard and operability study (HAZOP) method, alongside a detailed examination of possible incidents using the Fault Tree method (FTM). This approach elucidates the causes and consequences of undesirable events. Furthermore, we assessed the risks posed by these adverse scenarios and their implications for nearby reservoir areas. Using Areal Locations of Hazardous Atmospheres (ALOHA) software for simulation, we illustrated the identified scenarios and delineated the threat zones surrounding the S11 tank.
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Authors and Affiliations

Ahcène Akni
1
ORCID: ORCID
Manel Bidi
2

  1. Transportation Engineering Department, University Constantine, 1 – Brothers Mentouri, Algeria
  2. Electrotechnic Department of Constantine, University Constantine, 1 – Brothers Mentouri, Algeria