Usage of real time machine vision in rolling mill

sus ainabili y A icle Usage o Real Time Machine Vision in Rolling Mill Jiˇ íDa id *, Pa el Š ec, Ví Paske and Romana Ga zino á   Ci a ion: Da id, J.; Š ec, P.; Paske , V.; Ga zino á, R. Usage o Real Time Machine Vision in Rolling Mill. Sus ainabili y 2021,13, 3851. h ps:// doi.o g/10.3390/su13073851 Academic Edi o s: Be na di P anggono, Alex Shen ield and Augus ine Ikpehai Recei ed: 1 Feb ua y 2021 Accep ed: 26 Ma ch 2021 Published: 31 Ma ch 2021 Publishe ’s No e: MDPI s ays neu al wi h ega d o ju isdic ional claims in published maps and ins i u ional a il- ia ions. Copy igh : © 2021 by he au ho s. Licensee MDPI, Basel, Swi ze land. This a icle is an open access a icle dis ibu ed unde he e ms and condi ions o he C ea i e Commons A ibu ion (CC BY) license (h ps:// c ea i ecommons.o g/licenses/by/ 4.0/). Depa men o Au oma ion and Compu ing in Indus y, VŠB-Technical Uni e si y Os a a, 17. Lis opadu 2173/15, 70800 Os a a, Czech Republic; [email p o ec ed] (P.Š.); [email p o ec ed] (V.P.); [email p o ec ed] (R.G.) *Co espondence: [email p o ec ed]; Tel.: +420-723-858-551 Abs ac : This a icle deals wi h he issue o compu e ision on a olling mill. The main goal o his a icle is o desc ibe he designed and implemen ed algo i hm o he au oma ic iden i ica ion o he cha ac e s ing o bille s on he olling mill. The algo i hm allows he con e sion o image in o ma ion om he on o he bille , which en e s he olling p ocess, in o a s ing o cha ac e s, which is u he used o con ol he echnological p ocess. The pu pose o his iden i ica ion is o p e en he inpu pieces om being con used because di e en pa ame e s o he olling p ocess a e se o di e en pieces. In sol ing his ask, i was necessa y o design he op imal echnical equipmen o image cap u e, choose he app op ia e ligh ing, sea ch o ex and ecognize indi idual symbols, and inse hem in o he con ol sys em. The esea ch me hodology is based on he empi ical- quan i a i e p inciple, he basis o which is he analysis o expe imen ally ob ained da a (pho og aphs o bille aces) in eal ope a ing condi ions leading o hei in e p e a ion ( ans o ma ion in o he shape o a digi al chain). The i s pa o he a icle b ie ly desc ibes he bille iden i ica ion sys em om he poin o iew o echnology and ha dwa e esou ces. The nex pa s a e de o ed o he main pa s o he algo i hm o au oma ic iden i ica ion—op ical ecogni ion o s ings and ecogni ion o indi idual cha ac e s o he chain using a i icial in elligence. The me hod o op ical cha ac e ecogni ion using a i icial neu al ne wo ks is he basic algo i hm o he sys em o au oma ic iden i ica ion o bille s and elimina es ambigui ies du ing hei u he p ocessing. Success ul implemen a ion o he au oma ic inspec ion sys em will inc ease he sha e o ope a ion au oma ion and lead o ensu ing au oma ic inspec ion o s eel bille s acco ding o he p oduc ion plan. This issue is ela ed o he end o digi iza ion o indi idual echnological p ocesses in me allu gy and also o he social sus ainabili y o p ocesses, which means he elimina ion o human e o s in he managemen o he bille olling p ocess. Keywo ds: me allu gy; machine ision; neu al ne wo ks; con ol; applica ions; s eel indus y; op ical de ices; a i icial in elligence; machine lea ning; in elligen sys ems; a i icial neu al ne wo ks; image p ocessing; image classi ica ion; eal- ime sys ems 1. In oduc ion In oday’s indus ial companies and manu ac u ing companies, he emphasis is on p oduc quali y and in his espec on he numbe o con ol poin s a each s age o p oduc ion. Checks can be pe o med manually, au oma ically, o in combina ion. Wi h he g owing mode niza ion o business and he de elopmen o au oma ion echnologies, many ope a ions a e mo ing o au oma ed managemen . Acco dingly, a ious quali y con ol me hods a e used a con ol s a ions, such as machine ision, su ace scanning, p ecision shaping, colo and size measu emen , o inspec ion o semi- inished p oduc s and p oduc iden i ie s du ing p oduc ion and s o age. Many o hese con ol me hods use an indus ial came a as an essen ial elemen o p o ide he equi ed in o ma ion in image o m. Sus ainabili y 2021,13, 3851. h ps://doi.o g/10.3390/su13073851 h ps://www.mdpi.com/jou nal/sus ainabili y Sus ainabili y 2021,13, 3851 2 o 18 The applica ion o a i icial in elligence me hods in indus ial applica ions is oday a end bo h in he ield o p ocess digi iza ion and in he ield o sus ainabili y, whe e i is also necessa y o apply new me hods and app oaches. The e has been a lo o alk la ely abou he Indus y 4.0 ini ia i e o he 4 h Indus- ial Re olu ion. New ends in au oma ion, digi iza ion, o da a exchange in indus ial p ocesses and echnologies can be hea d om all sides. On he o he hand, he issue can also be seen in he con ex o sus ainable de elopmen . The abo e-desc ibed solu ion o using machine ision in a olling mill is an example o a pa ial solu ion con ibu ing o he digi iza ion o he p ocess in o de o c ea e a so-called “Sma Fac o y”, which combines he physical and cybe wo ld o p oduc ion, bu also as a solu ion ha is in line wi h sus ainable de elopmen o socie y in all ac o s—inc easing he quali y o p oduc ion, educing p oduc ion cos s, and om a social and en i onmen al poin o iew. This con- nec ion signi ican ly akes he digi iza ion o indus y o a new le el. Bu wha does he combina ion o he physical and cybe wo ld eally mean o manu ac u ing companies? Wha oppo uni ies does he digi aliza ion o indus y b ing? The answe can be con ained in one e m—in elligen da a. In elligen da a is closely linked o digi iza ion and da a analy ics. We can de ine hem as da a ha a e unambiguous and cleaned up and ha a e linked di ec ly o a speci ic ac ion. In elligen da a is he esul o digi iza ion and da a analy ics. In o de o wo k ou he in o ma ion and alue ha da a ep esen s wi hin he company, i is i s necessa y o collec i (in eg a e di e en da a sou ces), p ocess i (e.g., ans o m i in o he same da a ype o clean i om da a impu i ies) and analyze i (using di e en ypes o da a analysis, such as p edic i e analysis). Today, howe e , he ield o in elligen da a aces a la ge numbe o challenges. These include he speed o new da a, secu i y, and he lack o expe s in he ma ke (wi h knowledge o he company’s p oduc ion p ocesses and also knowledge o da a analy ics) o he in eg a ion o se e al di e en da a sou ces. This aises he ques ion o whe he in elligen da a is eally wo h he e o and wha digi iza ion and da a analy ics ac ually b ing o manu ac u ing companies. Simply pu , i helps companies unde s and wha and how i is done, and hen helps iden i y oppo uni ies o imp o emen . In he ield o digi iza ion, we a e no only alking abou he ans e o he physical wo ld o he cybe wo ld, he p ocesses o da a collec ion, o he elimina ion o communica ion in pape o m ( he concep o he “pape less company”). Digi iza ion in he con ex o p oduc ion also includes concep s such as he digi al win, ad anced da a mining o p oduc ion and non-p oduc ion p ocesses, o he en i e p oduc ion and p oduc li e cycle. Digi iza ion is hus a co ne s one o Indus y 4.0. We can say ha i is he echnical ad ances in digi iza ion ha enable he comple e in e connec ion o he en i e p oduc ion p ocess and he en i e cus ome -consume chain. Subsequen ly, i is possible o apply ad anced da a p ocessing me hods, apply s a is ical and p edic ion models, moni o he beha io o sys ems and machines in eal- ime, o p e en ou ages in p oduc ion p ocesses. Today, echnological ad ances allow us o collec da a di ec ly om p oduc ion lines (In e ne o Things: IoT), p e-p ocess i a he local le el and isualize i in clea epo s o wo k su aces (edge compu ing), send i o he cloud o u he p ocessing (e.g., machine lea ning), o en ich i wi h non-p oduc ion da a and isualize on mobile de ices. Indi idual echnologies hus eally become he s anda d and in oday’s highly com- pe i i e en i onmen a e ce ainly a necessi y o main ain hei own compe i i eness. Indus y 4.0, he digi iza ion o p oduc ion p ocesses, and in elligen da a a e no a goal, bu a ool o achie e se goals, iden i y new business models, o op imize p oduc ion p ocesses. These ools use da a as a basic inpu and p e equisi e o be e and mo e accu a e decision-making. Digi iza ion and da a analy ics hen ep esen some hing as a co ne s one o he whole Indus y 4.0 ini ia i e, whe e he physical and cybe ne ic wo ld is in e connec ed in a sma ac o y in o a sys em ha moni o s p ocesses, c ea es Sus ainabili y 2021,13, 3851 3 o 18 a digi al win (wo kpiece o p ocess), and is able o make i s own decisions (a i icial in elligence elemen s). Applica ions aimed a c ea ing sma ac o ies change he unc ioning no only o indus y and p oduc ion bu also o socie y as a whole. P oduc i i y is a so e spo in he Czech labo ma ke . A 3% g ow h in labo p oduc i i y g ow h in 2017 was abo e a e age a e he economic c isis, bu s ill below p e-c isis le els. The le el o labo p oduc i i y emains ela i ely low, especially compa ed o de eloped economies, due o signi ican skill misma ches, he low impac o R&D on inno a ion, and he size o low-skilled indus ies. To achie e economic alue, he Czech economy mus mo e om low-skilled o high-skilled, he eby inc easing alue-added and imp o ing he posi ion o companies. The p ocess o au oma ion and digi iza ion is absolu ely c ucial o he Czech Republic. Bo h p ocesses lead o a educ ion in p oduc ion cos s, sho ening he p oduc ion cycle, inc easing p oduc ion e iciency, inc easing he use ul p ope ies o p oduc s and se ices, humanizing wo k, imp o ing he wo king en i onmen , and inc easing leisu e ime. Acco ding o a ious s udies and ongoing digi iza ion and au oma ion p ojec s, he g ea es impac is expec ed on employmen in he middle class, whe e many p o essions a e ou ine and he e o e mos p one o compu e eplacemen . The au oma ion and digi iza ion o indus ial indus ies alone may no esul in a educ ion in he numbe o employees; on he con a y, i may be a way o compensa e o he lack o labo due o un a o able demog aphic de elopmen s in de eloped coun ies. Ad anced au oma ion hus jeopa dizes mo e wo k asks han en i e jobs. In line wi h exis ing indings, i is expec ed ha new echnologies will shi he a io o man-made o machine-d i en asks, wi h he na u e o he changes a ying bo h in scope and speed o applica ion. In e ope abili y, decen aliza ion, in elligence, and econ igu abili y a e ea u es ha cu en ly b ing o he bene i s o companies, o example in he a eas o sa e y and en i on- men al s udies. The Indus ial In e ne o Things (IIoT) and he as amoun o da a ha his ne wo k gene a es c ea e g ea e cla i y in business p ocesses, and hus educe he isk o human o echnological e o . Indus ial In e ne o Things (IIoT) echnologies and Sma Indus y sys ems ha e a di ec impac on imp o ing he sa e y, eliabili y, and sus ainabili y o he p oduc ion en i- onmen , and ul ima ely on p e en ing nega i e impac s on p oduc quali y and deli e y ime. G ea e anspa ency also helps o educe was e, leakage, and was e and iden i y hei o igin, hus minimizing he en i onmen al oo p in o he manu ac u ing plan . This pape deals wi h he issue o op ical cha ac e ecogni ion using a i icial neu al ne wo ks. The main pa o he pape is a desc ip ion o he designed and implemen ed algo i hm o op ical iden i ica ion o a cha ac e s ing om he on o a s eel bille using a i icial in elligence. The pape has i e sec ions. The in oduc o y chap e ou lines he issue o p ocess digi iza ion and he de elopmen o sus ainabili y in he cu en condi ions o p ocess digi iza ion. Sec ion 2o he a icle b ie ly desc ibes he bille iden i ica ion sys em in e ms o echnological and ha dwa e esou ces. Sec ion 3desc ibes he issue o op ical chain ecogni ion on s eel bille s. Sec ion 4desc ibes he use o neu al ne wo ks o he ecogni ion o indi idual elemen s o he chain and he achie ed esul s. The conclusion o he a icle hen p esen s he achie ed esul s in e ms o he p oposed algo i hm and in e ms o ope a ional use. 2. Sys em Design o Iden i ica ion o S eel Bille s The basic semi- inished p oduc s o he p oduc ion o olled wi e a e s eel bille s, which a e s o ed in he a ea o he olling mill and u he dis ibu ed o he p oduc ion line acco ding o he equi emen s o he p oduc ion plan. Be o e en e ing he hea ing u nace, he bille s a e inspec ed only du ing he p ocess in he cha ging ne wo k wi hou inspec ion om he se ice s a ion. In some cases, inaccu a e checks and e o s in bille changes occu he e. As he ma e ial p ope ies o indi idual bille s a y g ea ly depending Sus ainabili y 2021,13, 3851 4 o 18 on hei use o speci ic p oduc s, hei changes esul in a al manu ac u ing de ec s and la ge inancial losses [1]. In o de o mode nize he ope a ion and limi he exchange o bille s, a bille iden i i- ca ion sys em based on machine lea ning was designed and subsequen ly implemen ed. The design o he bille iden i ica ion sys em was ealized by ou basic wo king p ocedu es di ided acco ding o hema ic asks: • The i s basic p ocedu e was he selec ion o indi idual componen s, in he selec ion o which i was necessa y o obse e he equi emen s and condi ions o ope a ion. • The second p ocedu e was o se up and ins all a ne wo k came a, including moun ing he came a and accesso ies, including wi ing. • The hi d p ocedu e was he c ea ion o an algo i hm o adjus he bille con eyo con ol, including he addi ion o new commands in he p og ammable logic con olle (PLC) con ol p og am and came a con ol se ings. • The ou h p ocedu e was he design o an algo i hm o he iden i ica ion o bille s using machine lea ning and s o ing he in o ma ion ob ained in he Bille S amping p og am. Fu he mo e, he a icle is ocused on he desc ip ion o he p oposed algo i hm o bille iden i ica ion using machine lea ning [2–4]. Inpu in o ma ion and ope a ing equi emen s 1. S eel bille s ha e, o iden i ica ion pu poses, a se ial numbe , which is c ea ed by a ma king au oma ic machine immedia ely a e he bille s exi om he con inuous cas ing machine. 2. The nume ic cha ac e con ains a combina ion o 5 o 9 digi s, possibly accompanied by wo le e s. 3. The s eel bille s a e a anged on he cha ging g a e and indi idually con eyed o he hea ing u nace. 4. Fo he pu pose o bille iden i ica ion, he possibili y o digi izing nume ical cha ac- e s on he compu e moni o o he ope a o ’s s a ion and he possibili y o a chi ing he ob ained in o ma ion is equi ed. The selec ion o echnical means o scanning and subsequen iden i ica ion was made wi h ega d o he p ope ies o he scanned objec s, which we e s eel bille s. The dimensions o he bille a e 8 m in leng h, 150 mm in wid h, and 150 mm in heigh . The weigh o one bille is app oxima ely 2 ons. The bille s a e a anged on a loading g id and indi idually anspo ed o a hea ing u nace, om which hey con inue o he olling line a e eaching he equi ed empe a u e. Fo iden i ica ion pu poses, hey a e ma ked wi h a se ial numbe s ing, which is c ea ed by an au oma ic s amping machine on he on o he bille . The nume ic cha ac e con ains a combina ion o 5 o 9 digi s, possibly supplemen ed by wo le e s. The basic componen s we e an indus ial came a, a came a lens, a came a co e , a came a co e holde , a powe supply, a ligh e lec o , and ela ed cabling. When choosing an indus ial came a and accesso ies, i was necessa y o ake in o accoun , in pa icula , he me hod o use and he p ope ies o he en i onmen . Componen s mus be designed o con inuous ope a ion in an indus ial en i onmen . Also, he emphasis was on eliable ope a ion, so wa e, and easonable p ice. Based on hese condi ions, he came a IP 1343 was selec ed by Axis (see Table 1 o pa ame e s) and lens Compu a TG10Z0513FCS (see Table 2 o pa ame e s). Sus ainabili y 2021,13, 3851 5 o 18 Table 1. Axis P1343 came a pa ame e s. Came a Resolu ion 800 ×600 Image senso ype CMOS 1/4” p og essi e scan Minimum ligh ing alue 0.05 lux Image comp ession MPEG 4, MJPEG, H.264 Numbe o ames pe second 30 Ope a ing empe a u e −30 ◦C o 50 ◦C Powe ol age 8–20 V DC Consump ion 6.4 W Table 2. Compu a TG10Z0513FCS lens pa ame e s. Focal Dis ance 5–50 mm Ape u e 1.3–360 Ape u e con ol Au oma ic DC Fo ma 1/3” Type o a achmen CS Due o he p oduc ion en i onmen ha ing bo h high empe a u es and conside able dus iness, i was necessa y o place he came a in a came a co e . This co e p o ec s he came a om dus , mois u e, and mechanical damage. The ype used is TP607H p o ec ion class IP66, i is designed o a empe a u e ange om − 30 ◦ C o +50 ◦ C. The co e was moun ed on a b acke equipped wi h a swi el join ha allows he came a co e o be swi eled and il ed o he desi ed posi ion. Came a powe was p o ided by a linea 12 V/800 mA s abilized powe supply. The powe supply was placed in he came a housing using a co e ki . A b acke was made o moun he came a housing, welded om L- ype s eel p o iles 40 mm × 40 mm wi h dimensions o 300 mm × 1000 mm, and ea ed wi h g ay pain , see Figu e 1. Sus ainabili y 2021, 13, x FOR PEER REVIEW 5 o 17 T ABLE 2. Compu a TG10Z0513FCS lens pa ame e s. Focal Dis ance 5–50 mm Ape u e 1.3–360 Ape u e con ol Au oma ic DC Fo ma 1/3“ Type o a achmen CS Due o he p oduc ion en i onmen ha ing bo h high empe a u es and conside able dus iness, i was necessa y o place he came a in a came a co e . This co e p o ec s he came a om dus , mois u e, and mechanical damage. The ype used is TP607H p o ec ion class IP66, i is designed o a empe a u e ange om −30 °C o +50 °C. The co e was moun ed on a b acke equipped wi h a swi el join ha allows he came a co e o be swi eled and il ed o he desi ed posi ion. Came a powe was p o ided by a linea 12 V/800 mA s abilized powe supply. The powe supply was placed in he came a housing using a co e ki . A b acke was made o moun he came a housing, welded om L- ype s eel p o iles 40 mm × 40 mm wi h dimensions o 300 mm × 1000 mm, and ea ed wi h g ay pain , see Figu e 1. A halogen e lec o wi h a powe o 100 W was used o illumina e he bille s. In e connec ion o ne wo k came a and da a ne wo k was sol ed by FTP (Foiled Twis ed Pai ) (cable ca ego y 5e, cable CYKY-J 3 × 2.5 was used o powe supply o cam- e a and ligh ing. Exis ing cable ou es we e used o s o e he cabling. Figu e 1. Came a moun including an incandescen ligh sou ce. P e-ins alla ion se ings and ins alla ions o ne wo k came as, ne wo k came a se - ings, lens es ing, and ne wo k communica ion, as well as powe supply unc ions, we e pe o med. The came a was connec ed o a powe sou ce and a ne wo k cable o connec i o he compu e . The came a was con igu ed using a web b owse . The ne wo k add ess, ne mask, and ga eway add ess we e se on he came a. Then he adminis a o passwo d was se . A e hese s eps, i was necessa y o es a he came a o sa e he newly se alues. Came a con igu a ion con inued by se ing he ime zone, cu en ime, and ime synch oniza ion se e ime. The nex s ep was o adjus he image quali y and esolu ion. The image quali y and esolu ion we e se o maximum, MJPEG was selec ed o he ideo o ma . The came a was equipped wi h a lens and se e al ocusing we e pe o med, in- cluding he ex eme posi ions o he lens. This was ollowed by es ing he au o i is unc- ion by aiming he came a a da k and ligh places al e na ely. In his way, he came a, lens, and powe supply, i.e., he componen s ha ha e he g ea es impac on he inal image quali y, we e easily es ed. The came a, including he lens and powe supply, was placed in he came a housing o which he hinge b acke is a ached. The loca ion o he came a ins alla ion was chosen Figu e 1. Came a moun including an incandescen ligh sou ce. A halogen e lec o wi h a powe o 100 W was used o illumina e he bille s. In e connec ion o ne wo k came a and da a ne wo k was sol ed by FTP (Foiled Twis ed Pai ) (cable ca ego y 5e, cable CYKY-J 3 × 2.5 was used o powe supply o came a and ligh ing. Exis ing cable ou es we e used o s o e he cabling. P e-ins alla ion se ings and ins alla ions o ne wo k came as, ne wo k came a se - ings, lens es ing, and ne wo k communica ion, as well as powe supply unc ions, we e pe o med. The came a was connec ed o a powe sou ce and a ne wo k cable o connec i o he compu e . The came a was con igu ed using a web b owse . The ne wo k add ess, ne mask, and ga eway add ess we e se on he came a. Then he adminis a o passwo d was se . A e hese s eps, i was necessa y o es a he came a o sa e he newly se alues. Came a con igu a ion con inued by se ing he ime zone, cu en ime, and ime Sus ainabili y 2021,13, 3851 6 o 18 synch oniza ion se e ime. The nex s ep was o adjus he image quali y and esolu ion. The image quali y and esolu ion we e se o maximum, MJPEG was selec ed o he ideo o ma . The came a was equipped wi h a lens and se e al ocusing we e pe o med, includ- ing he ex eme posi ions o he lens. This was ollowed by es ing he au o i is unc ion by aiming he came a a da k and ligh places al e na ely. In his way, he came a, lens, and powe supply, i.e., he componen s ha ha e he g ea es impac on he inal image quali y, we e easily es ed. The came a, including he lens and powe supply, was placed in he came a housing o which he hinge b acke is a ached. The loca ion o he came a ins alla ion was chosen wi h ega d o he p oduc ion echnology, op ical possibili ies o he came a, cable ou ing, and came a es ing. A b acke o he came a co e was welded a he selec ed loca ion, and a ligh e lec o wi h a powe supply e mina ed by a double me al socke wi h IP 55 p o ec ion was placed abo e he console. The came a was placed in he cen e o he con eyo app oxima ely 30 cm abo e he passing bille , as shown in Figu e 2. The scanning dis ance wi h espec o he equi ed de ails and lens capabili ies was de e mined by a came a es app oxima ely one me e om he came a lens. Sus ainabili y 2021, 13, x FOR PEER REVIEW 6 o 17 wi h ega d o he p oduc ion echnology, op ical possibili ies o he came a, cable ou - ing, and came a es ing. A b acke o he came a co e was welded a he selec ed loca- ion, and a ligh e lec o wi h a powe supply e mina ed by a double me al socke wi h IP 55 p o ec ion was placed abo e he console. The came a was placed in he cen e o he con eyo app oxima ely 30 cm abo e he passing bille , as shown in Figu e 2. The scanning dis ance wi h espec o he equi ed de ails and lens capabili ies was de e mined by a came a es app oxima ely one me e om he came a lens. Figu e 2. Modi ica ion o bille con eyo con ol. Du ing came a es s, i was ound ha i is no app op ia e o scan bille s in mo ion (Figu e 3), especially because he e ec o ansmi ed ib a ions, which canno be com- ple ely elimina ed, signi ican ly impai s he image quali y. Much be e esul s a e achie ed by scanning bille s a es . Based on hese indings, i was necessa y o s op he passing bille a a gi en dis ance om he came a be o e sa ing he image. Figu e 3. A pic u e o a passing bille and a bille a es om he Bille S amping p og am. The olling o he bille is con olled by a p og ammable logic con olle (PLC) Si- ma ic S7 300. This PLC con ols he mo emen o semi- inished p oduc s on he cha ge g a e and con eyo s on which he semi- inished p oduc s a e anspo ed o he hea ing u nace. The PLC p og am o con eyo con ol had o be modi ied so ha he bille s opped a he speci ied loca ion, a his poin he equi ed ime emained and con inued o mo e o he hea ing u nace. The s a command o he PLC is he “p epa e bille ” command om he main con- ol sys em. The mo emen o he bille om he illing g a e o he hea ing u nace akes place in he ollowing s eps, which a e also shown in Figu e 4. • T ans e o bille om cha ging g id o con eyo No. 1. • S a con eyo a el 1 and 2. • S op he con eyo No. 1 and 2 o 5 s a e signaling he senso on con eyo No. 2. • A e s opping, send he “s op came a” command o he mas e con ol sys em. Figu e 2. Modi ica ion o bille con eyo con ol. Du ing came a es s, i was ound ha i is no app op ia e o scan bille s in mo ion (Figu e 3), especially because he e ec o ansmi ed ib a ions, which canno be com- ple ely elimina ed, signi ican ly impai s he image quali y. Much be e esul s a e achie ed by scanning bille s a es . Based on hese indings, i was necessa y o s op he passing bille a a gi en dis ance om he came a be o e sa ing he image. Sus ainabili y 2021, 13, x FOR PEER REVIEW 6 o 17 wi h ega d o he p oduc ion echnology, op ical possibili ies o he came a, cable ou - ing, and came a es ing. A b acke o he came a co e was welded a he selec ed loca- ion, and a ligh e lec o wi h a powe supply e mina ed by a double me al socke wi h IP 55 p o ec ion was placed abo e he console. The came a was placed in he cen e o he con eyo app oxima ely 30 cm abo e he passing bille , as shown in Figu e 2. The scanning dis ance wi h espec o he equi ed de ails and lens capabili ies was de e mined by a came a es app oxima ely one me e om he came a lens. Figu e 2. Modi ica ion o bille con eyo con ol. Du ing came a es s, i was ound ha i is no app op ia e o scan bille s in mo ion (Figu e 3), especially because he e ec o ansmi ed ib a ions, which canno be com- ple ely elimina ed, signi ican ly impai s he image quali y. Much be e esul s a e achie ed by scanning bille s a es . Based on hese indings, i was necessa y o s op he passing bille a a gi en dis ance om he came a be o e sa ing he image. Figu e 3. A pic u e o a passing bille and a bille a es om he Bille S amping p og am. The olling o he bille is con olled by a p og ammable logic con olle (PLC) Si- ma ic S7 300. This PLC con ols he mo emen o semi- inished p oduc s on he cha ge g a e and con eyo s on which he semi- inished p oduc s a e anspo ed o he hea ing u nace. The PLC p og am o con eyo con ol had o be modi ied so ha he bille s opped a he speci ied loca ion, a his poin he equi ed ime emained and con inued o mo e o he hea ing u nace. The s a command o he PLC is he “p epa e bille ” command om he main con- ol sys em. The mo emen o he bille om he illing g a e o he hea ing u nace akes place in he ollowing s eps, which a e also shown in Figu e 4. • T ans e o bille om cha ging g id o con eyo No. 1. • S a con eyo a el 1 and 2. • S op he con eyo No. 1 and 2 o 5 s a e signaling he senso on con eyo No. 2. • A e s opping, send he “s op came a” command o he mas e con ol sys em. Figu e 3. A pic u e o a passing bille and a bille a es om he Bille S amping p og am. The olling o he bille is con olled by a p og ammable logic con olle (PLC) Sima ic S7 300. This PLC con ols he mo emen o semi- inished p oduc s on he cha ge g a e and con eyo s on which he semi- inished p oduc s a e anspo ed o he hea ing u nace. The PLC p og am o con eyo con ol had o be modi ied so ha he bille s opped a he Sus ainabili y 2021,13, 3851 7 o 18 speci ied loca ion, a his poin he equi ed ime emained and con inued o mo e o he hea ing u nace. The s a command o he PLC is he “p epa e bille ” command om he main con ol sys em. The mo emen o he bille om he illing g a e o he hea ing u nace akes place in he ollowing s eps, which a e also shown in Figu e 4. •T ans e o bille om cha ging g id o con eyo No. 1. •S a con eyo a el 1 and 2. •S op he con eyo No. 1 and 2 o 5 s a e signaling he senso on con eyo No. 2. •A e s opping, send he “s op came a” command o he mas e con ol sys em. •S a he con eyo a el 1 and 2 a e 5 s. Sus ainabili y 2021, 13, x FOR PEER REVIEW 7 o 17 • S a he con eyo a el 1 and 2 a e 5 s. The ollowing new commands ha e been added o he sequence o commands in he PLC con ol p og am: • T a el s op a e senso signaling om con eyo No. 2. • A e s opping, send he “s op came a” command. • A e 5 s, s a con eyo a el 1 and 2. All hese changes we e made in STEP 7 e sion 5.5. The bille s op senso was used by he LT 100L and LR 100L in a ligh ba ie wi h a PA 11B e alua ion uni om Telco. This solu ion excels abo e all in i s high ib a ion and dus esis ance. Figu e 4. Sys em unc ion diag am. Came a con ol and image s o age we e pe o med using he Axis Media Con ol SDK de elopmen so wa e ( e sion 6.32), which is a ailable on he Axis came a manu- ac u e ’s websi e. Wi h he help o his so wa e, a p og am was c ea ed o con ol he unc ions o IP came as. The p og am was un on a came a se e , which was equipped wi h enough memo y o s o e images. The d i e was c ea ed in Visual S udio 2010 ex- p ess and C #. This p og amming language c ea ed a p og am wi h a simple g aphical in e ace called Punching Bille s, see Figu e 5. The g aphical in e ace con ains se e al unc ion keys ha can be used o call up he espec i e came a and p og am unc ions. A e s a ing he Bille Punching p og am and displaying he g aphical in e ace, i was necessa y o se he da a o communica ion wi h he IP came a. These include he IP ad- d ess o he came a, he login name, and passwo d o he came a adminis a o , he ype o ideo playback (wi h op ions be ween MJPEG, MPEG 4, and H.264), and he eco ding pa h. A e p essing he Play Li e bu on, he p og am es ablishes communica ion wi h he IP came a, e i ies he login name and passwo d, and displays he cu en image om he IP came a in he p e iew window [5,6]. C ea ing a snapsho was done by calling he Sa e cu en image unc ion in Bille S amping. The unc ion c ea es an image in he came a and sa es i acco ding o he se pa h. This unc ion is also a ailable di ec ly in he g aphical in e ace on he SnapSho bu on. Se e al unc ions ha e been p og ammed using he g aphical in e ace bu ons, such as he al eady men ioned Play Li e unc ion, he Play File unc ion which plays he ideo s o ed on he se e , he Reco ding unc ion which s a s eco ding he image om he came a and sa es he eco ding acco ding o he se pa h, and he S op bu on which ac i a es he unc ion o s op he cu en ope a ion, i.e., play he cu en image o play he sa ed ideo. The possibili ies o he p og am a e e y wide and allow you o con ol a la ge numbe o unc ions and con ol he connec ed came a. The desc ibed bille iden i- ica ion sys em mainly uses he image sa ing unc ion. O he unc ions a e mainly used o es he sys em. The Bille Punching p og am can also be con olled using commands and his op ion is used in he desc ibed image s o age sys em. The came a se e ecei es Figu e 4. Sys em unc ion diag am. The ollowing new commands ha e been added o he sequence o commands in he PLC con ol p og am: •T a el s op a e senso signaling om con eyo No. 2. •A e s opping, send he “s op came a” command. •A e 5 s, s a con eyo a el 1 and 2. All hese changes we e made in STEP 7 e sion 5.5. The bille s op senso was used by he LT 100L and LR 100L in a ligh ba ie wi h a PA 11B e alua ion uni om Telco. This solu ion excels abo e all in i s high ib a ion and dus esis ance. Came a con ol and image s o age we e pe o med using he Axis Media Con ol SDK de elopmen so wa e ( e sion 6.32), which is a ailable on he Axis came a manu ac u e ’s websi e. Wi h he help o his so wa e, a p og am was c ea ed o con ol he unc ions o IP came as. The p og am was un on a came a se e , which was equipped wi h enough memo y o s o e images. The d i e was c ea ed in Visual S udio 2010 exp ess and C #. This p og amming language c ea ed a p og am wi h a simple g aphical in e ace called Punching Bille s, see Figu e 5. The g aphical in e ace con ains se e al unc ion keys ha can be used o call up he espec i e came a and p og am unc ions. A e s a ing he Bille Punching p og am and displaying he g aphical in e ace, i was necessa y o se he da a o communica ion wi h he IP came a. These include he IP add ess o he came a, he login name, and passwo d o he came a adminis a o , he ype o ideo playback (wi h op ions be ween MJPEG, MPEG 4, and H.264), and he eco ding pa h. A e p essing he Play Li e bu on, he p og am es ablishes communica ion wi h he IP came a, e i ies he login name and passwo d, and displays he cu en image om he IP came a in he p e iew window [5,6]. Sus ainabili y 2021,13, 3851 8 o 18 Sus ainabili y 2021, 13, x FOR PEER REVIEW 8 o 17 a command o sa e he image om he pa en con olle and in okes he image s o age unc ion in Bille Punching o c ea e he image and sa e i acco ding o he se pa h. The componen o he Sa e Image command is he bille ID ha is used o he image name. Sa ed images a e accessible h ough he p oduc ion in o ma ion sys em o use s wi h he app op ia e pe missions. Image a chi ing was se o a leas wo yea s. Figu e 5. G aphical in e ace o Bille S amping p og am. 3. Tes ing he Op ical Recogni ion o Cha ac e is ics A pa ial goal o he solu ion was o es he op ical cha ac e ecogni ion. The com- me cial p og ams Abbyy Fine Reade e sion 12 and F ee image OCR (Op ical Cha ac e Recogni ion) we e used o his pu pose. These p og ams allow you o con e ex om a pho o o plain ex o ma . Twen y images om he bille iden i ica ion sys em we e selec ed o es ing. Selec ed images we e es ed in he men ioned p og ams. All es ed images we e in JPEG o ma and he p og ams we e se o sa e in x o ma [7]. In he i s phase, he images we e es ed in hei o iginal colo s (Figu e 6), ollowed by black and whi e images (Figu e 6), and in he inal phase, he images we e u ned in o nega i e colo s (Figu e 6). Each image was es ed sepa a ely. The es esul s in hese p o- g ams we e insu icien . Changing he colo spec um also did no p oduce be e esul s. The p og ams could no ecognize he bille numbe s om he es ed images and also did no expo sa is ac o ily o he x o ma . The basic p oblem was he high e o a e caused by he au oma ic ec o iza ion o he OCR e alua ion so wa e. Wi h au oma ic ec o i- za ion, he so wa e mus be able o de e mine he basic en i ies ha make up an image based on he colo in o ma ion o each pixel. When applied o embossed cha ac e s on bille s ha con ained many di e en OCR de o ma ions, he so wa e did no pe o m well. The in oduc ion o p e-p ocessing ools would imp o e his si ua ion. Figu e 6. Modi ica ion o images o bille s om he Bille S amping p og am. 3.1. Machine Vision Compu e ision is one o he mos ad anced a eas o compu e echnology. Used o ecognize he equi ed in o ma ion om he image cap u ed by he indus ial came a, compu e ision is widely used, especially in he indus ial sec o , whe e i is e e ed o as machine ision [8]. Figu e 5. G aphical in e ace o Bille S amping p og am. C ea ing a snapsho was done by calling he Sa e cu en image unc ion in Bille S amping. The unc ion c ea es an image in he came a and sa es i acco ding o he se pa h. This unc ion is also a ailable di ec ly in he g aphical in e ace on he SnapSho bu on. Se e al unc ions ha e been p og ammed using he g aphical in e ace bu ons, such as he al eady men ioned Play Li e unc ion, he Play File unc ion which plays he ideo s o ed on he se e , he Reco ding unc ion which s a s eco ding he image om he came a and sa es he eco ding acco ding o he se pa h, and he S op bu on which ac i a es he unc ion o s op he cu en ope a ion, i.e., play he cu en image o play he sa ed ideo. The possibili ies o he p og am a e e y wide and allow you o con ol a la ge numbe o unc ions and con ol he connec ed came a. The desc ibed bille iden i ica ion sys em mainly uses he image sa ing unc ion. O he unc ions a e mainly used o es he sys em. The Bille Punching p og am can also be con olled using commands and his op ion is used in he desc ibed image s o age sys em. The came a se e ecei es a command o sa e he image om he pa en con olle and in okes he image s o age unc ion in Bille Punching o c ea e he image and sa e i acco ding o he se pa h. The componen o he Sa e Image command is he bille ID ha is used o he image name. Sa ed images a e accessible h ough he p oduc ion in o ma ion sys em o use s wi h he app op ia e pe missions. Image a chi ing was se o a leas wo yea s. 3. Tes ing he Op ical Recogni ion o Cha ac e is ics A pa ial goal o he solu ion was o es he op ical cha ac e ecogni ion. The com- me cial p og ams Abbyy Fine Reade e sion 12 and F ee image OCR (Op ical Cha ac e Recogni ion) we e used o his pu pose. These p og ams allow you o con e ex om a pho o o plain ex o ma . Twen y images om he bille iden i ica ion sys em we e selec ed o es ing. Selec ed images we e es ed in he men ioned p og ams. All es ed images we e in JPEG o ma and he p og ams we e se o sa e in x o ma [7]. In he i s phase, he images we e es ed in hei o iginal colo s (Figu e 6), ollowed by black and whi e images (Figu e 6), and in he inal phase, he images we e u ned in o nega i e colo s (Figu e 6). Each image was es ed sepa a ely. The es esul s in hese p og ams we e insu icien . Changing he colo spec um also did no p oduce be e esul s. The p og ams could no ecognize he bille numbe s om he es ed images and also did no expo sa is ac o ily o he x o ma . The basic p oblem was he high e o a e caused by he au oma ic ec o iza ion o he OCR e alua ion so wa e. Wi h au oma ic ec o iza ion, he so wa e mus be able o de e mine he basic en i ies ha make up an image based on he colo in o ma ion o each pixel. When applied o embossed cha ac e s on bille s ha con ained many di e en OCR de o ma ions, he so wa e did no pe o m well. The in oduc ion o p e-p ocessing ools would imp o e his si ua ion. Sus ainabili y 2021,13, 3851 9 o 18 Sus ainabili y 2021, 13, x FOR PEER REVIEW 8 o 17 a command o sa e he image om he pa en con olle and in okes he image s o age unc ion in Bille Punching o c ea e he image and sa e i acco ding o he se pa h. The componen o he Sa e Image command is he bille ID ha is used o he image name. Sa ed images a e accessible h ough he p oduc ion in o ma ion sys em o use s wi h he app op ia e pe missions. Image a chi ing was se o a leas wo yea s. Figu e 5. G aphical in e ace o Bille S amping p og am. 3. Tes ing he Op ical Recogni ion o Cha ac e is ics A pa ial goal o he solu ion was o es he op ical cha ac e ecogni ion. The com- me cial p og ams Abbyy Fine Reade e sion 12 and F ee image OCR (Op ical Cha ac e Recogni ion) we e used o his pu pose. These p og ams allow you o con e ex om a pho o o plain ex o ma . Twen y images om he bille iden i ica ion sys em we e selec ed o es ing. Selec ed images we e es ed in he men ioned p og ams. All es ed images we e in JPEG o ma and he p og ams we e se o sa e in x o ma [7]. In he i s phase, he images we e es ed in hei o iginal colo s (Figu e 6), ollowed by black and whi e images (Figu e 6), and in he inal phase, he images we e u ned in o nega i e colo s (Figu e 6). Each image was es ed sepa a ely. The es esul s in hese p o- g ams we e insu icien . Changing he colo spec um also did no p oduce be e esul s. The p og ams could no ecognize he bille numbe s om he es ed images and also did no expo sa is ac o ily o he x o ma . The basic p oblem was he high e o a e caused by he au oma ic ec o iza ion o he OCR e alua ion so wa e. Wi h au oma ic ec o i- za ion, he so wa e mus be able o de e mine he basic en i ies ha make up an image based on he colo in o ma ion o each pixel. When applied o embossed cha ac e s on bille s ha con ained many di e en OCR de o ma ions, he so wa e did no pe o m well. The in oduc ion o p e-p ocessing ools would imp o e his si ua ion. Figu e 6. Modi ica ion o images o bille s om he Bille S amping p og am. 3.1. Machine Vision Compu e ision is one o he mos ad anced a eas o compu e echnology. Used o ecognize he equi ed in o ma ion om he image cap u ed by he indus ial came a, compu e ision is widely used, especially in he indus ial sec o , whe e i is e e ed o as machine ision [8]. Figu e 6. Modi ica ion o images o bille s om he Bille S amping p og am. 3.1. Machine Vision Compu e ision is one o he mos ad anced a eas o compu e echnology. Used o ecognize he equi ed in o ma ion om he image cap u ed by he indus ial came a, compu e ision is widely used, especially in he indus ial sec o , whe e i is e e ed o as machine ision [8]. Compu e ision basically eplaces human abili ies in e ms o unde s anding and in e p e a ion o he image by echnical means. Typical asks in machine ision may be he ecogni ion and coun ing o p oduc s using indus ial came as, posi ioning, dimensioning, o op ical quali y con ol. In conjunc ion wi h o he p oduc handling sys ems, some manu ac u ing ope a ions can be ully au oma ed using machine ision sys ems. The basis o a eliable machine ision sys em is sui able illumina ion o he scanned scene in which he scanned objec s a e loca ed [ 9 ]. The image da a ob ained by a scanning de ice, such as a digi al indus ial came a, is hen p ocessed by he sys em o ecognize he desi ed in o ma ion. The sys em is connec ed o o he con ol pa s o he p oduc ion line, as equi ed, wi h which i communica es and can au onomously in e ene in he p oduc ion p ocess o p o ide signaling o he ope a o . F om au oma ed in e en ions, we can conside s opping he machine, disca ding de ec i e and poo quali y p oduc s, o a ing pa s in inapp op ia e posi ions, e c. Access o he sys em can also be enabled emo ely ia an applica ion o web in e ace. Machine lea ning me hods ha e been used o imp o e compu e ision o iden i y embossed cha ac e s. The e a e many such me hods, o example [ 10 – 15 ], which ha e ce ain limi a ions. In [ 16 ] o -line cha ac e ecogni ion is p esen ed, which is applied o he bille iden i ica ion sys em in he s eel indus y. Iden i ica ion cha ac e s a e so damaged in his applica ion ha we need noise- esis an me hods and obus cha ac e segmen a ion and ex ac ion algo i hms. We p opose new local me hods o adap i e h esholding and cha ac e ex ac ion. We use a subspace classi ie using KLT (Ka hunen– Loè e T ans o m—p incipal componen analysis— obus pa e n ecogni ion me hod) o classi y cha ac e s. The me hods ha e been es ed on eal indus ial applica ions and ha e p o en o be success ul and allow implemen a ion in echnological p ocesses. Unlike he abo e publica ions, he p oposed machine lea ning solu ion o he iden i- ica ion o embossed cha ac e s is unique o he me allu gical indus y and wo ks online in eal- ime. The basic di e ence is in he me hod o inding cha ac e s and hus in he iden i ica ion o he whole s ing a he head o he bille and in he me hod o lea ning he cha ac e , whe e only selec ed pixels a e used o lea ning and he e o e no he whole pa e n. This app oach allows he chosen p inciple o be used o suppo eal- ime play and o con ol models ha mus be simple, as , bu also accu a e. Ano he di e ence is ha e en hough no il e is applied in he me hod when digi izing he bille ace, he me hod is comple ely accu a e. 3.2. Techniques o Reduce Cha ac e Reading E o An image may con ain (and usually does) con ain ce ain e o s, whe he i is he inpu de ice (came a), he su ace o he ma e ial, o he impe ec ions o he cha ac e s hemsel es. Some o he main e o s and ways o elimina e hem a e [17]: • Remo al o s ains—This is a basic p ocess o educing e o a es. Spo s a e usually caused by he di y su ace o he senso (came a). The mos e ec i e me hod o s op his e o is p e en ion, by egula ly cleaning he came a lens and gene al ha dwa e scanning. Once his e o is embedded in he esul ing image om which he cha - Sus ainabili y 2021,13, 3851 16 o 18 Al hough he sys em enables au o-associa i e p ocessing o embossed numbe s, si - ua ions o misiden i ica ion occu (o he o de o 0.01%), which a e, howe e , caused by he non-embossing o he symbol in he iden i ica ion chain and hus by he e o o he p e ious echnological p ocess. 5. Conclusions This a icle p esen s a pa ial pa o he machine ision sys em o au oma ic iden- i ica ion o he cha ac e s ing o bille s on he olling mill line. The sys em enables he con e sion o image in o ma ion om he on side o he bille in o a cha ac e s ing, which is u he used o con ol he echnological p ocess o olling and o a chi e he p ocess pa ame e s. The iden i ied cha ac e s ing he e se es as a unique iden i ie o he bille . Cu en ly, all pa s o his con ol sys em a e in ull ope a ing mode. The c ea ion o his sys em was s a ed on he basis o ope a ional equi emen s, due o highe au oma ion o ope a ion and ensu ing he con ol o s eel bille s acco ding o he p oduc ion plan. The machine ision sys em uses a came a o scan he a ea in on o he u nace and allows au oma ic inspec ion. The ou pu o he desc ibed pa o he sys em is digi al in o ma ion o nume ical cha ac e s on he compu e moni o o he ope a o ’s s a ion and enabling a chi ing o he ob ained in o ma ion. This educes he ope a o ’s wo kload and educes manu ac u ing e o s. The iden i ied cha ac e s ing is he esul o a sys em o an algo i hm o au oma ically iden i ying he cha ac e s ing and indi idual cha ac e s and an algo i hm o au oma ically digi izing indi idual cha ac e s. Heu is ic algo i hms o inding he iden i ica ion chain in combina ion wi h mul i- laye a i icial neu al ne wo ks o he pe cep on ype wi h opology 69-38-42-10 we e used o au oma ic iden i ica ion o embossed numbe s. A aining se o pho og aphs o he on s o bille s wi h iden i ica ion s ings was c ea ed o he lea ning p ocess. The iden i ica ion s ings we e di ided in o indi idual cha ac e s, hus c ea ing a aining se o he iden i ica ion o indi idual cha ac e s. The aining se o his es ing con ained 45 pa e ns in he o iginal, black and whi e, and nega i e colo s wi h nume ical cha ac e s on he bille s. The applica ion o a i icial neu al ne wo ks in he ield o image p ocessing is no new, bu he uniqueness o he p oposed solu ion lies in he modi ica ion o his p ocessing, which esul s in a signi ican simpli ica ion. The designed and implemen ed algo i hm o au oma ic iden i ica ion o embossed numbe s does no supp ess backg ound noise, so i does no pe o m p e- p ocessing and segmen a ion, which g ea ly simpli ies he solu ion and speeds up he inal p ocessing while main aining 100% classi ica ion o embossed numbe s. These side e ec s a e elimina ed by he p oposed neu al ne wo k. The p oposed sys em o au oma ic iden i ica ion does no educe he p oduc ion cycle o echnological p ocesses, as he p ocess is no con inuous and p o ides enough ime (app oxima ely 2 min) o he en i e p ocessing. Howe e , he p oposed algo i hm p o ides digi al in o ma ion in a ma e o seconds and is he e o e usable in con inuous p ocesses. Al hough he sys em enables au o-associa i e p ocessing o embossed numbe s, si - ua ions o misiden i ica ion occu (o he o de o 0.01%), which a e, howe e , caused by he non-embossing o he symbol in he iden i ica ion chain and hus by he e o o he p e ious echnological p ocess. The whole solu ion was done on eal pic u es. This solu ion is an example o he digi iza ion o echnological p ocesses, which is e lec ed in sus ainabili y in he social and economic ield. This example o a solu ion also shows he possibili ies o a i icial neu al ne wo ks and o he me hods o a i icial in elligence, in gene al, o sol e complex p oblems in indus ial and non-indus ial en i onmen s. The p oposed solu ion is unique o he ollowing easons: - i is applied in a me allu gical en i onmen , which shows la ge di e ences in digi al image p ocessing (impu i ies, ligh ing, he e ogenei y o shapes and su aces, speci ic empe a u e condi ions, e c.); - he me hod can ind he cha ac e s ing on he ace o he bille ; - he me hod can iden i y a cha ac e wi hou he use o a il e in digi al image p ocessing; Sus ainabili y 2021,13, 3851 17 o 18 - he me hod iden i ies he cha ac e , while only selec ed pixels o he cha ac e a e used o lea ning, which enables eal- ime wo k; - he me hod is accu a e and as , which allows i o be applied o decision suppo , p ocess managemen , o quali y con ol sys ems; - he me hod wo ks using s anda d ha dwa e and so wa e. This solu ion is an example o an inno a i e app oach o he issue o digi iza ion o echnological p ocesses, which is e lec ed in sus ainabili y in he social and economic ield. Au ho Con ibu ions: Concep ualiza ion, J.D., P.Š., V.P. and R.G.; me hodology, J.D., P.Š., V.P. and R.G.; so wa e, V.P.; alida ion, J.D., P.Š. and V.P.; o mal analysis, R.G.; in es iga ion, J.D. and P.Š.; esou ces, V.P. and R.G.; da a cu a ion, J.D. and V.P.; w i ing—o iginal d a p epa a ion, J.D., P.Š., V.P. and R.G.; w i ing— e iew and edi ing, J.D. and P.Š.; isualiza ion, J.D., P.Š. and V.P.; supe ision, J.D., P.Š., V.P. and R.G.; p ojec adminis a ion, J.D. and P.Š.; unding acquisi ion, J.D. All au ho s ha e ead and ag eed o he published e sion o he manusc ip . Funding: The wo k was suppo ed by he speci ic uni e si y esea ch o Minis y o Educa ion, You h and Spo s o he Czech Republic No. SP2020/18, SP2020/61 and SP2021/23. Ins i u ional Re iew Boa d S a emen : No applicable. 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