Pub Date : 2015-10-01DOI: 10.1109/MMAR.2015.7283890
M. Zarkowski
This article focuses on the problem of modifying the standard face identification approach for use in small-scale social dynamic environments, by focusing on adaptability rather than robustness. A design of adaptive face identification system is presented, along with the employed methods of online learning. The problem of ensuing bias-variance dilemma of an adaptive system is described and solved. The system is shown to be able to aptly adapt to new information and changes the environment, the final classification rate on MUG database was near 99%.
{"title":"Adaptive face identification for small-scale social dynamic environment","authors":"M. Zarkowski","doi":"10.1109/MMAR.2015.7283890","DOIUrl":"https://doi.org/10.1109/MMAR.2015.7283890","url":null,"abstract":"This article focuses on the problem of modifying the standard face identification approach for use in small-scale social dynamic environments, by focusing on adaptability rather than robustness. A design of adaptive face identification system is presented, along with the employed methods of online learning. The problem of ensuing bias-variance dilemma of an adaptive system is described and solved. The system is shown to be able to aptly adapt to new information and changes the environment, the final classification rate on MUG database was near 99%.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130858510","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957374
A. Rauh, Juliane Ehret, H. Aschemann
The typical motion of a combustion engine, such as the four-stroke Otto engine, is characterized by a periodic variation of its torque over the rotation angle of the driven shaft. This torque variation leads to the effect of time-varying accelerations and angular velocities. Modeling approaches for combustion engines that can be used for the implementation of control strategies for corresponding engine test rigs can follow two different approaches. Firstly, it is possible to describe the torque variations on the basis of the thermodynamic processes in the interior of the cylinder. Secondly, black box models can be derived on the basis of a frequency analysis of the measured torque and/ or the measured angular velocities and accelerations. Especially, black box models belonging to the second class are sufficient if a synchronization of a combustion engine with an electric motor/ generator unit acting on the same driven shaft is desired. However, classical frequency analysis techniques such as the Fast Fourier Transform are usually only applicable offline. Therefore, an online-applicable observer approach is developed in this paper which allows for the real-time frequency analysis of measured angular velocities. The estimation results, for both stationary and non-stationary operating points, are then applied on the one hand for a system identification and on the other hand for the implementation of control strategies in the framework of combustion engine test rigs. A numerical stability analysis and experimental results conclude this paper.
{"title":"Observer-based real-time frequency analysis for combustion engine-based power trains with applications to identification and control","authors":"A. Rauh, Juliane Ehret, H. Aschemann","doi":"10.1109/MMAR.2014.6957374","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957374","url":null,"abstract":"The typical motion of a combustion engine, such as the four-stroke Otto engine, is characterized by a periodic variation of its torque over the rotation angle of the driven shaft. This torque variation leads to the effect of time-varying accelerations and angular velocities. Modeling approaches for combustion engines that can be used for the implementation of control strategies for corresponding engine test rigs can follow two different approaches. Firstly, it is possible to describe the torque variations on the basis of the thermodynamic processes in the interior of the cylinder. Secondly, black box models can be derived on the basis of a frequency analysis of the measured torque and/ or the measured angular velocities and accelerations. Especially, black box models belonging to the second class are sufficient if a synchronization of a combustion engine with an electric motor/ generator unit acting on the same driven shaft is desired. However, classical frequency analysis techniques such as the Fast Fourier Transform are usually only applicable offline. Therefore, an online-applicable observer approach is developed in this paper which allows for the real-time frequency analysis of measured angular velocities. The estimation results, for both stationary and non-stationary operating points, are then applied on the one hand for a system identification and on the other hand for the implementation of control strategies in the framework of combustion engine test rigs. A numerical stability analysis and experimental results conclude this paper.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115114358","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957330
Ilja Alkov, Dirk Weidemann
This contribution concerns the unscented Kalman filter (UKF) for higher index nonlinear differential-algebraic equation (DAE) systems. First, a short introduction to DAE systems is given. A solution concept for nonlinear DAE systems is discussed focusing on properties which are essential for the application of the UKF algorithm. The introduction of a stochastic noise in DAE systems and the contrast to stochastic ordinary differential equations (ODE) are described subsequently. Further, the unscented Kalman filter algorithm is reviewed and former filtering approaches considering DAE systems are summarized. Finally, a direct generalized state estimation approach for higher index nonlinear DAE systems utilizing the UKF is proposed. Particularly, the estimation of the DAE inconsistent generalized state is permitted and several concepts for the consistent DAE initialization in the prediction step of the filtering algorithm are proposed. A simple example demonstrates the advantages of the proposed approach.
{"title":"Unscented Kalman filter for higher index nonlinear differential-algebraic equations","authors":"Ilja Alkov, Dirk Weidemann","doi":"10.1109/MMAR.2014.6957330","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957330","url":null,"abstract":"This contribution concerns the unscented Kalman filter (UKF) for higher index nonlinear differential-algebraic equation (DAE) systems. First, a short introduction to DAE systems is given. A solution concept for nonlinear DAE systems is discussed focusing on properties which are essential for the application of the UKF algorithm. The introduction of a stochastic noise in DAE systems and the contrast to stochastic ordinary differential equations (ODE) are described subsequently. Further, the unscented Kalman filter algorithm is reviewed and former filtering approaches considering DAE systems are summarized. Finally, a direct generalized state estimation approach for higher index nonlinear DAE systems utilizing the UKF is proposed. Particularly, the estimation of the DAE inconsistent generalized state is permitted and several concepts for the consistent DAE initialization in the prediction step of the filtering algorithm are proposed. A simple example demonstrates the advantages of the proposed approach.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117053274","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957395
P. Dabkowski, W. Paszke
This paper develops a new set of conditions for the strong practical stability and stabilization of linear differential repetitive processes, where controller design includes regional pole constraints. The proposed stability conditions reduce the problem of determining whether a linear repetitive process is stable (in sense of strong practical stability) or not to that of checking for the existence of a solution to a set of linear matrix inequalities (LMIs). The resulting conditions overcome some drawbacks of already known results and allow control law design in the presence of practically motivated design specifications such as regional constraints on the location of the eigenvalues of the limit profile matrices of the controlled process. The validity of the developed results are demonstrated by numerical example.
{"title":"Control of differential repetitive processes with regional pole constraints","authors":"P. Dabkowski, W. Paszke","doi":"10.1109/MMAR.2014.6957395","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957395","url":null,"abstract":"This paper develops a new set of conditions for the strong practical stability and stabilization of linear differential repetitive processes, where controller design includes regional pole constraints. The proposed stability conditions reduce the problem of determining whether a linear repetitive process is stable (in sense of strong practical stability) or not to that of checking for the existence of a solution to a set of linear matrix inequalities (LMIs). The resulting conditions overcome some drawbacks of already known results and allow control law design in the presence of practically motivated design specifications such as regional constraints on the location of the eigenvalues of the limit profile matrices of the controlled process. The validity of the developed results are demonstrated by numerical example.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126177414","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957392
P. Piątek, M. Zagorowska, J. Baranowski, W. Bauer, T. Dziwinski
The goal of this paper is to compare popular methods of approximation on non-integer order systems and propose strategies of increasing their robustness to numerical errors of their coefficients. It is shown, that popular methods during discretisation lead to instability.
{"title":"Discretisation of different non-integer order system approximations","authors":"P. Piątek, M. Zagorowska, J. Baranowski, W. Bauer, T. Dziwinski","doi":"10.1109/MMAR.2014.6957392","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957392","url":null,"abstract":"The goal of this paper is to compare popular methods of approximation on non-integer order systems and propose strategies of increasing their robustness to numerical errors of their coefficients. It is shown, that popular methods during discretisation lead to instability.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122666248","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957391
A. Kulchenko, V. Kostukov, L. Verevkina, V. Chufistov
The paper represents the flight-dynamic singlerotor helicopter mathematical model and describes its elements. The features of flight-dynamic single-rotor helicopter are given. We describes the math model applications and discuss the simulation results in conclusions.
{"title":"The features of flight-dynamic single-rotor helicopter mathematical model: For application in autopilots that based on position-trajectory algorithms","authors":"A. Kulchenko, V. Kostukov, L. Verevkina, V. Chufistov","doi":"10.1109/MMAR.2014.6957391","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957391","url":null,"abstract":"The paper represents the flight-dynamic singlerotor helicopter mathematical model and describes its elements. The features of flight-dynamic single-rotor helicopter are given. We describes the math model applications and discuss the simulation results in conclusions.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122993974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957352
J. Możaryn, J. Klimaszewski, P. Kolodziejczyk, Dariusz Swieczkowski-Feiz, Pawel Wawrzynski
In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. The gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot.
{"title":"Design process and experimental verification of the quadruped robot wave gait","authors":"J. Możaryn, J. Klimaszewski, P. Kolodziejczyk, Dariusz Swieczkowski-Feiz, Pawel Wawrzynski","doi":"10.1109/MMAR.2014.6957352","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957352","url":null,"abstract":"In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. The gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114542740","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957336
H. Balta, C. Stolojescu-Crisan, J. Gal
A study of the iterations stopping criteria adapted to multi-non-binary turbo-decoders, based on the evolution of a posteriori probability density (APP) is presented. The performaces bit / frame error rate (B/FER) versus signal to noise ratio (SNR) of multi-non-binary turbo codes (MNBTC) equipped with the iterations stopping mechanism proposed in this study are compared with those obtained using the genie iterations stopping criterion. Details about the redundancy in the number of processed iterations as compared to the ideal criterion are also presented.
{"title":"APP based iterations stopping criteria for MNBTC","authors":"H. Balta, C. Stolojescu-Crisan, J. Gal","doi":"10.1109/MMAR.2014.6957336","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957336","url":null,"abstract":"A study of the iterations stopping criteria adapted to multi-non-binary turbo-decoders, based on the evolution of a posteriori probability density (APP) is presented. The performaces bit / frame error rate (B/FER) versus signal to noise ratio (SNR) of multi-non-binary turbo codes (MNBTC) equipped with the iterations stopping mechanism proposed in this study are compared with those obtained using the genie iterations stopping criterion. Details about the redundancy in the number of processed iterations as compared to the ideal criterion are also presented.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122118429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957383
J. Baranowski, M. Zagorowska, Piotr Bania, W. Bauer, T. Dziwinski, P. Piątek
In this paper method of impulse response approximation with orthogonal Laguerre functions is used for the approximation of bi-fractional filter (BFF). This filter is a new development in the field of non-integer order signal processing. Filter with three parameters allows advanced shaping of frequency response, especially the phase characteristic. Method of impulse response approximation is a very promising one because of its great conditioning and sound theoretical basis.
{"title":"Impulse response approximation method for bi-fractional filter","authors":"J. Baranowski, M. Zagorowska, Piotr Bania, W. Bauer, T. Dziwinski, P. Piątek","doi":"10.1109/MMAR.2014.6957383","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957383","url":null,"abstract":"In this paper method of impulse response approximation with orthogonal Laguerre functions is used for the approximation of bi-fractional filter (BFF). This filter is a new development in the field of non-integer order signal processing. Filter with three parameters allows advanced shaping of frequency response, especially the phase characteristic. Method of impulse response approximation is a very promising one because of its great conditioning and sound theoretical basis.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121555689","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957328
Gilberto Gonzalez-A
A bond graph model of a metal-oxide arrester is proposed. This bond graph has linear and nonlinear dissipation elements. Hence, a junction structure of the bond graph model is proposed. However, the mathematical representation of this bond graph defines a Differential Algebraic Equation (DAE). Simulation results of the metal-oxide arrester in a bond graph approach are obtained.
{"title":"Modelling and simulation of a surge arrester in the physical domain","authors":"Gilberto Gonzalez-A","doi":"10.1109/MMAR.2014.6957328","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957328","url":null,"abstract":"A bond graph model of a metal-oxide arrester is proposed. This bond graph has linear and nonlinear dissipation elements. Hence, a junction structure of the bond graph model is proposed. However, the mathematical representation of this bond graph defines a Differential Algebraic Equation (DAE). Simulation results of the metal-oxide arrester in a bond graph approach are obtained.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114709535","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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