Pub Date : 2017-08-28DOI: 10.1109/MMAR.2017.8046900
A. Chemori
Control of robotic systems is a thoroughly investigated subject in the literature, but still an open problem because of the highly nonlinear behaviour of robots, the complexity of their dynamics, the under-actuation, the actuation redundancy, the singularities, kinematic constraints, real-time constraints and more challenges issues. This paper is dedicated to control of robotic systems. They are more and more complex, motivating the development of new sophisticated control schemes. The proposed control schemes are illustrated through different real experimental platforms in four chosen research fields in robotics: underactuated robotics, parallel robotics, humanoid robotics and underwater robotics.
{"title":"Control of complex robotic systems: Challenges, design and experiments","authors":"A. Chemori","doi":"10.1109/MMAR.2017.8046900","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046900","url":null,"abstract":"Control of robotic systems is a thoroughly investigated subject in the literature, but still an open problem because of the highly nonlinear behaviour of robots, the complexity of their dynamics, the under-actuation, the actuation redundancy, the singularities, kinematic constraints, real-time constraints and more challenges issues. This paper is dedicated to control of robotic systems. They are more and more complex, motivating the development of new sophisticated control schemes. The proposed control schemes are illustrated through different real experimental platforms in four chosen research fields in robotics: underactuated robotics, parallel robotics, humanoid robotics and underwater robotics.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126097129","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046886
A. Ruszewski
The paper considers the robust stability problem of uncertain discrete-time fractional order linear state-space systems. The state matrix is the interval matrix whose entries are convex combinations of the entries of two known constant matrices. The necessary and sufficient condition for robust stability is proposed. This condition is stated with respect to eigenvalue-loci placement in the complex plane. The sufficient condition for robust stability based on matrix measures is also given. In this case the rectangle covering all the eigenvalues of the interval state matrix is determined.
{"title":"Robust stability conditions of fractional order discrete-time linear systems","authors":"A. Ruszewski","doi":"10.1109/MMAR.2017.8046886","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046886","url":null,"abstract":"The paper considers the robust stability problem of uncertain discrete-time fractional order linear state-space systems. The state matrix is the interval matrix whose entries are convex combinations of the entries of two known constant matrices. The necessary and sufficient condition for robust stability is proposed. This condition is stated with respect to eigenvalue-loci placement in the complex plane. The sufficient condition for robust stability based on matrix measures is also given. In this case the rectangle covering all the eigenvalues of the interval state matrix is determined.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"590 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123042537","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046916
K. Miądlicki, M. Pajor, M. Saków
Research on the development of control systems for loader cranes, despite their importance in the industry, is conducted by only a few scientific centers. West Pomeranian University of Technology, Szczecin in collaboration with loader cranes manufacturer — Cargotec company, started research on the multisensory monitoring system for cranes. proposed system also allows you to track the position of the operator. This paper presents the subsystem for ground plane estimation and ground points filtration. The developed algorithm uses data from the Velo dyne LIDAR VLP-16 scanner. The subsystem is designed for real time operation. It is based on the RANSAC algorithm and vector dot product. The effectiveness of the algorithm was compared with other algorithms described in this publication. Tests were carried out on a loader crane test bench at various positions of the LIDAR sensor. Experiments confirms that ground plane estimation results of the proposed algorithm are better than other presented methods.
{"title":"Ground plane estimation from sparse LIDAR data for loader crane sensor fusion system","authors":"K. Miądlicki, M. Pajor, M. Saków","doi":"10.1109/MMAR.2017.8046916","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046916","url":null,"abstract":"Research on the development of control systems for loader cranes, despite their importance in the industry, is conducted by only a few scientific centers. West Pomeranian University of Technology, Szczecin in collaboration with loader cranes manufacturer — Cargotec company, started research on the multisensory monitoring system for cranes. proposed system also allows you to track the position of the operator. This paper presents the subsystem for ground plane estimation and ground points filtration. The developed algorithm uses data from the Velo dyne LIDAR VLP-16 scanner. The subsystem is designed for real time operation. It is based on the RANSAC algorithm and vector dot product. The effectiveness of the algorithm was compared with other algorithms described in this publication. Tests were carried out on a loader crane test bench at various positions of the LIDAR sensor. Experiments confirms that ground plane estimation results of the proposed algorithm are better than other presented methods.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126153958","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046974
M. Listewnik, H. Piwowarska-Bilska, K. Safranow, Jacek Iwanowski, M. Laszczyńska, M. Chosia, M. Ostrowski, B. Birkenfeld, P. Mazurek
The main contribution of this paper is the proposal of volume modeling of parathyroid gland. Multivariate generalized Gaussian distribution (Multivariate GGD) mixture is assumed. Random walk optimization algorithm is applied for the estimation of parameters. There are 800 synthetic test cases applied for the evaluation of algorithm properties. Example result for real SPECT data are also shown. The essential is the computation time, so GPGPU implementation is proposed for reduction of processing time. Obtained parameters of mixture are required for further analysis of relation to patient data.
{"title":"Multivariate generalized Gaussian function mixture for volume modeling of parathyroid glands","authors":"M. Listewnik, H. Piwowarska-Bilska, K. Safranow, Jacek Iwanowski, M. Laszczyńska, M. Chosia, M. Ostrowski, B. Birkenfeld, P. Mazurek","doi":"10.1109/MMAR.2017.8046974","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046974","url":null,"abstract":"The main contribution of this paper is the proposal of volume modeling of parathyroid gland. Multivariate generalized Gaussian distribution (Multivariate GGD) mixture is assumed. Random walk optimization algorithm is applied for the estimation of parameters. There are 800 synthetic test cases applied for the evaluation of algorithm properties. Example result for real SPECT data are also shown. The essential is the computation time, so GPGPU implementation is proposed for reduction of processing time. Obtained parameters of mixture are required for further analysis of relation to patient data.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125430317","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046877
Wojciech Kreft
The paper proposes a batch-fired straw boiler model, which is used to control the temperature of the combustion chamber. This model describes a boiler which consists of a combustion chamber and a water jacket. The combustion chamber is blown by the adjustable air mass flow, which is used for straw combustion in the combustion chamber. The combustion chamber heats a water jacket, which in turn transfers heat to the external circulation. The model is nonlinear because of the straw combustion process. Apart from this process, the other components of the model are linear and describe mass and heat transfer. The boiler model has single input and single output (SISO). The input of the model is the air mass flow and the output is the temperature of the combustion chamber. Based on the presented model, one proposed a closed-loop system to control the temperature of the combustion chamber. The closed-loop system consists of the classical PID controller, model of the whole plant and some inverse transfer function of the nonlinear part of the whole model. In this way, there is calculated a time response of the air mass flow, which results a reference value of the temperature of the combustion chamber. The paper presents results of simulation of this closed-loop system in MATLAB/Simulink.
{"title":"Modelling of a batch-fired straw boiler for control of the combustion chamber temperature","authors":"Wojciech Kreft","doi":"10.1109/MMAR.2017.8046877","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046877","url":null,"abstract":"The paper proposes a batch-fired straw boiler model, which is used to control the temperature of the combustion chamber. This model describes a boiler which consists of a combustion chamber and a water jacket. The combustion chamber is blown by the adjustable air mass flow, which is used for straw combustion in the combustion chamber. The combustion chamber heats a water jacket, which in turn transfers heat to the external circulation. The model is nonlinear because of the straw combustion process. Apart from this process, the other components of the model are linear and describe mass and heat transfer. The boiler model has single input and single output (SISO). The input of the model is the air mass flow and the output is the temperature of the combustion chamber. Based on the presented model, one proposed a closed-loop system to control the temperature of the combustion chamber. The closed-loop system consists of the classical PID controller, model of the whole plant and some inverse transfer function of the nonlinear part of the whole model. In this way, there is calculated a time response of the air mass flow, which results a reference value of the temperature of the combustion chamber. The paper presents results of simulation of this closed-loop system in MATLAB/Simulink.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115559042","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046826
Marzena Filipowicz-Chomko, E. Girejko, A. Poskrobko
In the paper we examine ν-similarity of birth-death processes in two-dimensional case. A necessary condition for two processes being similar by obtaining relations between their birth and death rates is derived. We analyze situation for ν-similar birth-death processes, what is a generalization of the previous results for similar birth-and-death processes. In our case birth and death rates of two ν-similar processes are state-dependent ones. Special case as possible genetic application is provided. We include illustrative examples to validate presented results.
{"title":"Criterions of ν-similarity for the two-dimensional birth-death processes","authors":"Marzena Filipowicz-Chomko, E. Girejko, A. Poskrobko","doi":"10.1109/MMAR.2017.8046826","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046826","url":null,"abstract":"In the paper we examine ν-similarity of birth-death processes in two-dimensional case. A necessary condition for two processes being similar by obtaining relations between their birth and death rates is derived. We analyze situation for ν-similar birth-death processes, what is a generalization of the previous results for similar birth-and-death processes. In our case birth and death rates of two ν-similar processes are state-dependent ones. Special case as possible genetic application is provided. We include illustrative examples to validate presented results.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122373352","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046839
F. Blanchini, D. Casagrande, W. Krajewski, U. Viaro
The paper deals with the problem of reducing the order of an original high-order asymptotically stable linear switching system by independently approximating the (stable) LTI systems corresponding to every fixed value of the switching signal. Precisely, each reduced-order model is obtained by minimising the L2 norm of a weighted equation error by means of an efficient algorithm that ensures model stability as well as the retention of a number of first- and second-order information indices, such as the Markov parameters and the impulse-response energies. Then, the stability of the switching system is guaranteed, irrespective of the switching law, by realising the aforementioned reduced models in such a way that they share a common Lyapunov function. To this purpose, a simple state-coordinate transformation amenable to online implementation is applied to the state models initially derived. To improve the approximation, the state after every switching is reset, with due care for stability, according to a fast inclusion-projection procedure. Two examples taken from the literature show that the suggested reduction technique compares favourably with existing techniques.
{"title":"A method for the order reduction of linear switching systems","authors":"F. Blanchini, D. Casagrande, W. Krajewski, U. Viaro","doi":"10.1109/MMAR.2017.8046839","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046839","url":null,"abstract":"The paper deals with the problem of reducing the order of an original high-order asymptotically stable linear switching system by independently approximating the (stable) LTI systems corresponding to every fixed value of the switching signal. Precisely, each reduced-order model is obtained by minimising the L2 norm of a weighted equation error by means of an efficient algorithm that ensures model stability as well as the retention of a number of first- and second-order information indices, such as the Markov parameters and the impulse-response energies. Then, the stability of the switching system is guaranteed, irrespective of the switching law, by realising the aforementioned reduced models in such a way that they share a common Lyapunov function. To this purpose, a simple state-coordinate transformation amenable to online implementation is applied to the state models initially derived. To improve the approximation, the state after every switching is reset, with due care for stability, according to a fast inclusion-projection procedure. Two examples taken from the literature show that the suggested reduction technique compares favourably with existing techniques.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124713829","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046825
I. Dulęba, Arkadiusz Mielczarek
In this paper an accuracy of local motion planning based on the generalized Campbell-Baker-Hausdorff-Dynkin formula was evaluated for a few nonholonomic robotic systems. For a given set of controls, an exact trajectory is computable via an integration of equations of motion. This reference trajectory is compared with with a trajectory based on shrinked versions of the gCBHD formula. An impact of controls (linear time and amplitude scaling, their rotations) on the accuracy of reaching the final goal (important in motion planning) and retrieving a shape of the trajectory (important while avoiding obstacles) will be discussed and illustrated with simulations.
{"title":"A simulation evaluation of gCBHD formula for driftless nonholonomic systems","authors":"I. Dulęba, Arkadiusz Mielczarek","doi":"10.1109/MMAR.2017.8046825","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046825","url":null,"abstract":"In this paper an accuracy of local motion planning based on the generalized Campbell-Baker-Hausdorff-Dynkin formula was evaluated for a few nonholonomic robotic systems. For a given set of controls, an exact trajectory is computable via an integration of equations of motion. This reference trajectory is compared with with a trajectory based on shrinked versions of the gCBHD formula. An impact of controls (linear time and amplitude scaling, their rotations) on the accuracy of reaching the final goal (important in motion planning) and retrieving a shape of the trajectory (important while avoiding obstacles) will be discussed and illustrated with simulations.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126976430","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046873
Grzegorz Waligóra
In this paper a discrete-continuous project scheduling problem with discounted cash flows is considered. Each activity of the project requires for its processing discrete resources and an amount of a continuous, renewable resource. Processing rate of an activity is an increasing function of the amount of the continuous resource allotted to this activity at a time. A positive cash flow is associated with the completion of each activity. The objective is the maximization of the net present value (NPV). A heuristic procedure for allocating the continuous resource is presented. Three local search metaheuristics: simulated annealing (SA), tabu search (TS), and genetic algorithm (GA) are proposed for the defined problem, and compared a basis of a computational experiment. Some conclusions and directions for future research are given.
{"title":"Metaheuristics for some discrete-continuous project scheduling problems to maximize the net present value","authors":"Grzegorz Waligóra","doi":"10.1109/MMAR.2017.8046873","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046873","url":null,"abstract":"In this paper a discrete-continuous project scheduling problem with discounted cash flows is considered. Each activity of the project requires for its processing discrete resources and an amount of a continuous, renewable resource. Processing rate of an activity is an increasing function of the amount of the continuous resource allotted to this activity at a time. A positive cash flow is associated with the completion of each activity. The objective is the maximization of the net present value (NPV). A heuristic procedure for allocating the continuous resource is presented. Three local search metaheuristics: simulated annealing (SA), tabu search (TS), and genetic algorithm (GA) are proposed for the defined problem, and compared a basis of a computational experiment. Some conclusions and directions for future research are given.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123916709","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046834
Piotr Bania, J. Baranowski
Fault detection and isolation is crucial for efficient operation and safety of any industrial process. Methods from all the areas of data analysis are being used for this task including Bayesian reasoning and Kalman filtering. In this paper authors use the discrete Field Kalman Filter for detecting and recognising faulty conditions of the system. Proposed approach, devised for stochastic linear systems allows analysis of faults that can be expressed both as parameter and disturbance variations. It is formulated for the situations when the fault catalogue is known, but because of that very efficient algorithm can be obtained. For implementation logarithmic odds are considered to improve numerical properties. Its operation is illustrated with numerical examples and both its merits and limitations are critically discussed.
{"title":"Bayesian estimator of a faulty state: Logarithmic odds approach","authors":"Piotr Bania, J. Baranowski","doi":"10.1109/MMAR.2017.8046834","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046834","url":null,"abstract":"Fault detection and isolation is crucial for efficient operation and safety of any industrial process. Methods from all the areas of data analysis are being used for this task including Bayesian reasoning and Kalman filtering. In this paper authors use the discrete Field Kalman Filter for detecting and recognising faulty conditions of the system. Proposed approach, devised for stochastic linear systems allows analysis of faults that can be expressed both as parameter and disturbance variations. It is formulated for the situations when the fault catalogue is known, but because of that very efficient algorithm can be obtained. For implementation logarithmic odds are considered to improve numerical properties. Its operation is illustrated with numerical examples and both its merits and limitations are critically discussed.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123352441","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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