Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046793
D. Choiński, Piotr Skupin, P. Krauze, W. Ilewicz, Zdzislaw Bielecki
The paper presents the application of the linearizing control technique for stabilization of the isopropanol concentration in the ultrasonic nebulization process. The isopropanol concentration has to be kept constant to make the nebulization process more efficient. This is achieved by manipulating the inlet flow rate of a fresh isopropanol-water mixture. Because the content of the vessel is not well-mixed, it was shown that by measuring only the isopropanol concentration at the bottom of the vessel, the control system performance could be improved by the optimal selection of controller parameters. Moreover, the simulation results have shown that the closed-loop system was stable and exhibited similar behavior, even if the nebulization rate was not know precisely.
{"title":"Isopropanol concentration control in the ultrasonic nebulization process","authors":"D. Choiński, Piotr Skupin, P. Krauze, W. Ilewicz, Zdzislaw Bielecki","doi":"10.1109/MMAR.2017.8046793","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046793","url":null,"abstract":"The paper presents the application of the linearizing control technique for stabilization of the isopropanol concentration in the ultrasonic nebulization process. The isopropanol concentration has to be kept constant to make the nebulization process more efficient. This is achieved by manipulating the inlet flow rate of a fresh isopropanol-water mixture. Because the content of the vessel is not well-mixed, it was shown that by measuring only the isopropanol concentration at the bottom of the vessel, the control system performance could be improved by the optimal selection of controller parameters. Moreover, the simulation results have shown that the closed-loop system was stable and exhibited similar behavior, even if the nebulization rate was not know precisely.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"25 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":"123890099","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.2017.8046799
K. Gałkowski, M. S. Boudellioua, E. Rogers
Using the elementary operations algorithm, it is shown that a system matrix describing a wave discrete linear repetitive process can be reduced to that for a 2D singular Roesser model. The transformation linking the original polynomial system matrix with its associated 2D singular Roesser form is input-output equivalence. The nature of the resulting system matrix in singular form and the transformation involved are established.
{"title":"Reduction of wave linear repetitive processes to singular Roesser model form","authors":"K. Gałkowski, M. S. Boudellioua, E. Rogers","doi":"10.1109/MMAR.2017.8046799","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046799","url":null,"abstract":"Using the elementary operations algorithm, it is shown that a system matrix describing a wave discrete linear repetitive process can be reduced to that for a 2D singular Roesser model. The transformation linking the original polynomial system matrix with its associated 2D singular Roesser form is input-output equivalence. The nature of the resulting system matrix in singular form and the transformation involved are established.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"100 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":"117329915","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.2017.8046836
W. Pamuła, M. Sajkowski, T. Stenzel, J. Michalak, Grzegorz Baron, Bartlomiej Szady
The paper discusses the application of System on Chip devices for processing Megapixel video streams. The domain of image processing using high resolution images is very demanding in the scope of calculating power and frequently exploits special processing hardware. The progress of integration technology brings about SoC which are capable of meeting such processing demands. Characteristics of FPGA and DSP based systems are assessed. A concise survey of chip solutions is presented and a pair of representative systems is chosen for comparison of their properties. The design of a smoke detection system is used for evaluating the advantages and drawbacks of using such SoC solutions. Almost identical image processing algorithms are implemented in the case of FPGA and DSP. Both solutions meet the image processing requirements and are suitable for real time processing. FPGA based solution is much faster as it uses pipelining for improving the utilisation of scarce memory resources.
{"title":"Application of System on Chip (SoC) devices for the design of a smoke detector working with megapixel image streams","authors":"W. Pamuła, M. Sajkowski, T. Stenzel, J. Michalak, Grzegorz Baron, Bartlomiej Szady","doi":"10.1109/MMAR.2017.8046836","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046836","url":null,"abstract":"The paper discusses the application of System on Chip devices for processing Megapixel video streams. The domain of image processing using high resolution images is very demanding in the scope of calculating power and frequently exploits special processing hardware. The progress of integration technology brings about SoC which are capable of meeting such processing demands. Characteristics of FPGA and DSP based systems are assessed. A concise survey of chip solutions is presented and a pair of representative systems is chosen for comparison of their properties. The design of a smoke detection system is used for evaluating the advantages and drawbacks of using such SoC solutions. Almost identical image processing algorithms are implemented in the case of FPGA and DSP. Both solutions meet the image processing requirements and are suitable for real time processing. FPGA based solution is much faster as it uses pipelining for improving the utilisation of scarce memory resources.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"189 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":"115423403","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.2017.8046857
Bartlomiej Wicher, Krzysztof Nowopolski
The article presents simulation research concerning speed control of two mass system with elastic joint and backlash utilizing the ADRC method. The model of the plant and the structure of the ADRC speed controller are presented together with mathematical formulas allowing to determine the observer and controller gains. Proper quality indicator of control process is defined and also sample scenario of reference speed and load torque are shown. Finally the simulation results with comparison to 2DOF — FID speed controller, which acts as a reference, are carried out. Conclusions and future plans are presented.
{"title":"Model of ADRC speed control system for complex mechanical object with backlash","authors":"Bartlomiej Wicher, Krzysztof Nowopolski","doi":"10.1109/MMAR.2017.8046857","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046857","url":null,"abstract":"The article presents simulation research concerning speed control of two mass system with elastic joint and backlash utilizing the ADRC method. The model of the plant and the structure of the ADRC speed controller are presented together with mathematical formulas allowing to determine the observer and controller gains. Proper quality indicator of control process is defined and also sample scenario of reference speed and load torque are shown. Finally the simulation results with comparison to 2DOF — FID speed controller, which acts as a reference, are carried out. Conclusions and future plans are presented.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"5 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":"115638623","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.2017.8046910
P. Sokólski, T. Rutkowski, K. Duzinkiewicz
Typically there are two main control loops with PI controllers operating at each turbo-generator set. In this paper a distributed model predictive controller DMPC, with local QDMC controllers for the turbine generator, is proposed instead of a typical PI controllers. The local QDMC controllers utilize step-response models for the controlled system components. These models parameters are determined based on the proposed black-box models of the turbine and synchronous generator, which parameters are identified on-line with the RLS algorithm. It has been found that the proposed DMPC controller realize the reference trajectories of the effective power and the angular velocity, and damp generator voltage oscillations with satisfactory quality in comparison to the typical control structure with the PID controllers.
{"title":"The distributed model predictive controller for the nuclear power plant turbo-generator set","authors":"P. Sokólski, T. Rutkowski, K. Duzinkiewicz","doi":"10.1109/MMAR.2017.8046910","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046910","url":null,"abstract":"Typically there are two main control loops with PI controllers operating at each turbo-generator set. In this paper a distributed model predictive controller DMPC, with local QDMC controllers for the turbine generator, is proposed instead of a typical PI controllers. The local QDMC controllers utilize step-response models for the controlled system components. These models parameters are determined based on the proposed black-box models of the turbine and synchronous generator, which parameters are identified on-line with the RLS algorithm. It has been found that the proposed DMPC controller realize the reference trajectories of the effective power and the angular velocity, and damp generator voltage oscillations with satisfactory quality in comparison to the typical control structure with the PID controllers.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 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":"130168857","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.2017.8046860
Seyed Mohammad Zeyb Sayyadan, F. Gharib, Alireza Garakan
Variations of both strength and stiffness in bulk, lightweight, and high energy efficiency are the main considerable factors of Granular Jamming Flexible Manipulators (GJFM)s. These factors have distinguished GJFMs from traditional manipulators and can be provided by the most important element of manipulator's bulk which is granular media as filler. Hence, granular materials should have lightweight and provide efficient strength and stiffness in each unique vacuum pressure. Moreover, the necessity of applying Organic Granular Materials (OGM)s was felt owing to their main properties including biodegradable ability, low cost, and availability. Therefore, in this research was striven to discover a new filler as a mix of black Pepper and Datura seeds by performing an experimental test. It was applied in a GJFM as filler, then the robot's performance was examined experimentally and the results are reported in the paper.
{"title":"Granular jamming manipulator filled with new organic materials","authors":"Seyed Mohammad Zeyb Sayyadan, F. Gharib, Alireza Garakan","doi":"10.1109/MMAR.2017.8046860","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046860","url":null,"abstract":"Variations of both strength and stiffness in bulk, lightweight, and high energy efficiency are the main considerable factors of Granular Jamming Flexible Manipulators (GJFM)s. These factors have distinguished GJFMs from traditional manipulators and can be provided by the most important element of manipulator's bulk which is granular media as filler. Hence, granular materials should have lightweight and provide efficient strength and stiffness in each unique vacuum pressure. Moreover, the necessity of applying Organic Granular Materials (OGM)s was felt owing to their main properties including biodegradable ability, low cost, and availability. Therefore, in this research was striven to discover a new filler as a mix of black Pepper and Datura seeds by performing an experimental test. It was applied in a GJFM as filler, then the robot's performance was examined experimentally and the results are reported in the paper.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 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":"130232222","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.2017.8046943
Z. Kowalczuk, Tomasz Merta
Different components of control systems for mobile robots are based on dynamic models. In low-cost solutions such a robot is wheeled and equipped with DC motors, which have to be included in the model of the robot. The model is fairly simple but determination of its parameters needs not to be easy. For instance, DC motor parameters are typically identified indirectly using suitable measurements, concerning engine voltage, current, and rotation speed under various conditions. The paper describes a method of estimating the DC motor parameters of a mobile robot using a simple CMOS camera. A color marker is attached to the robot platform, which indicates the position of the robot in the taken video images. Step excitation of the voltage input of the engine is applied, and estimation of robot's movement parameters is next performed by image processing. Then the response of the identified model is adjusted to the measured step response using Matlab functions, based on least squares. In this experiment the available maximum camera framerate appeared to be too low to record the robot movement properly. This obstacle is overcome by using the utility of CMOS cameras concerning the possibility of trading-off framerate to resolution.
{"title":"Estimation of DC motor parameters using a simple CMOS camera","authors":"Z. Kowalczuk, Tomasz Merta","doi":"10.1109/MMAR.2017.8046943","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046943","url":null,"abstract":"Different components of control systems for mobile robots are based on dynamic models. In low-cost solutions such a robot is wheeled and equipped with DC motors, which have to be included in the model of the robot. The model is fairly simple but determination of its parameters needs not to be easy. For instance, DC motor parameters are typically identified indirectly using suitable measurements, concerning engine voltage, current, and rotation speed under various conditions. The paper describes a method of estimating the DC motor parameters of a mobile robot using a simple CMOS camera. A color marker is attached to the robot platform, which indicates the position of the robot in the taken video images. Step excitation of the voltage input of the engine is applied, and estimation of robot's movement parameters is next performed by image processing. Then the response of the identified model is adjusted to the measured step response using Matlab functions, based on least squares. In this experiment the available maximum camera framerate appeared to be too low to record the robot movement properly. This obstacle is overcome by using the utility of CMOS cameras concerning the possibility of trading-off framerate to resolution.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 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":"130237852","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.2017.8046813
M. Saków, A. Parus, M. Pajor, K. Miądlicki
In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a prediction of an input and an output of a non-linear inverse model by prediction blocks is presented. The prediction method was designed to minimize the effect of the transport delay and the phase shift of sensors, actuators and mechanical objects. The solution is an alternative to complex non-linear models like artificial neural networks which requires complex stability analysis and control systems with high computing power. The effectiveness of the method has been verified on the hydraulic manipulator test stand.
{"title":"Nonlinear inverse modeling with signal prediction in bilateral teleoperation with force-feedback","authors":"M. Saków, A. Parus, M. Pajor, K. Miądlicki","doi":"10.1109/MMAR.2017.8046813","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046813","url":null,"abstract":"In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a prediction of an input and an output of a non-linear inverse model by prediction blocks is presented. The prediction method was designed to minimize the effect of the transport delay and the phase shift of sensors, actuators and mechanical objects. The solution is an alternative to complex non-linear models like artificial neural networks which requires complex stability analysis and control systems with high computing power. The effectiveness of the method has been verified on the hydraulic manipulator test stand.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"13 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":"117228209","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.2017.8046835
Tom Kusznir, J. Smoczek
The paper focuses on Particle Swarm Optimization of an airfoil model for small unmanned aerial vehicles operating in low Reynolds number. The objective function to be maximized is the lift-to-drag ratio subject to different penalty constraints. The airfoil parameterization is done using Class/Shape function Transformation. Blade Element Momentum Theory is used to develop an optimum hovering propeller with the optimized airfoil and the Clark Y airfoil. The results of the numerical simulation are discussed in the paper.
{"title":"Particle swarm based airfoil optimization for sUAV's operating in a low range of Reynold's number","authors":"Tom Kusznir, J. Smoczek","doi":"10.1109/MMAR.2017.8046835","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046835","url":null,"abstract":"The paper focuses on Particle Swarm Optimization of an airfoil model for small unmanned aerial vehicles operating in low Reynolds number. The objective function to be maximized is the lift-to-drag ratio subject to different penalty constraints. The airfoil parameterization is done using Class/Shape function Transformation. Blade Element Momentum Theory is used to develop an optimum hovering propeller with the optimized airfoil and the Clark Y airfoil. The results of the numerical simulation are discussed in the paper.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"28 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":"120961831","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.2017.8046830
W. Zorski
The problem of 3D objects orientation recognition in a three-dimensional image space is considered in this paper. The used method is a quaternion-based approach applied to images acquired by CT-like devices. The concept of orientation recognition comes from the well-known Ballard method of arbitrary shapes detection in two-dimensional images, now commonly known as the generalized Hough transform. Aside from quaternions, used as the main mathematical tool, the orientation recognition is based on determination of an accumulator array for Euler angles. Values in the accumulator are received using so called counting method, adopted here for voxels. Objects orientation is determined by coordinates of an element in the accumulator array with a maximum number of votes received. The elaborated method may be useful in the area of robotic surgery, especially in cases of penetrating injuries caused by foreign bodies.
{"title":"Quaternion-based determination of 3D objects orientation","authors":"W. Zorski","doi":"10.1109/MMAR.2017.8046830","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046830","url":null,"abstract":"The problem of 3D objects orientation recognition in a three-dimensional image space is considered in this paper. The used method is a quaternion-based approach applied to images acquired by CT-like devices. The concept of orientation recognition comes from the well-known Ballard method of arbitrary shapes detection in two-dimensional images, now commonly known as the generalized Hough transform. Aside from quaternions, used as the main mathematical tool, the orientation recognition is based on determination of an accumulator array for Euler angles. Values in the accumulator are received using so called counting method, adopted here for voxels. Objects orientation is determined by coordinates of an element in the accumulator array with a maximum number of votes received. The elaborated method may be useful in the area of robotic surgery, especially in cases of penetrating injuries caused by foreign bodies.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"425 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":"122954704","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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