Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046944
Andrzej Kordecki, Artur Bal, H. Palus
The vignetting is one of image distortions, which refers to the fall-off of pixel intensity due to optical properties of the camera and lens system. The effect of vignetting on image is unwanted in image processing and analysis. The vignetting of the camera-lens system can be determined using the vignetting model. The local vignetting polynomial model allows to fit the vignetting data with more flexibility, but at the cost of increased of vignetting function distortions. This paper introduces a new smooth local polynomial vignetting model, which is a modification of local vignetting polynomial model. The conducted experiments on broad range of lens settings shows that filtering allows to improve the vignetting function smoothness.
{"title":"A smooth local polynomial model of vignetting","authors":"Andrzej Kordecki, Artur Bal, H. Palus","doi":"10.1109/MMAR.2017.8046944","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046944","url":null,"abstract":"The vignetting is one of image distortions, which refers to the fall-off of pixel intensity due to optical properties of the camera and lens system. The effect of vignetting on image is unwanted in image processing and analysis. The vignetting of the camera-lens system can be determined using the vignetting model. The local vignetting polynomial model allows to fit the vignetting data with more flexibility, but at the cost of increased of vignetting function distortions. This paper introduces a new smooth local polynomial vignetting model, which is a modification of local vignetting polynomial model. The conducted experiments on broad range of lens settings shows that filtering allows to improve the vignetting function smoothness.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"51 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":"123539175","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.2017.8046805
Mateusz Spychala, R. Osypiuk
Collision Avoidance is considered as the final layer of safety to prevent mid-air collisions when all other avoidance measures have failed. These methods are gaining importance, in particular in recent years. The ultimate goal is to replace the already obsolete TCAS system, which is not included in the NextGen programme. Additionally, the dynamic UAS market in civil, commercial and military sectors forces development of solutions integrating such systems in the airspace. The steeply increasing numbers of manned and unmanned aerial operations requires safe methods of airspace sharing. This paper analyses ellipsoidal areas, which seem to be an interesting alternative to often proposed, spherical areas. They allow i.e. alarm generation areas to be smaller and the average time from an alarm to a collision to be extended. The proposed methods may be used in DAA (Detect and Avoid) systems which are a subject of standardisation work of various aviation institutions and organisations.
{"title":"Evaluating the ellipsoidal collision avoidance region for the future DAA systems","authors":"Mateusz Spychala, R. Osypiuk","doi":"10.1109/MMAR.2017.8046805","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046805","url":null,"abstract":"Collision Avoidance is considered as the final layer of safety to prevent mid-air collisions when all other avoidance measures have failed. These methods are gaining importance, in particular in recent years. The ultimate goal is to replace the already obsolete TCAS system, which is not included in the NextGen programme. Additionally, the dynamic UAS market in civil, commercial and military sectors forces development of solutions integrating such systems in the airspace. The steeply increasing numbers of manned and unmanned aerial operations requires safe methods of airspace sharing. This paper analyses ellipsoidal areas, which seem to be an interesting alternative to often proposed, spherical areas. They allow i.e. alarm generation areas to be smaller and the average time from an alarm to a collision to be extended. The proposed methods may be used in DAA (Detect and Avoid) systems which are a subject of standardisation work of various aviation institutions and organisations.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"135 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":"116179624","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.2017.8046852
K. Markowski, C. Muresan
For modelling the dynamics and study of the active vibration suppression possibilities in aircraft wings, the smart beam is widely used. The advantages obtained through this approach are numerous. One of them are: aircraft stability and manoeuvrability, turbulence immunity, passenger safety and reduced fatigue damage. In this paper, the identification process has been presented, in the first step. As a result the transfer function of the continuous-time linear system was given. Then, for the obtained function the forms of minimal realizations were determined. The realization was obtained using the method based on one-dimensional digraph theory.
{"title":"Smart beam system: Identification and minimal realization using digraphs theory","authors":"K. Markowski, C. Muresan","doi":"10.1109/MMAR.2017.8046852","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046852","url":null,"abstract":"For modelling the dynamics and study of the active vibration suppression possibilities in aircraft wings, the smart beam is widely used. The advantages obtained through this approach are numerous. One of them are: aircraft stability and manoeuvrability, turbulence immunity, passenger safety and reduced fatigue damage. In this paper, the identification process has been presented, in the first step. As a result the transfer function of the continuous-time linear system was given. Then, for the obtained function the forms of minimal realizations were determined. The realization was obtained using the method based on one-dimensional digraph theory.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"29 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":"121643510","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.2017.8046822
A. Gavrikov, G. Kostin
The problem of boundary control for heat transfer processes in a cylindrical body under the minimum condition of a quadratic functional is considered. With the help of the Fourier method an optimal feedback control law for the lowest two modes is designed. The influence of the control on higher modes is analysed.
{"title":"Boundary control of heat transfer processes in a cylindrical body","authors":"A. Gavrikov, G. Kostin","doi":"10.1109/MMAR.2017.8046822","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046822","url":null,"abstract":"The problem of boundary control for heat transfer processes in a cylindrical body under the minimum condition of a quadratic functional is considered. With the help of the Fourier method an optimal feedback control law for the lowest two modes is designed. The influence of the control on higher modes is analysed.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"9 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":"126419929","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.2017.8046790
A. Ciminski, K. Duzinkiewicz
Model-based predictive control is an effective method for control the large scale systems. Method is based on on-lin solution of control task over the control horizon using current and past measurements as well as the system model. Because model and measurement uncertainty, predicted and plant outputs might be different and plant output may exceed plant output constraints. Generated control is not then robustly outputs feasible. In this paper robustly outputs feasible direct control algorithm, based on the robust output predictions and control vector are presented. Proposed robustly outputs feasible MPC is applied to drinking water distribution system (DWDS) of the Chojnice city.
{"title":"Direct algorithm for optimizing robust MPC of drinking water distribution systems hydraulics","authors":"A. Ciminski, K. Duzinkiewicz","doi":"10.1109/MMAR.2017.8046790","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046790","url":null,"abstract":"Model-based predictive control is an effective method for control the large scale systems. Method is based on on-lin solution of control task over the control horizon using current and past measurements as well as the system model. Because model and measurement uncertainty, predicted and plant outputs might be different and plant output may exceed plant output constraints. Generated control is not then robustly outputs feasible. In this paper robustly outputs feasible direct control algorithm, based on the robust output predictions and control vector are presented. Proposed robustly outputs feasible MPC is applied to drinking water distribution system (DWDS) of the Chojnice city.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"10 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":"128196987","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.2017.8046893
Andreas G. Hofmann, M. Hanss
This paper presents a method for designing a robust controller for an active road vehicle suspension. Unlike conventional robust control techniques, a fuzzy arithmetical approach is used to configure a so-called skyhook damper. The presented method is based on the covariance analysis of a quarter car model which is subject to random roadway excitation. The resulting controller improves the driving comfort and safety, and it increases robustness against uncertainty due to modeling errors or variations in the operational conditions. The fuzzy arithmetical approach allows to incorporate additional information about the shape of the inherent uncertainty into the resulting controller design. Furthermore, a possibilistic sensitivity analysis is employed to assess the individual influence of the uncertain parameters on the controller quality, providing useful information for the design process.
{"title":"Fuzzy arithmetical controller design for active road vehicle suspension in the presence of uncertainties","authors":"Andreas G. Hofmann, M. Hanss","doi":"10.1109/MMAR.2017.8046893","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046893","url":null,"abstract":"This paper presents a method for designing a robust controller for an active road vehicle suspension. Unlike conventional robust control techniques, a fuzzy arithmetical approach is used to configure a so-called skyhook damper. The presented method is based on the covariance analysis of a quarter car model which is subject to random roadway excitation. The resulting controller improves the driving comfort and safety, and it increases robustness against uncertainty due to modeling errors or variations in the operational conditions. The fuzzy arithmetical approach allows to incorporate additional information about the shape of the inherent uncertainty into the resulting controller design. Furthermore, a possibilistic sensitivity analysis is employed to assess the individual influence of the uncertain parameters on the controller quality, providing useful information for the design process.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"36 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":"132099899","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.2017.8046800
T. Kaczorek
The classical Cayley-Hamilton theorem is extended to Drazin inverse matrices. A new procedure based on this extension for computation of the Drazin inverse matrices is proposed.
{"title":"Extension of Cayley-Hamilton theorem and a procedure for computation of the Drazin inverse matrices","authors":"T. Kaczorek","doi":"10.1109/MMAR.2017.8046800","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046800","url":null,"abstract":"The classical Cayley-Hamilton theorem is extended to Drazin inverse matrices. A new procedure based on this extension for computation of the Drazin inverse matrices is proposed.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"36 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":"132261539","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.2017.8046960
P. Jablonski, R. Talar, Katarzyna Peta, K. Grochalski, M. Suszyński
Following paper presents development and results of finite element structural simulations prepared in order to estimate contact pressure distribution on teeth flanks of gear transmission caused by assembly errors. In first paragraphs, importance of alignment precision of gear transmission components is described. As well, influence of machining and assembly errors on spur gear transmission was introduced. In last part of introduction, innovations in spur gear transmissions assembly processes were described. Process of finite element analysis preparation was presented. Preparation of FEA included development of geometrical model, boundary conditions, discretization of model and definition of external loads. Results of conducted simulations was presented. Especially, contact pressure distribution irregularities caused by misalignment of shafts were examined Obtained data covered correlations between both direction and magnitude of assembly errors with contact stress distribution along tooth length. Conducted tests proved that in case of great-module geared transmission, shaft misalignments in plane which includes gears axes has far lesser influence on contact stress distribution than misalignments in perpendicular direction.
{"title":"Modelling of a contact pressure distribution caused by assembly errors in a spur gear transmission","authors":"P. Jablonski, R. Talar, Katarzyna Peta, K. Grochalski, M. Suszyński","doi":"10.1109/MMAR.2017.8046960","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046960","url":null,"abstract":"Following paper presents development and results of finite element structural simulations prepared in order to estimate contact pressure distribution on teeth flanks of gear transmission caused by assembly errors. In first paragraphs, importance of alignment precision of gear transmission components is described. As well, influence of machining and assembly errors on spur gear transmission was introduced. In last part of introduction, innovations in spur gear transmissions assembly processes were described. Process of finite element analysis preparation was presented. Preparation of FEA included development of geometrical model, boundary conditions, discretization of model and definition of external loads. Results of conducted simulations was presented. Especially, contact pressure distribution irregularities caused by misalignment of shafts were examined Obtained data covered correlations between both direction and magnitude of assembly errors with contact stress distribution along tooth length. Conducted tests proved that in case of great-module geared transmission, shaft misalignments in plane which includes gears axes has far lesser influence on contact stress distribution than misalignments in perpendicular direction.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"19 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":"132744654","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.2017.8046862
R. Prabel, H. Aschemann
In this paper, a nonlinear control approach is presented for an electro-pneumatic clutch actuator for heavy trucks. A clutch is required at start-up or during gear shifts to disconnect the combustion engine from the gear box. This automated actuator provides the necessary actuation force according to the large torque transmitted through the power train. Based on a control-oriented system representation, a cascaded control structure is designed. The outer loop is related to the mechanical subsystem and guarantees an accurate tracking of desired trajectories for the clutch position using a backstepping-based sliding mode control. Furthermore, hysteresis effects of the nonlinear clutch force are addressed properly by a Bouc-Wen hysteresis model. The inner loop controls the internal pressure of the clutch actuator. A new nonlinear reduced-order observer is designed that estimates both the effective internal pressure and a mass flow offset. The benefits of the proposed control structure are demonstrated by experimental results from a dedicated test rig.
{"title":"Backstepping-based sliding mode control of an electro-pneumatic clutch actuator","authors":"R. Prabel, H. Aschemann","doi":"10.1109/MMAR.2017.8046862","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046862","url":null,"abstract":"In this paper, a nonlinear control approach is presented for an electro-pneumatic clutch actuator for heavy trucks. A clutch is required at start-up or during gear shifts to disconnect the combustion engine from the gear box. This automated actuator provides the necessary actuation force according to the large torque transmitted through the power train. Based on a control-oriented system representation, a cascaded control structure is designed. The outer loop is related to the mechanical subsystem and guarantees an accurate tracking of desired trajectories for the clutch position using a backstepping-based sliding mode control. Furthermore, hysteresis effects of the nonlinear clutch force are addressed properly by a Bouc-Wen hysteresis model. The inner loop controls the internal pressure of the clutch actuator. A new nonlinear reduced-order observer is designed that estimates both the effective internal pressure and a mass flow offset. The benefits of the proposed control structure are demonstrated by experimental results from a dedicated test rig.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"41 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":"114834996","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.2017.8046833
P. Okoniewski, Sławomir Kocoń, J. Piskorowski
The paper presents a concept of designing a stable time-varying IIR narrow multi-band-stop filter. The proposed structure is based on an all-pass prototype. The stability analysis of the time-varying design is presented. In order to reduce the transient time, the varying rejection bandwidth in time is introduced. The paper also presents the idea of the LUT's (Lookup Table) to control the memory usage of the time-varying filtering structure. The results of the methodology are presented and compared with the stationary counterpart. The proposed stable time-varying filtering structure is applied to the noised test signal in the simulation environment.
{"title":"Design of stable LTV multi-notch IIR filter with Lookup Tables","authors":"P. Okoniewski, Sławomir Kocoń, J. Piskorowski","doi":"10.1109/MMAR.2017.8046833","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046833","url":null,"abstract":"The paper presents a concept of designing a stable time-varying IIR narrow multi-band-stop filter. The proposed structure is based on an all-pass prototype. The stability analysis of the time-varying design is presented. In order to reduce the transient time, the varying rejection bandwidth in time is introduced. The paper also presents the idea of the LUT's (Lookup Table) to control the memory usage of the time-varying filtering structure. The results of the methodology are presented and compared with the stationary counterpart. The proposed stable time-varying filtering structure is applied to the noised test signal in the simulation environment.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"26 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":"132077707","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：