Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046807
M. Wasilewski, D. Pisarski
In this paper a novel control algorithm for vibration attenuation is presented. Proposed scheme is developed to control linear systems with presence of external disturbance. The goal of the control is to steer the system to prescribed reference trajectory by minimizing associated quadratic performance index. The synthesis of the control law consists of two steps. At the first step, past measures of disturbance are used to develop local linear approximation of dynamics of disturbance signal. Weights of the associated auto-regressive model are calculated by the least-square algorithm. At the second step, calculated model is used to obtain linear time-invariant approximation of the control system. The receding horizon control law is then calculated by using finite horizon Linear Quadratic Regulator. The algorithm is verified numerically for torsional vibrating system under nonlinear, time-varying friction. The results of simulation are compared to a standard Linear Quadratic Gaussian control.
{"title":"Adaptive optimal control algorithm for vibrational systems under nonlinear friction","authors":"M. Wasilewski, D. Pisarski","doi":"10.1109/MMAR.2017.8046807","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046807","url":null,"abstract":"In this paper a novel control algorithm for vibration attenuation is presented. Proposed scheme is developed to control linear systems with presence of external disturbance. The goal of the control is to steer the system to prescribed reference trajectory by minimizing associated quadratic performance index. The synthesis of the control law consists of two steps. At the first step, past measures of disturbance are used to develop local linear approximation of dynamics of disturbance signal. Weights of the associated auto-regressive model are calculated by the least-square algorithm. At the second step, calculated model is used to obtain linear time-invariant approximation of the control system. The receding horizon control law is then calculated by using finite horizon Linear Quadratic Regulator. The algorithm is verified numerically for torsional vibrating system under nonlinear, time-varying friction. The results of simulation are compared to a standard Linear Quadratic Gaussian control.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"15 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":"131133773","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.2017.8046928
J. Kabzinski, Przemysław Mosiołek
Backstepping-based, robust stabilization procedure for nonlinear systems with time-varying parameters is presented. First a general approach for nonlinear parameter dependence is developed, then the special case of a linear-in-parameters system is considered. Possible simplifications of the design and benefits of this system structure are discussed and illustrated by examples.
{"title":"Robust backstepping stabilization of nonlinear systems with time-varying parameters","authors":"J. Kabzinski, Przemysław Mosiołek","doi":"10.1109/MMAR.2017.8046928","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046928","url":null,"abstract":"Backstepping-based, robust stabilization procedure for nonlinear systems with time-varying parameters is presented. First a general approach for nonlinear parameter dependence is developed, then the special case of a linear-in-parameters system is considered. Possible simplifications of the design and benefits of this system structure are discussed and illustrated by examples.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"98 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":"128003200","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.2017.8046827
Arkadiusz Kubacki, A. Jakubowski, D. Rybarczyk
This paper presents the research on the possibility of transporter movement with the use of SSVEP based on a brain-computer interface (BCI). In the first paragraph, the authors present general information about human-computer communication. The next chapter concerns theoretical background about BCI based on EEG. The authors present a method how to place electrodes during an EEG and a general classification of BCI. The current state of knowledge about SSVEP (Steady-State Visually Evoked Potential) is presented. In the next paragraph concerns used equipment and software, also a block diagram of the program and a description of the test stand. In the last part, the authors described the results of their research on the movement of the transporter in two directions using SSVEP.
{"title":"Research on possibilities of transporter movement using brain-computer interface based on Steady-State Visually Evoked Potential (SSVEP)","authors":"Arkadiusz Kubacki, A. Jakubowski, D. Rybarczyk","doi":"10.1109/MMAR.2017.8046827","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046827","url":null,"abstract":"This paper presents the research on the possibility of transporter movement with the use of SSVEP based on a brain-computer interface (BCI). In the first paragraph, the authors present general information about human-computer communication. The next chapter concerns theoretical background about BCI based on EEG. The authors present a method how to place electrodes during an EEG and a general classification of BCI. The current state of knowledge about SSVEP (Steady-State Visually Evoked Potential) is presented. In the next paragraph concerns used equipment and software, also a block diagram of the program and a description of the test stand. In the last part, the authors described the results of their research on the movement of the transporter in two directions using SSVEP.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"68 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":"133496098","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.2017.8046901
P. Makiewicz, J. Górecka
The aim of this paper was to assess commercially available electrodes used in EEG examination. Electrochemical Impedance Spectroscopy was used to investigate properties of four types of electrodes in different temperatures. Special attention was paid to the usability of electrodes used for registration of slow EEG potentials. Obtained results allowed to compare examined electrodes and to form recommendation on choose of the type of electrode.
{"title":"Electrochemical impedance spectroscopy applied for assessment of electrodes used in EEG examination","authors":"P. Makiewicz, J. Górecka","doi":"10.1109/MMAR.2017.8046901","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046901","url":null,"abstract":"The aim of this paper was to assess commercially available electrodes used in EEG examination. Electrochemical Impedance Spectroscopy was used to investigate properties of four types of electrodes in different temperatures. Special attention was paid to the usability of electrodes used for registration of slow EEG potentials. Obtained results allowed to compare examined electrodes and to form recommendation on choose of the type of electrode.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"63 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":"114850215","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.2017.8046866
Rafał Szczepański, Krystian Erwiński, M. Paprocki
Over the last few years generation of a time-optimal feedrate profile for CNC machines has recieved significant attention. This is a difficult optimization problem usually requiring long computation time. In the proposed solution, optimization is performed by parallel Particle Swarm Optimization with Augmented Lagrangian constraint handling technique. In order to decrease computation time the authors previously developed algorithm was reimplemented using Open Multi-processing. OpenMP utilizes the ability of modern CPUS to run multiple threads and reduce the algorithm's runtime by using parallel processing. The performance gain (speed-up) of the algorithm parallelized on a multi-core system has been tested. The experimental results of a time-optimal feedrate profile generated using an example toolpath are presented to illustrate the capabilities of parallel computation to improve the algorithm's performance.
{"title":"Accelerating PSO based feedrate optimization for NURBS toolpaths using parallel computation with OpenMP","authors":"Rafał Szczepański, Krystian Erwiński, M. Paprocki","doi":"10.1109/MMAR.2017.8046866","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046866","url":null,"abstract":"Over the last few years generation of a time-optimal feedrate profile for CNC machines has recieved significant attention. This is a difficult optimization problem usually requiring long computation time. In the proposed solution, optimization is performed by parallel Particle Swarm Optimization with Augmented Lagrangian constraint handling technique. In order to decrease computation time the authors previously developed algorithm was reimplemented using Open Multi-processing. OpenMP utilizes the ability of modern CPUS to run multiple threads and reduce the algorithm's runtime by using parallel processing. The performance gain (speed-up) of the algorithm parallelized on a multi-core system has been tested. The experimental results of a time-optimal feedrate profile generated using an example toolpath are presented to illustrate the capabilities of parallel computation to improve the algorithm's performance.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"57 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":"117291410","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.2017.8046828
K. Skrzypczyk
This paper presents an application of complementary filtration for estimating running pace using GPS and pedometer data. In the approach presented two information sources are fused with dynamically adjusted importance factors. In the case of poor GPS signal the pedometer data are gained by the filter, and otherwise. The method proposed was verified using multiple simulations. An exemplary one is presented and discussed in the paper.
{"title":"Running pace estimation using complementary filter based fusion of GPS and pedometer data","authors":"K. Skrzypczyk","doi":"10.1109/MMAR.2017.8046828","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046828","url":null,"abstract":"This paper presents an application of complementary filtration for estimating running pace using GPS and pedometer data. In the approach presented two information sources are fused with dynamically adjusted importance factors. In the case of poor GPS signal the pedometer data are gained by the filter, and otherwise. The method proposed was verified using multiple simulations. An exemplary one is presented and discussed in the paper.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"12 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":"115109652","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.2017.8046975
T. Zubowicz, K. Duzinkiewicz, R. Piotrowski
The importance of dissolved oxygen (DO) concentration control in aeration tanks of a bioreactor at flow-through wastewater treatment plant (WWTP) can easily be justified by technological requirements as well as simple economics. Firstly, appropriate levels of DO concentration are essential for the vitality of microorganisms that comprise the bioreactor. Secondly, the costs of DO concentration control related to the blower station operation constitute up to 75% of the plant-wide electric bill. This paper addresses a problem of Takagi-Sugeno fuzzy model identification of DO dynamics for control design purposes. In the proposed approach the fuzzy partitions and the corresponding fuzzy sets are identified based on the knowledge of the process. Local model structure is obtained based on a larger well-established cognitive model from which a well-defined parameter set follows. Thereafter, a parameter identification is performed. A case study example of a bioreactor at Kartuzy WWTP illustrates the workflow of the proposed identification algorithm.
{"title":"Takagi-Sugeno fuzzy model of dissolved oxygen concentration dynamics in a bioreactor at WWTP","authors":"T. Zubowicz, K. Duzinkiewicz, R. Piotrowski","doi":"10.1109/MMAR.2017.8046975","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046975","url":null,"abstract":"The importance of dissolved oxygen (DO) concentration control in aeration tanks of a bioreactor at flow-through wastewater treatment plant (WWTP) can easily be justified by technological requirements as well as simple economics. Firstly, appropriate levels of DO concentration are essential for the vitality of microorganisms that comprise the bioreactor. Secondly, the costs of DO concentration control related to the blower station operation constitute up to 75% of the plant-wide electric bill. This paper addresses a problem of Takagi-Sugeno fuzzy model identification of DO dynamics for control design purposes. In the proposed approach the fuzzy partitions and the corresponding fuzzy sets are identified based on the knowledge of the process. Local model structure is obtained based on a larger well-established cognitive model from which a well-defined parameter set follows. Thereafter, a parameter identification is performed. A case study example of a bioreactor at Kartuzy WWTP illustrates the workflow of the proposed identification algorithm.","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":"124945863","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.2017.8046832
Sławomir Kocoń, P. Okoniewski, J. Piskorowski
This paper presents experimental results of a stable time-varying IIR narrow multi-band-stop filter. The design and stability check procedures have been shown. The experimental hardware used to conduct the measurement of the ECG was presented. The concept of the time-varying coefficients was used in order to reduce the transient time of the filtering structure. The advantages of the proposed methodology were confirmed with three test cases focused on denoising the input signal.
{"title":"Experimental results of stable time-varying multi-notch filter","authors":"Sławomir Kocoń, P. Okoniewski, J. Piskorowski","doi":"10.1109/MMAR.2017.8046832","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046832","url":null,"abstract":"This paper presents experimental results of a stable time-varying IIR narrow multi-band-stop filter. The design and stability check procedures have been shown. The experimental hardware used to conduct the measurement of the ECG was presented. The concept of the time-varying coefficients was used in order to reduce the transient time of the filtering structure. The advantages of the proposed methodology were confirmed with three test cases focused on denoising the input signal.","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":"121709429","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.2017.8046890
T. Kaczorek, K. Borawski
The stability of time-invariant positive nonlinear systems is addressed. Necessary conditions for the stability of positive time-invariant continuous-time and discrete-time nonlinear systems are established. It is shown that the positive nonlinear systems are asymptotically stable only if the corresponding positive linear systems are asymptotically stable. Considerations are illustrated by numerical examples and simulations are performed in Matlab-Simulink environment.
{"title":"Stability of positive nonlinear systems","authors":"T. Kaczorek, K. Borawski","doi":"10.1109/MMAR.2017.8046890","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046890","url":null,"abstract":"The stability of time-invariant positive nonlinear systems is addressed. Necessary conditions for the stability of positive time-invariant continuous-time and discrete-time nonlinear systems are established. It is shown that the positive nonlinear systems are asymptotically stable only if the corresponding positive linear systems are asymptotically stable. Considerations are illustrated by numerical examples and simulations are performed in Matlab-Simulink environment.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"94 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":"121870987","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.2017.8046791
P. Nowak, Jacek Czeczot
In this paper, the practical verification of Active Disturbance Rejection Controller (ADRC) implementation for pneumatic setup is investigated. Apart from experimental results, the inverse half-rule is suggested to support ADRC tuning for the second order processes by adjusting the value of the scaling factor. This rule is based only on the approximation of the process step response by First Order plus Dead Time (FOPDT) model. The results show the practical applicability of the suggested tuning method and the superiority of ADRC control performance over the conventional PI controller.
{"title":"Practical verification of active disturbance rejection controller for the pneumatic setup","authors":"P. Nowak, Jacek Czeczot","doi":"10.1109/MMAR.2017.8046791","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046791","url":null,"abstract":"In this paper, the practical verification of Active Disturbance Rejection Controller (ADRC) implementation for pneumatic setup is investigated. Apart from experimental results, the inverse half-rule is suggested to support ADRC tuning for the second order processes by adjusting the value of the scaling factor. This rule is based only on the approximation of the process step response by First Order plus Dead Time (FOPDT) model. The results show the practical applicability of the suggested tuning method and the superiority of ADRC control performance over the conventional PI controller.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"359 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":"122754858","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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