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.2017.8046975
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.2017.8046889
W. Paszke, Marcin Boski, E. Rogers
In this paper the projection lemma is used as a basis to develop extended linear matrix inequality characterizations of the stability and control problems for both differential and discrete linear repetitive processes. The new results provide novel conditions for output feedback control. Also, the extension to uncertain processes is derived. This new approach enables differential and discrete dynamics to be analysed in unified manner. A numerical example is also given.
{"title":"Extended LMI characterization of some control problems for linear repetitive processes","authors":"W. Paszke, Marcin Boski, E. Rogers","doi":"10.1109/MMAR.2017.8046889","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046889","url":null,"abstract":"In this paper the projection lemma is used as a basis to develop extended linear matrix inequality characterizations of the stability and control problems for both differential and discrete linear repetitive processes. The new results provide novel conditions for output feedback control. Also, the extension to uncertain processes is derived. This new approach enables differential and discrete dynamics to be analysed in unified manner. A numerical example is also given.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"7 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132782829","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.2017.8046851
J. Figwer, M. I. Michalczyk, T. Glówka
In the paper a modification enabling acceleration of the rate of convergence for LMS-like on-line identification and adaptation algorithms is proposed. This is based on an artificial decaying of initial conditions in recursive identification as well as adaptation algorithms. The decaying is done using a set of the most recent measurements. Properties of the algorithms with the proposed modification are compared with non-accelerated identification and adaptation algorithms in simulations of a practical adaptive control system.
{"title":"Accelerating the rate of convergence for LMS-like on-line identification and adaptation algorithms. Part 1: Basic ideas","authors":"J. Figwer, M. I. Michalczyk, T. Glówka","doi":"10.1109/MMAR.2017.8046851","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046851","url":null,"abstract":"In the paper a modification enabling acceleration of the rate of convergence for LMS-like on-line identification and adaptation algorithms is proposed. This is based on an artificial decaying of initial conditions in recursive identification as well as adaptation algorithms. The decaying is done using a set of the most recent measurements. Properties of the algorithms with the proposed modification are compared with non-accelerated identification and adaptation algorithms in simulations of a practical adaptive control system.","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":"121090873","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.2017.8046823
Christian Thormann, A. Winkler
In the case that tactile sensor matrices are placed at the fingers of a robotic gripper, it is possible to identify objects during grasping. This feature may be useful e.g. for sorting workpieces. In this article we present an approach for object identification using tactile information. For verification a test scenario is developed where the robot should sort workpieces which are based on Lego bricks. In comparison to images of camera systems commonly used in robotics, the resolution of force images provided by tactile sensors is much lower. For that reason it may be in some case useful to increase the resolution of tactile measurement to perform some tasks of object identification successfully. It can be achieved by grasping the object on different positions and merge the measured values of the tactile sensor cells (taxeis). This article additionally includes an algorithm to improve the resolution of tactile sensors. For the verification of the proposed approach a test scenario is worked out, where the orientation of a Lego brick should be detected. For this purpose a method for identification of the different sides is developed. AII algorithms are implemented with a real robot system and experimental results are presented.
{"title":"Object identification by tactile sensors with improved sensor resolution","authors":"Christian Thormann, A. Winkler","doi":"10.1109/MMAR.2017.8046823","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046823","url":null,"abstract":"In the case that tactile sensor matrices are placed at the fingers of a robotic gripper, it is possible to identify objects during grasping. This feature may be useful e.g. for sorting workpieces. In this article we present an approach for object identification using tactile information. For verification a test scenario is developed where the robot should sort workpieces which are based on Lego bricks. In comparison to images of camera systems commonly used in robotics, the resolution of force images provided by tactile sensors is much lower. For that reason it may be in some case useful to increase the resolution of tactile measurement to perform some tasks of object identification successfully. It can be achieved by grasping the object on different positions and merge the measured values of the tactile sensor cells (taxeis). This article additionally includes an algorithm to improve the resolution of tactile sensors. For the verification of the proposed approach a test scenario is worked out, where the orientation of a Lego brick should be detected. For this purpose a method for identification of the different sides is developed. AII algorithms are implemented with a real robot system and experimental results are presented.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"200 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":"116402175","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.2017.8046837
A. Sztandera, Katarzyna Wiechetek
In the paper a concept of nonstationary network consisted of 1st order elements is presented. Research in order to approximate the assumed frequency response using the filtering network were conducted. Learning the network was achieved by minimizing the assumed error function using genetic algorithms. Introducing time function in place of time constant reduced the duration of the transition processes.
{"title":"Learning process for nonstationary filtering network using genetic algorithms","authors":"A. Sztandera, Katarzyna Wiechetek","doi":"10.1109/MMAR.2017.8046837","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046837","url":null,"abstract":"In the paper a concept of nonstationary network consisted of 1st order elements is presented. Research in order to approximate the assumed frequency response using the filtering network were conducted. Learning the network was achieved by minimizing the assumed error function using genetic algorithms. Introducing time function in place of time constant reduced the duration of the transition processes.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"781 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":"116414859","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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