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.2017.8046832
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.2017.8046907
Seyed Mohammad Zeyb Sayyadan, M. Moniri, F. Gharib
One of the most challenging issues of granular jamming robots is both predicting and measuring the stiffness variations which are a direct function of elastic module. In this regard, in previous researches, it had demonstrated that the elastic module of robot's bulk is a fundamental function of vacuum pressure and must be acquired by experimental tests. However, there was not a unique formulation for both computing and predicting the accurate elastic module in each unique amount of vacuum pressure. Therefore, in this paper, for addressing the problem, the elastic module of jammable segments is calculated in each considered vacuum pressure and we have introduced a both simple and beneficial formulation to predict the amounts of stiffness based on variations of vacuum pressure. The proposed procedure was examined by performing an experimental test as well. On the other hand, the necessity of identifying organic material was felt due to introduction of just one organic granular material in previous researches for applying. Hence, four new organic granular materials were selected and also tested. Consequently, a usable blend of two of them was presented which was mixed of black Pepper seeds and Datura grains. This blend had a lightweight construction with high ratio of strength under external forces, therefore, it can be applied when a both high-strength and lightweight jammable structure in robotics is required.
{"title":"Stiffness variations in granular jamming robots; an experimental method","authors":"Seyed Mohammad Zeyb Sayyadan, M. Moniri, F. Gharib","doi":"10.1109/MMAR.2017.8046907","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046907","url":null,"abstract":"One of the most challenging issues of granular jamming robots is both predicting and measuring the stiffness variations which are a direct function of elastic module. In this regard, in previous researches, it had demonstrated that the elastic module of robot's bulk is a fundamental function of vacuum pressure and must be acquired by experimental tests. However, there was not a unique formulation for both computing and predicting the accurate elastic module in each unique amount of vacuum pressure. Therefore, in this paper, for addressing the problem, the elastic module of jammable segments is calculated in each considered vacuum pressure and we have introduced a both simple and beneficial formulation to predict the amounts of stiffness based on variations of vacuum pressure. The proposed procedure was examined by performing an experimental test as well. On the other hand, the necessity of identifying organic material was felt due to introduction of just one organic granular material in previous researches for applying. Hence, four new organic granular materials were selected and also tested. Consequently, a usable blend of two of them was presented which was mixed of black Pepper seeds and Datura grains. This blend had a lightweight construction with high ratio of strength under external forces, therefore, it can be applied when a both high-strength and lightweight jammable structure in robotics is required.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"32 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":"122398736","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.2017.8046887
A. Myslinski, Konrad Koniarski
The paper is concerned with the analytical aspects of the structural optimization problems for elastic bodies in the unilateral contact with a given friction. The contact phenomenon is governed by the second order elliptic variational inequality. The aim of the topology optimization problem is to find such material density distribution function in a domain occupied by the body to minimize its normal contact stress. The original optimization problem is regularized in terms of the phase field model using Ginzburg-Landau free energy functional rather than the domain perimeter functional. In this model the width of the interfaces between the domain material phases is dependent on a small parameter. Therefore the goal of this paper is to investigate the relation between the phase field and the perimeter functionals regularized optimization problems as the width interface parameter tends to zero. Using the shape sensitivity approach the first order necessary optimality conditions for these two optimization problems are formulated. As the interface width parameter tends to zero the convergence of the first order necessary optimality conditions for the phase field regularized optimization problem to the first order necessary optimality conditions for the perimeter regularized optimization problem obtained in the framework of shape calculus is shown. Details of numerical implementation as well as numerical examples are provided and discussed.
{"title":"Relating phase-field and perimeter based structural optimization of variational inequalities","authors":"A. Myslinski, Konrad Koniarski","doi":"10.1109/MMAR.2017.8046887","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046887","url":null,"abstract":"The paper is concerned with the analytical aspects of the structural optimization problems for elastic bodies in the unilateral contact with a given friction. The contact phenomenon is governed by the second order elliptic variational inequality. The aim of the topology optimization problem is to find such material density distribution function in a domain occupied by the body to minimize its normal contact stress. The original optimization problem is regularized in terms of the phase field model using Ginzburg-Landau free energy functional rather than the domain perimeter functional. In this model the width of the interfaces between the domain material phases is dependent on a small parameter. Therefore the goal of this paper is to investigate the relation between the phase field and the perimeter functionals regularized optimization problems as the width interface parameter tends to zero. Using the shape sensitivity approach the first order necessary optimality conditions for these two optimization problems are formulated. As the interface width parameter tends to zero the convergence of the first order necessary optimality conditions for the phase field regularized optimization problem to the first order necessary optimality conditions for the perimeter regularized optimization problem obtained in the framework of shape calculus is shown. Details of numerical implementation as well as numerical examples are provided and discussed.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"37 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":"127927765","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.2017.8046906
T. Nartowicz, E. Pawłuszewicz, A. Mystkowski
In the paper the fractional order FID feedback control loop is designed in order to stabilize the unstable linear current-controller active magnetic bearing (AMB) system. The review for stability analysis of fractional continuous-time linear systems described by the transfer functions is given. The specified fractional order controllers, obtained for desired different phase margins, are verified by means of numerical simulations. The robust stability of fractional order PID feedback-loop is shown due to AMB parametric uncertainty.
{"title":"Robust fractional order controller for a linear active magnetic bearing system","authors":"T. Nartowicz, E. Pawłuszewicz, A. Mystkowski","doi":"10.1109/MMAR.2017.8046906","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046906","url":null,"abstract":"In the paper the fractional order FID feedback control loop is designed in order to stabilize the unstable linear current-controller active magnetic bearing (AMB) system. The review for stability analysis of fractional continuous-time linear systems described by the transfer functions is given. The specified fractional order controllers, obtained for desired different phase margins, are verified by means of numerical simulations. The robust stability of fractional order PID feedback-loop is shown due to AMB parametric uncertainty.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"18 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":"128090012","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.2017.8046976
A. Koszewnik
To design vibration control system for flexible structures their mathematical model should be reduced. In the paper we consider the influence of the model reduction on the dynamics of the real closed-loop system. A SFSF smart plate as a TITO system is an object of consideration since we are able to formulate the exact analytical model of such structure. As a result of reduction the model with low frequency resonances is usually separated from the high frequency dynamics because high frequency part of the model is naturally strong damped. In order to estimate dynamical system for control purposes in the paper we applied a few orthogonal methods such as: modal and Schur decompositions. As it is shown all methods well calculate resonances frequencies but generate different anti-resonances frequencies. From control strategy in point of view of the flexible structures these anti-resonances have significantly influence on the stability and dynamics of the closed-loop systems.
{"title":"Desiginig of active vibration control system for smart structure 2-D with non-collocated piezo-elements","authors":"A. Koszewnik","doi":"10.1109/MMAR.2017.8046976","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046976","url":null,"abstract":"To design vibration control system for flexible structures their mathematical model should be reduced. In the paper we consider the influence of the model reduction on the dynamics of the real closed-loop system. A SFSF smart plate as a TITO system is an object of consideration since we are able to formulate the exact analytical model of such structure. As a result of reduction the model with low frequency resonances is usually separated from the high frequency dynamics because high frequency part of the model is naturally strong damped. In order to estimate dynamical system for control purposes in the paper we applied a few orthogonal methods such as: modal and Schur decompositions. As it is shown all methods well calculate resonances frequencies but generate different anti-resonances frequencies. From control strategy in point of view of the flexible structures these anti-resonances have significantly influence on the stability and dynamics of the closed-loop systems.","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":"130360192","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.2017.8046925
D. Choiński, W. Ilewicz, P. Krauze, Piotr Skupin, Zdzislaw Bielecki
The paper presents preliminary results for online measurement method of isopropanol concentration in the ultrasonic nebulization process using BW-Tek compact UV/Vis spectrophotometer. The experimental setup with nebulization vessel was constructed with a probe for on-line measurements. The tests were performed using a standard mixture of isopropanol and water with the volume isopropanol concentration in the range 19% to 83%. The results of on-line spectrophotometric method were verified using stationary spectrophotometer and a gas chromatography method. Linear calibration for the obtained data was performed and measurement uncertainties for the tested method were evaluated as confidence intervals.
{"title":"On-line spectrophotometric measurements of isopropanol concentration in process of nebulization","authors":"D. Choiński, W. Ilewicz, P. Krauze, Piotr Skupin, Zdzislaw Bielecki","doi":"10.1109/MMAR.2017.8046925","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046925","url":null,"abstract":"The paper presents preliminary results for online measurement method of isopropanol concentration in the ultrasonic nebulization process using BW-Tek compact UV/Vis spectrophotometer. The experimental setup with nebulization vessel was constructed with a probe for on-line measurements. The tests were performed using a standard mixture of isopropanol and water with the volume isopropanol concentration in the range 19% to 83%. The results of on-line spectrophotometric method were verified using stationary spectrophotometer and a gas chromatography method. Linear calibration for the obtained data was performed and measurement uncertainties for the tested method were evaluated as confidence intervals.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"65 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":"129524230","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.2017.8046927
L. Gil, M. Radetzki
Semi-symbolic simulation is becoming popular for inclusion of parameter uncertainties in the system design analysis. For robust control system design optimization, computational methods enabling fast semi-symbolic simulations are necessary. We propose an operational computation method based on orthogonal signals that is faster than step integration methods and allows the direct evaluation of system robustness to parameter variations. In order to improve the simulation performance during design optimization, we derive a novel operational method to compute the multiplication of signal expansions. Thus, common nonlinear cost functions can be directly computed, using only signal coefficients. The evaluation of signals during the optimization is avoided by this method, which is a significant advantage compared to other known approaches for dynamic system simulation. We validate the capability of our design methodology for the improvement of system performance and robustness by optimizing a DC motor control. The obtained results show that affine arithmetic computations are well suited for robust control system design optimization in the time domain.
{"title":"Semi-symbolic operational computation for robust control system design","authors":"L. Gil, M. Radetzki","doi":"10.1109/MMAR.2017.8046927","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046927","url":null,"abstract":"Semi-symbolic simulation is becoming popular for inclusion of parameter uncertainties in the system design analysis. For robust control system design optimization, computational methods enabling fast semi-symbolic simulations are necessary. We propose an operational computation method based on orthogonal signals that is faster than step integration methods and allows the direct evaluation of system robustness to parameter variations. In order to improve the simulation performance during design optimization, we derive a novel operational method to compute the multiplication of signal expansions. Thus, common nonlinear cost functions can be directly computed, using only signal coefficients. The evaluation of signals during the optimization is avoided by this method, which is a significant advantage compared to other known approaches for dynamic system simulation. We validate the capability of our design methodology for the improvement of system performance and robustness by optimizing a DC motor control. The obtained results show that affine arithmetic computations are well suited for robust control system design optimization in the time domain.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"89 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":"129598455","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.2017.8046849
K. Arminski, T. Zubowicz
The paper addresses a problem of quadrotor unmanned aerial vehicle (so-called X4-flyer or quadrocopter) utility model identification for control design purposes. To that goal the quadrotor model is assumed to be composed of two abstracted subsystems, namely a rigid body (plant) and four motors equipped with blades (actuators). The model of the former is acquired based on a well-established dynamic equations of motion while the latter is to be identified as a static relationship from laboratory experiments data. Moreover, the actuator model is to account for the on-flight battery power source voltage drop effects. The actuator parameter identification algorithm is kept in a set-membership framework. In addition a mechanism to reduce the conservativeness of the solution is proposed and applied. Numerical illustration of the results is provided.
{"title":"Robust identification of quadrocopter model for control purposes","authors":"K. Arminski, T. Zubowicz","doi":"10.1109/MMAR.2017.8046849","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046849","url":null,"abstract":"The paper addresses a problem of quadrotor unmanned aerial vehicle (so-called X4-flyer or quadrocopter) utility model identification for control design purposes. To that goal the quadrotor model is assumed to be composed of two abstracted subsystems, namely a rigid body (plant) and four motors equipped with blades (actuators). The model of the former is acquired based on a well-established dynamic equations of motion while the latter is to be identified as a static relationship from laboratory experiments data. Moreover, the actuator model is to account for the on-flight battery power source voltage drop effects. The actuator parameter identification algorithm is kept in a set-membership framework. In addition a mechanism to reduce the conservativeness of the solution is proposed and applied. Numerical illustration of the results is provided.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"8 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":"129456791","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.2017.8046918
A. Shchekoldin, A. D. Shevyakov, Nikolay U. Dema, S. Kolyubin
The paper describes the design of the telepresence robot controlled via the head-mounted display equipped with an inertial measurement unit (IMU). To control the robot and the camera gimbal motion independently with only 3 DOF reference, we developed algorithms based on nonlinear filtering to process IMU measurements and capture head motion patterns. The system is adaptable to different operators' behaviour and works in real-time using only natural head movements. We implement this solution for shared autonomy remotely controlled robots with an augmented reality (AR) interface, which are in a rising demand for technical drills, monitoring and maintenance applications as well as for indoor guided tours.
{"title":"Adaptive head movements tracking algorithms for AR interface controlled telepresence robot","authors":"A. Shchekoldin, A. D. Shevyakov, Nikolay U. Dema, S. Kolyubin","doi":"10.1109/MMAR.2017.8046918","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046918","url":null,"abstract":"The paper describes the design of the telepresence robot controlled via the head-mounted display equipped with an inertial measurement unit (IMU). To control the robot and the camera gimbal motion independently with only 3 DOF reference, we developed algorithms based on nonlinear filtering to process IMU measurements and capture head motion patterns. The system is adaptable to different operators' behaviour and works in real-time using only natural head movements. We implement this solution for shared autonomy remotely controlled robots with an augmented reality (AR) interface, which are in a rising demand for technical drills, monitoring and maintenance applications as well as for indoor guided tours.","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":"129585940","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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