Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046878
Z. Zaczkiewicz
The paper present new results of application the Laplace transform to fractional differential-algebraic systems with delays (DAD). Exponential evaluation of solutions to DAD systems with one delay is shown.
本文给出了拉普拉斯变换在分数阶时滞微分代数系统中的新结果。给出了一时滞DAD系统解的指数评价。
{"title":"On the application of Laplace transform to fractional differential-algebraic systems with delays","authors":"Z. Zaczkiewicz","doi":"10.1109/MMAR.2017.8046878","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046878","url":null,"abstract":"The paper present new results of application the Laplace transform to fractional differential-algebraic systems with delays (DAD). Exponential evaluation of solutions to DAD systems with one delay is shown.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"23 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":"127239320","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.2017.8046976
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.2017.8046889
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.2017.8046906
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.2017.8046817
Mario Aldag, J. Horn
The performance of a gearless servo system is significantly degraded by mechanical resonances present in the system. For applications on a machine the parameters of the mechanical resonances differ from workpiece to workpiece and thus cannot be calculated a priori. Adaptive notch filters can dampen these unknown resonances online. In this paper an online mechanical resonance frequency identification algorithm and online notch filter depth tuning algorithm are presented which will be processed in a closed loop control system with a control frequency of 32 kHz in software. The performance of these algorithms is shown on a test axis and on a round table with a direct torque motor on a machine. It will furthermore be shown that multiple resonances present on the machine can be damped subsequently and the controller gains can be increased to improve the overall tracking performance.
{"title":"Damping of resonance peaks using adaptive notch filters in gearless servo drives","authors":"Mario Aldag, J. Horn","doi":"10.1109/MMAR.2017.8046817","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046817","url":null,"abstract":"The performance of a gearless servo system is significantly degraded by mechanical resonances present in the system. For applications on a machine the parameters of the mechanical resonances differ from workpiece to workpiece and thus cannot be calculated a priori. Adaptive notch filters can dampen these unknown resonances online. In this paper an online mechanical resonance frequency identification algorithm and online notch filter depth tuning algorithm are presented which will be processed in a closed loop control system with a control frequency of 32 kHz in software. The performance of these algorithms is shown on a test axis and on a round table with a direct torque motor on a machine. It will furthermore be shown that multiple resonances present on the machine can be damped subsequently and the controller gains can be increased to improve the overall tracking performance.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122442596","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.2017.8046820
R. Kern, N. Gehring
This paper presents a tracking controller for a long pneumatic transmission line modeled by a bidirectionally coupled system of partial differential equations (PDEs) and ordinary differential equations (ODEs). The feedforward part of the controller is designed by applying a flatness-based approach for hyperbolic PDEs to a second-order quasilinear model of the pneumatic system. The stabilizing feedback is derived by the application of a recently developed backstepping approach for coupled PDE-ODE systems to a different, more simple, linear model of the line. In simulations, the tracking controller is used to asymptotically stabilize a complex quasilinear third-order distributed parameter model of the pneumatic transmission line along a desired trajectory. This complex model has previously been shown to accurately reproduce the behavior of the pneumatic test bench considered.
{"title":"Tracking control for a long pneumatic transmission line","authors":"R. Kern, N. Gehring","doi":"10.1109/MMAR.2017.8046820","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046820","url":null,"abstract":"This paper presents a tracking controller for a long pneumatic transmission line modeled by a bidirectionally coupled system of partial differential equations (PDEs) and ordinary differential equations (ODEs). The feedforward part of the controller is designed by applying a flatness-based approach for hyperbolic PDEs to a second-order quasilinear model of the pneumatic system. The stabilizing feedback is derived by the application of a recently developed backstepping approach for coupled PDE-ODE systems to a different, more simple, linear model of the line. In simulations, the tracking controller is used to asymptotically stabilize a complex quasilinear third-order distributed parameter model of the pneumatic transmission line along a desired trajectory. This complex model has previously been shown to accurately reproduce the behavior of the pneumatic test bench considered.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"27 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":"128988998","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.2017.8046854
K. Urbanski, Krzysztof Nowopolski
The article proposes a method for estimating the shaft position of a synchronous motor with permanent magnets for the zero and very low speed range. Presented method involves a comparison of obtained shape of current hodograph to the reference pattern using the principal component analysis. The method is based on an analyzing of the high frequency currents, which are excited by high frequency additional voltages. Although this method imply the recognition of a currents hodograph, in a case of using this method, it is no necessity to calculating the ellipse position. The method can achieve satisfactory accuracy in a case the high asymmetry of the inductance, as well as in the case of small values of the inductance asymmetry ratio, also in the case of a presence of a measurement noise.
{"title":"Position estimation at zero speed for PMSM using the principal component analysis","authors":"K. Urbanski, Krzysztof Nowopolski","doi":"10.1109/MMAR.2017.8046854","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046854","url":null,"abstract":"The article proposes a method for estimating the shaft position of a synchronous motor with permanent magnets for the zero and very low speed range. Presented method involves a comparison of obtained shape of current hodograph to the reference pattern using the principal component analysis. The method is based on an analyzing of the high frequency currents, which are excited by high frequency additional voltages. Although this method imply the recognition of a currents hodograph, in a case of using this method, it is no necessity to calculating the ellipse position. The method can achieve satisfactory accuracy in a case the high asymmetry of the inductance, as well as in the case of small values of the inductance asymmetry ratio, also in the case of a presence of a measurement noise.","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":"116885669","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.2017.8046808
M. Jastrzębski, J. Kabzinski, Przemysław Mosiołek
The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together with the remaining unknown parameters.
{"title":"Adaptive and robust motion control in presence of LuGre-type friction","authors":"M. Jastrzębski, J. Kabzinski, Przemysław Mosiołek","doi":"10.1109/MMAR.2017.8046808","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046808","url":null,"abstract":"The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together with the remaining unknown parameters.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"69 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":"115171464","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.2017.8046978
Arkadiusz Kwasigroch, Agnieszka Mikołajczyk, M. Grochowski
The paper presents the results of research on the use of Deep Neural Networks (DNN) for automatic classification of the skin lesions. The authors have focused on the most effective kind of DNNs for image processing, namely Convolutional Neural Networks (CNN). In particular, three kinds of CNN were analyzed: VGG19, Residual Networks (ResNet) and the hybrid of VGG19 CNN with the Support Vector Machine (SVM). The research was carried out with the use of database of over 10 000 images representing skin lesions: benign and malignant. Because of an uneven number of images representing different classes of lesions, the up-sampling of underrepresented class was applied. The comparison of the CNN structures with respect to the accuracy, sensitivity and specificity was performed using k-fold validation method.
{"title":"Deep neural networks approach to skin lesions classification — A comparative analysis","authors":"Arkadiusz Kwasigroch, Agnieszka Mikołajczyk, M. Grochowski","doi":"10.1109/MMAR.2017.8046978","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046978","url":null,"abstract":"The paper presents the results of research on the use of Deep Neural Networks (DNN) for automatic classification of the skin lesions. The authors have focused on the most effective kind of DNNs for image processing, namely Convolutional Neural Networks (CNN). In particular, three kinds of CNN were analyzed: VGG19, Residual Networks (ResNet) and the hybrid of VGG19 CNN with the Support Vector Machine (SVM). The research was carried out with the use of database of over 10 000 images representing skin lesions: benign and malignant. Because of an uneven number of images representing different classes of lesions, the up-sampling of underrepresented class was applied. The comparison of the CNN structures with respect to the accuracy, sensitivity and specificity was performed using k-fold validation method.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"48 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":"125634423","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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