Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8485870
P. Mazurek, Dorota Oszutowska-Mazurek
Aerial imagery is important for delivery of spatial information from large surface areas. The detection and classification of vehicles in use or parked is important for the analysis of road traffic or agricultural analyzes. Modified VEDAI database with reduced number to 9 classes of vehicles is used. Deep convolutional neural network is tested for the classification purposes and the influence of number of kernels in the first layer is investigated. Achieved results show similarity between kernels for different setups. Most kernels are radial and classification results are related to the number of used classes.
{"title":"Classification of Vehicles in Aerial Imagery Using Deep Convolutional Neural Networks","authors":"P. Mazurek, Dorota Oszutowska-Mazurek","doi":"10.1109/MMAR.2018.8485870","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485870","url":null,"abstract":"Aerial imagery is important for delivery of spatial information from large surface areas. The detection and classification of vehicles in use or parked is important for the analysis of road traffic or agricultural analyzes. Modified VEDAI database with reduced number to 9 classes of vehicles is used. Deep convolutional neural network is tested for the classification purposes and the influence of number of kernels in the first layer is investigated. Achieved results show similarity between kernels for different setups. Most kernels are radial and classification results are related to the number of used classes.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116897210","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 : 2018-08-01DOI: 10.1109/MMAR.2018.8486100
M. Klimek
We study a variant of fractional Sturm-Liouvile eigenvalue problem with homogeneous von Neumann boundary conditions and prove that its spectrum is purely discrete. The differential fractional eigenvalue problem is converted to the integral one determined by the compact, self-adjoint Hilbert-Schmidt integral operator. Both eigenvalue problems, differential and integral one, are equivalent on the respective subspace of continuous functions. The eigenfunctions are continuous and form an orthogonal basis in the respective Hilbert space.
{"title":"Simple Case of Fractional Sturm-Liouville Problem with Homogeneous von Neumann Boundary Conditions","authors":"M. Klimek","doi":"10.1109/MMAR.2018.8486100","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486100","url":null,"abstract":"We study a variant of fractional Sturm-Liouvile eigenvalue problem with homogeneous von Neumann boundary conditions and prove that its spectrum is purely discrete. The differential fractional eigenvalue problem is converted to the integral one determined by the compact, self-adjoint Hilbert-Schmidt integral operator. Both eigenvalue problems, differential and integral one, are equivalent on the respective subspace of continuous functions. The eigenfunctions are continuous and form an orthogonal basis in the respective Hilbert space.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117018952","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 : 2018-08-01DOI: 10.1109/MMAR.2018.8485805
V. S. Dwivedi, Jay Patrikar, Amulya Addamane, A. Ghosh
This paper constitutes the detailed design, fabrication and validation of MARAAL: A low altitude long endurance solar powered UAV to be operated day-night in subtropical region. The SUAV prototype fabricated at Unmanned Aerial Laboratory IIT Kanpur has a wing span of 5.35m, maximum endurance of 18 hours and a maximum 6kg payload capability. The conceptual design process with simulation results are shown along with a detailed description of the solar cell installation process. The paper also highlights the construction efforts and details of the hardware and onboard electronics including surveillance equipment.
{"title":"MARAAL: A Low Altitude Long Endurance Solar Powered UAV For Surveillance and Mapping Applications","authors":"V. S. Dwivedi, Jay Patrikar, Amulya Addamane, A. Ghosh","doi":"10.1109/MMAR.2018.8485805","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485805","url":null,"abstract":"This paper constitutes the detailed design, fabrication and validation of MARAAL: A low altitude long endurance solar powered UAV to be operated day-night in subtropical region. The SUAV prototype fabricated at Unmanned Aerial Laboratory IIT Kanpur has a wing span of 5.35m, maximum endurance of 18 hours and a maximum 6kg payload capability. The conceptual design process with simulation results are shown along with a detailed description of the solar cell installation process. The paper also highlights the construction efforts and details of the hardware and onboard electronics including surveillance equipment.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115242393","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 : 2018-08-01DOI: 10.1109/MMAR.2018.8486057
K. Peng, Mohamed Redhwan Abdul Hamid, Junji Zhu, F. Lin, Ben M. Chen
A comprehensive model of a quadrotor is built for the maneuvering flight control design in which the nonlinearities of the quadrotor become dominant. The modeling is based on the components of the quadrotors such as the propellers by ignoring the weak coupling among the four propellers. The property of the propellers is tested in the wind tunnel in presence of the relative air flow and in each scheduled condition. The comprehensive model of the quadrotor is derived with the Newton's laws by integrating the property of the propellers. The built model is verified with the wind tunnel test data and The verification results show that the output of the propeller model is matched well with the test data. The built model is useful to the maneuvering flight control design of the quadrotors in high speed and large acceleration as the kinematical and aerodynamic nonlinearities are formulated in the model.
{"title":"Comprehensive Modeling of Quadrotors for Maneuvering Flight Control Design","authors":"K. Peng, Mohamed Redhwan Abdul Hamid, Junji Zhu, F. Lin, Ben M. Chen","doi":"10.1109/MMAR.2018.8486057","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486057","url":null,"abstract":"A comprehensive model of a quadrotor is built for the maneuvering flight control design in which the nonlinearities of the quadrotor become dominant. The modeling is based on the components of the quadrotors such as the propellers by ignoring the weak coupling among the four propellers. The property of the propellers is tested in the wind tunnel in presence of the relative air flow and in each scheduled condition. The comprehensive model of the quadrotor is derived with the Newton's laws by integrating the property of the propellers. The built model is verified with the wind tunnel test data and The verification results show that the output of the propeller model is matched well with the test data. The built model is useful to the maneuvering flight control design of the quadrotors in high speed and large acceleration as the kinematical and aerodynamic nonlinearities are formulated in the model.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130219905","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 : 2018-08-01DOI: 10.1109/MMAR.2018.8485901
P. Bajger, K. Fujarewicz, A. Świerniak
In this study optimal control framework is applied to two models of radiochemotherapy. A base, simple model adopts a classical log-kill hypothesis for chemotherapy and a linear-quadratic response for radiotherapy. The model is represented by the first order nonlinear differential equations with two control variables which can be transformed into a linear differential equations with a nonlinear control action. The multi-input optimal control problem formulated for this model is solved explicitly. It is shown that optimal treatment should apply radiotherapy first, while the onset of chemotherapy should be delayed. The second model takes into account the effects of drug metabolism (pharmacokinetics) and DNA repair of adjacent strand breaks. By obtaining full analytical results for chemotherapy control and partial results for radiotherapy it is shown that an introduction of these additional processes alters the structure of optimal control, which sometimes leads to opposite conclusions. A numerical example is provided which suggests that in practice the differences may not be as critical as the purely theoretical results would suggest.
{"title":"Effects of Pharmacokinetics and DNA Repair on the Structure of Optimal Controls in a Simple Model of Radio-Chemotherapy","authors":"P. Bajger, K. Fujarewicz, A. Świerniak","doi":"10.1109/MMAR.2018.8485901","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485901","url":null,"abstract":"In this study optimal control framework is applied to two models of radiochemotherapy. A base, simple model adopts a classical log-kill hypothesis for chemotherapy and a linear-quadratic response for radiotherapy. The model is represented by the first order nonlinear differential equations with two control variables which can be transformed into a linear differential equations with a nonlinear control action. The multi-input optimal control problem formulated for this model is solved explicitly. It is shown that optimal treatment should apply radiotherapy first, while the onset of chemotherapy should be delayed. The second model takes into account the effects of drug metabolism (pharmacokinetics) and DNA repair of adjacent strand breaks. By obtaining full analytical results for chemotherapy control and partial results for radiotherapy it is shown that an introduction of these additional processes alters the structure of optimal control, which sometimes leads to opposite conclusions. A numerical example is provided which suggests that in practice the differences may not be as critical as the purely theoretical results would suggest.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121075740","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 : 2018-08-01DOI: 10.1109/MMAR.2018.8486077
J. Sasiadek, S. Ulrich, A. Krzyżak
The paper compares control strategies for four flexible space robot manipulators including the classical Slotine and Li algorithm, a simple proportional derivative controller, a singular perturbation-based controller and a nonlinear backstepping controller. All strategies are tested and compared in simulations involving endpoint target positioning while tracking a square trajectory by a two-link flexible joint space robot. Simulation results indicate that controlling both nonlinearities and joint flexibility effects improve the closed-loop behavior of the space robot where the control of nonlinearities is of greater importance. The best performance is achieved by the nonlinear backstepping control strategy. We also propose Hammerstein nonlinear joint model and introduce its nonparametric nearest neighbor kernel identification algorithm and study its convergence.
{"title":"Trajectory Tracking and Nonparametric Identification of Flexible Space Robot Manipulators","authors":"J. Sasiadek, S. Ulrich, A. Krzyżak","doi":"10.1109/MMAR.2018.8486077","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486077","url":null,"abstract":"The paper compares control strategies for four flexible space robot manipulators including the classical Slotine and Li algorithm, a simple proportional derivative controller, a singular perturbation-based controller and a nonlinear backstepping controller. All strategies are tested and compared in simulations involving endpoint target positioning while tracking a square trajectory by a two-link flexible joint space robot. Simulation results indicate that controlling both nonlinearities and joint flexibility effects improve the closed-loop behavior of the space robot where the control of nonlinearities is of greater importance. The best performance is achieved by the nonlinear backstepping control strategy. We also propose Hammerstein nonlinear joint model and introduce its nonparametric nearest neighbor kernel identification algorithm and study its convergence.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"168 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121413991","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 : 2018-08-01DOI: 10.1109/MMAR.2018.8486115
K. Oprzȩdkiewicz, W. Mitkowski
In the paper the parameters identification problem for a new, non integer order, discrete, state space model of heat transfer process is presented. The proposed model employes Continuous Fraction Expansion (CFE) approximation what assures good accuracy with relatively low order and short memory length. The parameters of the model are estimated via numerical minimization of the Mean Square Error (MSE) cost function. The proposed model is compared to discrete model using Power Series Expansion (PSE) approximation. Results of the comparison show, that the proposed model assures the same accuracy using significantly smaller memory length than model employing PSE approximation.
{"title":"Parameter Identification for Non Integer Order, Discrete, State Space Model of Heat Transfer Process Using CFE Approximation","authors":"K. Oprzȩdkiewicz, W. Mitkowski","doi":"10.1109/MMAR.2018.8486115","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486115","url":null,"abstract":"In the paper the parameters identification problem for a new, non integer order, discrete, state space model of heat transfer process is presented. The proposed model employes Continuous Fraction Expansion (CFE) approximation what assures good accuracy with relatively low order and short memory length. The parameters of the model are estimated via numerical minimization of the Mean Square Error (MSE) cost function. The proposed model is compared to discrete model using Power Series Expansion (PSE) approximation. Results of the comparison show, that the proposed model assures the same accuracy using significantly smaller memory length than model employing PSE approximation.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126294603","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 : 2018-08-01DOI: 10.1109/MMAR.2018.8486118
J. Figwer
In this paper an approach to continuous-time nonlinear block-oriented dynamic system identification containing unknown time delay is presented. In the presented approach the excitation being a step or step-like signal is generated from D/A converter equipped with zero-order hold filter. Data used for model identification are sampled step or step-like responses. Parameters of the corresponding models are obtained by an optimisation algorithm utilizing ideas of randomized search. The presented discussion is illustrated by simulation experiments devoted to model identification of Wiener, Hammerstein, Hammerstein-Wiener and Wiener-Hammerstein systems.
{"title":"Continuous-Time Nonlinear Block-Oriented Dynamic System Identification from Sampled Step and Step-Like Responses","authors":"J. Figwer","doi":"10.1109/MMAR.2018.8486118","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486118","url":null,"abstract":"In this paper an approach to continuous-time nonlinear block-oriented dynamic system identification containing unknown time delay is presented. In the presented approach the excitation being a step or step-like signal is generated from D/A converter equipped with zero-order hold filter. Data used for model identification are sampled step or step-like responses. Parameters of the corresponding models are obtained by an optimisation algorithm utilizing ideas of randomized search. The presented discussion is illustrated by simulation experiments devoted to model identification of Wiener, Hammerstein, Hammerstein-Wiener and Wiener-Hammerstein systems.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126113409","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 : 2018-08-01DOI: 10.1109/MMAR.2018.8486069
M. Kryszczak, M. Kaminski
Presented paper deals with design, modeling and realization of vehicle arranged for work in difficult external conditions. Works described in the article can be divided into two main groups, the first of them is related to optimization of speed controller used for motor. For this purpose, metaheuristic algorithm – GWO (Grey Wolf Optimizer) was used. Next, project is focused on hardware preparation. Important assumption for real model is construction based on two independent parts of the chassis. It leads to possibilities of better movement in difficult terrain. To ensure the possibility of steering the vehicle, out of direct availability for operator, special control application (for PC computer) was developed and a wireless vision system was used. The speed control structure was tested in simulations and experimentally, then the whole created model was evaluated.
{"title":"Grey Wolf Optimizer Applied for Design Process of Off-Road Vehicle","authors":"M. Kryszczak, M. Kaminski","doi":"10.1109/MMAR.2018.8486069","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486069","url":null,"abstract":"Presented paper deals with design, modeling and realization of vehicle arranged for work in difficult external conditions. Works described in the article can be divided into two main groups, the first of them is related to optimization of speed controller used for motor. For this purpose, metaheuristic algorithm – GWO (Grey Wolf Optimizer) was used. Next, project is focused on hardware preparation. Important assumption for real model is construction based on two independent parts of the chassis. It leads to possibilities of better movement in difficult terrain. To ensure the possibility of steering the vehicle, out of direct availability for operator, special control application (for PC computer) was developed and a wireless vision system was used. The speed control structure was tested in simulations and experimentally, then the whole created model was evaluated.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125817369","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 : 2018-08-01DOI: 10.1109/MMAR.2018.8485923
T. Kaczorek, L. Sajewski
Standard and fractional positive continuous-time linear system with transfer matrices having only positive coefficients are analyzed. It is shown that if the positive system is asymptotically stable then its transfer matrix has only positive coefficients. Some invariant properties of positive standard and fractional linear systems are discussed.
{"title":"Transfer Matrices with Positive Coefficients for Standard and Fractional Positive Linear Systems","authors":"T. Kaczorek, L. Sajewski","doi":"10.1109/MMAR.2018.8485923","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485923","url":null,"abstract":"Standard and fractional positive continuous-time linear system with transfer matrices having only positive coefficients are analyzed. It is shown that if the positive system is asymptotically stable then its transfer matrix has only positive coefficients. Some invariant properties of positive standard and fractional linear systems are discussed.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127182716","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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