Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8486120
A. Rauh, Julia Kersten, H. Aschemann
Interval observers provide the possibility to estimate guaranteed enclosures for the state variables of a dynamic system that are compatible on the one hand with a predefined mathematical model in which uncertain but bounded parameters may be included. On the other hand, they allow for a correction of the state estimates by a Luenberger-like observer where bounded tolerances of the measured system outputs are taken into consideration. Especially for cooperative system models, these interval observers can be implemented in a straightforward manner. Then, two separate bounding systems (one for the lower and one for the upper bounds of the respective state variables) have to be defined. In previous work, an offline parameter identification scheme was interfaced with a fundamental interval observer for a class of distributed heating systems. There, preserving the property of cooperativity by the Luenberger-like observer and guaranteeing asymptotic stability of the error dynamics was in focus. In addition, the current paper aims at optimizing the observer gains in such a way that the widths of the resulting state estimates can be influenced in a systematic manner. For that purpose, linear matrix inequality techniques are employed which aim at the minimization of a suitable $H_{infty}$ norm. Experimental state estimation results for a lab-scale distributed heating system conclude this contribution.
{"title":"Linear Matrix Inequality Techniques for the Optimization of Interval Observers for Spatially Distributed Heating Systems","authors":"A. Rauh, Julia Kersten, H. Aschemann","doi":"10.1109/MMAR.2018.8486120","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486120","url":null,"abstract":"Interval observers provide the possibility to estimate guaranteed enclosures for the state variables of a dynamic system that are compatible on the one hand with a predefined mathematical model in which uncertain but bounded parameters may be included. On the other hand, they allow for a correction of the state estimates by a Luenberger-like observer where bounded tolerances of the measured system outputs are taken into consideration. Especially for cooperative system models, these interval observers can be implemented in a straightforward manner. Then, two separate bounding systems (one for the lower and one for the upper bounds of the respective state variables) have to be defined. In previous work, an offline parameter identification scheme was interfaced with a fundamental interval observer for a class of distributed heating systems. There, preserving the property of cooperativity by the Luenberger-like observer and guaranteeing asymptotic stability of the error dynamics was in focus. In addition, the current paper aims at optimizing the observer gains in such a way that the widths of the resulting state estimates can be influenced in a systematic manner. For that purpose, linear matrix inequality techniques are employed which aim at the minimization of a suitable $H_{infty}$ norm. Experimental state estimation results for a lab-scale distributed heating system conclude this contribution.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"31 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":"121542272","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.2018.8485950
M. Kaminski
In this paper work of the Luenberger observer applied for electric drive with complex mechanical part is analyzed. Comparing to classical solution, additional adaptation of gain matrix was introduced. Starting point for gradient-based on-line parameter recalculation is determined using metaheuristic algorithm - Grey Wolf Optimizer. Two state variables, the most often used in control structures applied for two-mass system, are estimated: load speed and shaft torque. Mentioned methods lead to precise calculations of signals and improvement of results after time constants changes. Moreover, initial phase related to adjustment of observer parameters is shortened. Model of the adaptive observer was firstly prepared, then simulations were realized. Final stage of described project, presents experimental verification, whole algorithm was implemented in processor od dSPACE 1103 board and experimental tests were done (using two DC motors).
{"title":"Adaptive Gradient-Based Luenberger Observer Implemented for Electric Drive with Elastic Joint","authors":"M. Kaminski","doi":"10.1109/MMAR.2018.8485950","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485950","url":null,"abstract":"In this paper work of the Luenberger observer applied for electric drive with complex mechanical part is analyzed. Comparing to classical solution, additional adaptation of gain matrix was introduced. Starting point for gradient-based on-line parameter recalculation is determined using metaheuristic algorithm - Grey Wolf Optimizer. Two state variables, the most often used in control structures applied for two-mass system, are estimated: load speed and shaft torque. Mentioned methods lead to precise calculations of signals and improvement of results after time constants changes. Moreover, initial phase related to adjustment of observer parameters is shortened. Model of the adaptive observer was firstly prepared, then simulations were realized. Final stage of described project, presents experimental verification, whole algorithm was implemented in processor od dSPACE 1103 board and experimental tests were done (using two DC motors).","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"102 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":"113970536","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.2018.8485915
A. Hajnayeb, Ahmad Ghasemloonia
Surgical handcontrollers are evolved in the last two decades by adding haptic feedback and vibration sensation. Haptic feedback can provide a realistic simulation of low frequency phenomena, while adding vibration to handcontrollers simulate high frequency vibration phenomena such as bone drilling. Two main methods of adding vibration to haptic devices are back drivable robot arms and adding vibration actuators to the handle (stylus) of the hand controllers. In both of these methods, a high fidelity method to investigate the dynamics at the grasping point of the handcontrollers is required to properly design the vibration generators. Developed dynamic models of the user hand while holding the stylus of the haptic devices includes a combination of experimental setups, and SDOF/MDOF dynamic models. The current dynamic models are limited by the range of excitation frequency where the tool was held with different styles. This grasping style affects the model parameters, which has not been investigated in previous studies. In this study, an experimental setup is developed to investigate a dynamic model of the grasping point of the haptic endeffectors. The system was modeled by its frequency response with a non-parametric identification method. The amplitude and phase of the frequency response of the operator's hand are plotted as a function of frequency. The natural frequency of the hand model is in agreement with the assumed SDOF model. The phase difference and the coherence spectrum is analyzed to investigate the natural frequencies and amplitude ratios at different grasping configurations and finger styles. The results showed changes in the natural frequencies and amplitude ratios for different hand configurations and finger styles. The developed model in this study can be used in conjunction with the vibration generators in haptic handcontrollers to more accurately render the developed vibration at surgical corridors at the end-user hand.
{"title":"Nonparametric Identification of the Surgeon's Hand Vibration in Haptic Devices","authors":"A. Hajnayeb, Ahmad Ghasemloonia","doi":"10.1109/MMAR.2018.8485915","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485915","url":null,"abstract":"Surgical handcontrollers are evolved in the last two decades by adding haptic feedback and vibration sensation. Haptic feedback can provide a realistic simulation of low frequency phenomena, while adding vibration to handcontrollers simulate high frequency vibration phenomena such as bone drilling. Two main methods of adding vibration to haptic devices are back drivable robot arms and adding vibration actuators to the handle (stylus) of the hand controllers. In both of these methods, a high fidelity method to investigate the dynamics at the grasping point of the handcontrollers is required to properly design the vibration generators. Developed dynamic models of the user hand while holding the stylus of the haptic devices includes a combination of experimental setups, and SDOF/MDOF dynamic models. The current dynamic models are limited by the range of excitation frequency where the tool was held with different styles. This grasping style affects the model parameters, which has not been investigated in previous studies. In this study, an experimental setup is developed to investigate a dynamic model of the grasping point of the haptic endeffectors. The system was modeled by its frequency response with a non-parametric identification method. The amplitude and phase of the frequency response of the operator's hand are plotted as a function of frequency. The natural frequency of the hand model is in agreement with the assumed SDOF model. The phase difference and the coherence spectrum is analyzed to investigate the natural frequencies and amplitude ratios at different grasping configurations and finger styles. The results showed changes in the natural frequencies and amplitude ratios for different hand configurations and finger styles. The developed model in this study can be used in conjunction with the vibration generators in haptic handcontrollers to more accurately render the developed vibration at surgical corridors at the end-user hand.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"26 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":"127741172","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.2018.8486080
A. Koszewnik, M. Ostaszewski, E. Pawłuszewicz, Piotr Radgowski
The aim of this paper is to study the behavior of the tilt fractional order integral derivative regulator (TFOID) controller. The design regulator was applied for the control flow rate in the laboratory stand Festo MPS PA Compact Workstation. Obtained simulation and experimental results are discussed.
{"title":"Performance Assessment of the Tilt Fractional Order Integral Derivative Regulator for Control Flow Rate in Festo MPS® PA Compact Workstation","authors":"A. Koszewnik, M. Ostaszewski, E. Pawłuszewicz, Piotr Radgowski","doi":"10.1109/MMAR.2018.8486080","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486080","url":null,"abstract":"The aim of this paper is to study the behavior of the tilt fractional order integral derivative regulator (TFOID) controller. The design regulator was applied for the control flow rate in the laboratory stand Festo MPS PA Compact Workstation. Obtained simulation and experimental results are discussed.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"10 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":"132366016","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.2018.8486131
Z. Zaczkiewicz
The paper is deals with a problem of observability of time variant linear fractional systems. We present definition of the estimation of initial conditions from the output of the system. By solutions representation we establish necessary and sufficient conditions for the defined observability. The considerations are illustrated by examples.
{"title":"On the Observablity of Linear Nonstationary Fractional Systems","authors":"Z. Zaczkiewicz","doi":"10.1109/MMAR.2018.8486131","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486131","url":null,"abstract":"The paper is deals with a problem of observability of time variant linear fractional systems. We present definition of the estimation of initial conditions from the output of the system. By solutions representation we establish necessary and sufficient conditions for the defined observability. The considerations are illustrated by examples.","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":"130727232","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.2018.8486078
K. Oprzȩdkiewicz, Klaudia Dziedzic
In the paper the sample time optimization problem for the discrete approximation of fractional order Charef transfer function is presented. The sample time assuring the best accuracy of discrete model is assigned numerically using Particle Swarm Optimization (PSO) algorithm. Results of experiments show that the PSO method allows to find the optimal value of the sample time with relatively short duration of calculations.
{"title":"Sample Time Optimization for the Discrete Approximation of the Fractional Order Charef Transfer Function","authors":"K. Oprzȩdkiewicz, Klaudia Dziedzic","doi":"10.1109/MMAR.2018.8486078","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486078","url":null,"abstract":"In the paper the sample time optimization problem for the discrete approximation of fractional order Charef transfer function is presented. The sample time assuring the best accuracy of discrete model is assigned numerically using Particle Swarm Optimization (PSO) algorithm. Results of experiments show that the PSO method allows to find the optimal value of the sample time with relatively short duration of calculations.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"29 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":"124140681","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.2018.8486076
A. Gavrikov, G. Kostin
Optimal boundary control problems with linear-quadratic cost functions are considered for heat transfer processes in a cylindrical body. The method of integro-differential relations is used to reduce the original PDE model to a finite-dimensional controlled system. Three types of linear-quadratic cost functions are studied: the first includes control functions and terminal temperature distribution, the second additionally takes into account the heat flux at the terminal time instant and the third contains a measure of approximation error. Numerical examples are given and discussed.
{"title":"An Integro-Differential Approach to LQ-Optimal Control Problems for Heat Transfer in a Cylindrical Body","authors":"A. Gavrikov, G. Kostin","doi":"10.1109/MMAR.2018.8486076","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486076","url":null,"abstract":"Optimal boundary control problems with linear-quadratic cost functions are considered for heat transfer processes in a cylindrical body. The method of integro-differential relations is used to reduce the original PDE model to a finite-dimensional controlled system. Three types of linear-quadratic cost functions are studied: the first includes control functions and terminal temperature distribution, the second additionally takes into account the heat flux at the terminal time instant and the third contains a measure of approximation error. Numerical examples are given and discussed.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"14 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":"114375356","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.2018.8486008
Z. Zwierzewicz
The paper considers the problem of ship path-following system design based on robust and adaptive control methods. The ship under consideration is an underactuated, nonlinear object with unknown model parameters subjected to hard environmental disturbances. For this reason the applied design procedures attempt to combine the disturbances attenuation, function approximation and adaptive control techniques. The whole control system is able to ensure tracking performance on the $boldsymbol{H}^{infty}$ optimal attenuation level. Simulations of the ship path-following process have confirmed a good performance of the proposed controller.
{"title":"Robust and Adaptive Ship Path-Following Control System Design","authors":"Z. Zwierzewicz","doi":"10.1109/MMAR.2018.8486008","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486008","url":null,"abstract":"The paper considers the problem of ship path-following system design based on robust and adaptive control methods. The ship under consideration is an underactuated, nonlinear object with unknown model parameters subjected to hard environmental disturbances. For this reason the applied design procedures attempt to combine the disturbances attenuation, function approximation and adaptive control techniques. The whole control system is able to ensure tracking performance on the $boldsymbol{H}^{infty}$ optimal attenuation level. Simulations of the ship path-following process have confirmed a good performance of the proposed controller.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"14 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":"117231872","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.2018.8486110
A. Gavrikov, L. Akulenko
A control problem for a string-type inhomogeneous system with boundary loads is considered. It is supposed that boundary and distributed control forces are applied to the plant. By using corresponding eigenproblems, the lumped dynamics of the hybrid system is considered. Based on an original numerical technique for eigenvalues computation, a combined approach to vibration control is proposed. At the first stage, the linear-quadratic regulator is used for suppression of some highest eigenmodes. After preliminary damping of the oscillations, an explicit quasi-stationary control law is applied to the main (lowest) eigenmode. The proposed quasi-stationary control affects only the main eigenmode and almost does not disturb the highest modes. A numerical example is given and discussed.
{"title":"A Quasi-Stationary Approach to Control Problems for Hybrid Flexible Systems","authors":"A. Gavrikov, L. Akulenko","doi":"10.1109/MMAR.2018.8486110","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486110","url":null,"abstract":"A control problem for a string-type inhomogeneous system with boundary loads is considered. It is supposed that boundary and distributed control forces are applied to the plant. By using corresponding eigenproblems, the lumped dynamics of the hybrid system is considered. Based on an original numerical technique for eigenvalues computation, a combined approach to vibration control is proposed. At the first stage, the linear-quadratic regulator is used for suppression of some highest eigenmodes. After preliminary damping of the oscillations, an explicit quasi-stationary control law is applied to the main (lowest) eigenmode. The proposed quasi-stationary control affects only the main eigenmode and almost does not disturb the highest modes. A numerical example is given and discussed.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"119 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":"116389622","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.2018.8486036
K. Bothe, A. Winkler, L. Goldhahn
The new robot generation no longer requires physical separation between humans and robots. Moreover, in order to optimize production processes, humans and robots are expected to interact. This article describes the integration and implementation of technologies intended to increase the flexibility and security of human-robot cooperation. Furthermore, a possible model for managing this transition is described in detail, involving the use of an RGBD camera. With this camera, it should be possible to detect state and position changes of the people at a human-robot workstation and consequently adapt the movements of the robot. Overall, the essential aim of this paper is to suggest ways of increasing economic efficiency within assembly processes, while also increasing security.
{"title":"Effective Use of Lightweight Robots in Human-Robot Workstations with Monitoring Via RGBD-Camera","authors":"K. Bothe, A. Winkler, L. Goldhahn","doi":"10.1109/MMAR.2018.8486036","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486036","url":null,"abstract":"The new robot generation no longer requires physical separation between humans and robots. Moreover, in order to optimize production processes, humans and robots are expected to interact. This article describes the integration and implementation of technologies intended to increase the flexibility and security of human-robot cooperation. Furthermore, a possible model for managing this transition is described in detail, involving the use of an RGBD camera. With this camera, it should be possible to detect state and position changes of the people at a human-robot workstation and consequently adapt the movements of the robot. Overall, the essential aim of this paper is to suggest ways of increasing economic efficiency within assembly processes, while also increasing security.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"6 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":"124824521","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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