Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8485809
D. Casagrande, W. Krajewski, U. Viaro
Simple conditions based on generalisations of the Routh-Hurwitz and Mikhailov criteria that ensure the absence of polynomial roots in an RHP sector straddling the positive real semi-axis ($mathcal{S}$-stability) are presented. In particular, it is shown that $mathcal{S}$-stability is ensured if the phase variation of a suitable power of the original $n$ th-degree characteristic polynomial is equal to $npi/2$, which implies that the zeros of the real and imaginary parts of this power must satisfy an interlacing property similar to the interlacing property satisfied by Hurwitz polynomials according to the classic Hermite-Biehler theorem. The condition can be checked by means of Sturm sequences. Examples show how the proposed methods operate.
{"title":"On Polynomial Zero Exclusion from an RHP Sector","authors":"D. Casagrande, W. Krajewski, U. Viaro","doi":"10.1109/MMAR.2018.8485809","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485809","url":null,"abstract":"Simple conditions based on generalisations of the Routh-Hurwitz and Mikhailov criteria that ensure the absence of polynomial roots in an RHP sector straddling the positive real semi-axis ($mathcal{S}$-stability) are presented. In particular, it is shown that $mathcal{S}$-stability is ensured if the phase variation of a suitable power of the original $n$ th-degree characteristic polynomial is equal to $npi/2$, which implies that the zeros of the real and imaginary parts of this power must satisfy an interlacing property similar to the interlacing property satisfied by Hurwitz polynomials according to the classic Hermite-Biehler theorem. The condition can be checked by means of Sturm sequences. Examples show how the proposed methods operate.","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":"128219596","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.2018.8485877
T. Zubowicz, K. Arminski, Dawid Obremski, Jakub Pienczewski
Critical Infrastructure Systems (CISs) play a key role in modern societies. Their sustainable operation depends heavily on the performance of dedicated structures and algorithms targeting monitoring, control and security aspects. In previous work a Research Platform (RP) for the design and simulation of such systems was presented. This works updates the information on the RP through the description of major hardware and software updates made. An example illustrating how this is to serve to include undergraduate students into research work is included.
{"title":"Redesign of the Research Platform for Monitoring, Control and Security of Critical Infrastructure Systems","authors":"T. Zubowicz, K. Arminski, Dawid Obremski, Jakub Pienczewski","doi":"10.1109/MMAR.2018.8485877","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485877","url":null,"abstract":"Critical Infrastructure Systems (CISs) play a key role in modern societies. Their sustainable operation depends heavily on the performance of dedicated structures and algorithms targeting monitoring, control and security aspects. In previous work a Research Platform (RP) for the design and simulation of such systems was presented. This works updates the information on the RP through the description of major hardware and software updates made. An example illustrating how this is to serve to include undergraduate students into research work is included.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"5 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":"123015610","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.2018.8486147
Z. Kowalczuk, T. Bialaszewski
In this paper we propose new improved approximate quality criteria useful in assessing the efficiency of evolutionary multi-objective optimization (EMO). In the performed comparative study we take into account the various EMO algorithms of the state-of-the-art, in order to objectively assess the EMO performance in highly dimensional spaces. It is well known that useful executive criteria, such as those based on the true Pareto front in highly multidimensional spaces, can be tedious or even impossible to calculate. On the other hand, the proposed synthetic quality criteria are easy to implement, computationally inexpensive, and sufficiently informative and effective.
{"title":"Approximate Criteria for the Evaluation of Truly Multi-Dimensional Optimization Problems","authors":"Z. Kowalczuk, T. Bialaszewski","doi":"10.1109/MMAR.2018.8486147","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486147","url":null,"abstract":"In this paper we propose new improved approximate quality criteria useful in assessing the efficiency of evolutionary multi-objective optimization (EMO). In the performed comparative study we take into account the various EMO algorithms of the state-of-the-art, in order to objectively assess the EMO performance in highly dimensional spaces. It is well known that useful executive criteria, such as those based on the true Pareto front in highly multidimensional spaces, can be tedious or even impossible to calculate. On the other hand, the proposed synthetic quality criteria are easy to implement, computationally inexpensive, and sufficiently informative and effective.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"103 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":"116676929","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.2018.8486121
G. Kostin, A. Rauh, H. Aschemann
An optimal control problem for heat transfer in a steel bar heated and cooled by Peltier elements attached to its lower surface is studied. The bar has a cuboid shape with insulated vertical sides, whereas the heat exchange takes place on the body's upper and lower surfaces. A thermodynamic model accounting for heat capacity of cooling units is considered and an experimental identification of unknown structural parameters is carried out. The problem is additionally to find the feedforward control law for the elements' heat powers leading the system in finite time to a stationary state and minimizing a quadratic cost function. Order reduction and decomposition techniques based on the Fourier method are used to optimize the control signals.
{"title":"Model Decomposition and Optimal Flux Control for Linear Distributed Heat Transfer Systems","authors":"G. Kostin, A. Rauh, H. Aschemann","doi":"10.1109/MMAR.2018.8486121","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486121","url":null,"abstract":"An optimal control problem for heat transfer in a steel bar heated and cooled by Peltier elements attached to its lower surface is studied. The bar has a cuboid shape with insulated vertical sides, whereas the heat exchange takes place on the body's upper and lower surfaces. A thermodynamic model accounting for heat capacity of cooling units is considered and an experimental identification of unknown structural parameters is carried out. The problem is additionally to find the feedforward control law for the elements' heat powers leading the system in finite time to a stationary state and minimizing a quadratic cost function. Order reduction and decomposition techniques based on the Fourier method are used to optimize the control signals.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"224 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":"122426962","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.2018.8485908
M. Błasik
In this paper we present a numerical solution of a one-dimensional subdiffusion equation with a fractional time derivative in the Caputo sense. The proposed algorithm is an extension of the Crank-Nicolson method for a classical parabolic partial differential equation. In the final part, we also present examples illustrating the comparison of the analytical solution with the results received by the proposed numerical method.
{"title":"A Generalized Crank-Nicolson Method for the Solution of the Subdiffusion Equation","authors":"M. Błasik","doi":"10.1109/MMAR.2018.8485908","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485908","url":null,"abstract":"In this paper we present a numerical solution of a one-dimensional subdiffusion equation with a fractional time derivative in the Caputo sense. The proposed algorithm is an extension of the Crank-Nicolson method for a classical parabolic partial differential equation. In the final part, we also present examples illustrating the comparison of the analytical solution with the results received by the proposed numerical method.","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":"122725183","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.2018.8486146
Z. Emirsajlow
The paper deals with the output observation problem for a class of distributed parameter systems. We describe the design procedure by deriving sufficient conditions to be satisfied by a functional observer which does the job. The plant is described by a state space model with the system operator generating a strongly continuous group. We assume that both the input and the output operators of the plant and the observer are bounded.
{"title":"Remarks on Functional Observers for Distributed Parameter Systems","authors":"Z. Emirsajlow","doi":"10.1109/MMAR.2018.8486146","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486146","url":null,"abstract":"The paper deals with the output observation problem for a class of distributed parameter systems. We describe the design procedure by deriving sufficient conditions to be satisfied by a functional observer which does the job. The plant is described by a state space model with the system operator generating a strongly continuous group. We assume that both the input and the output operators of the plant and the observer are bounded.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"38 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":"133408344","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.2018.8486106
A. Sztandera, R. Kaszynski
In the paper a concept of creating a filtering network based on filtering sockets is presented. The basic parallel and serial structures was described. Shaping frequency response was achieved by minimizing the cost function using firefly algorithm. Replacing gain coefficient k and time constant T with gain function and time function reduced the duration of the transition processes. The results are presented and compared with the stationary counterpart.
{"title":"Multitasking Filtration Network","authors":"A. Sztandera, R. Kaszynski","doi":"10.1109/MMAR.2018.8486106","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486106","url":null,"abstract":"In the paper a concept of creating a filtering network based on filtering sockets is presented. The basic parallel and serial structures was described. Shaping frequency response was achieved by minimizing the cost function using firefly algorithm. Replacing gain coefficient k and time constant T with gain function and time function reduced the duration of the transition processes. The results are presented and compared with the stationary counterpart.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"18 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":"134282717","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.2018.8486050
C. Wernik, G. Ulacha
In this paper the basics of data modeling and the method of minimization mean square error for lossless audio compression are presented. The described research focuses on presentation of more flexible saving prediction factors effective method.
{"title":"New Approach to Audio Lossless Block Encoding","authors":"C. Wernik, G. Ulacha","doi":"10.1109/MMAR.2018.8486050","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486050","url":null,"abstract":"In this paper the basics of data modeling and the method of minimization mean square error for lossless audio compression are presented. The described research focuses on presentation of more flexible saving prediction factors effective method.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"134 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":"123218224","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.2018.8485874
Juan Sandino, Felipe Gonzalez
Surveillance tasks of weeds and vegetation in arid lands is a complex, difficult and time-consuming task. In this article we present a framework to detect and map invasive grasses, combining UAVs and high-resolution RGB technologies and machine learning for data processing. This approach is illustrated by segmenting Buffel Grass (Cenchrus ciliaris) and Spinifex (Triodia sp.), Segmentation results produced individual detection rates of 97% for buffel grass, 96% for spinifex and 97% for the overall classification task. The algorithm is robust against variations in illumination, occlusion, object rotation and density of vegetation.
{"title":"A Novel Approach for Invasive Weeds and Vegetation Surveys Using UAS and Artificial Intelligence","authors":"Juan Sandino, Felipe Gonzalez","doi":"10.1109/MMAR.2018.8485874","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485874","url":null,"abstract":"Surveillance tasks of weeds and vegetation in arid lands is a complex, difficult and time-consuming task. In this article we present a framework to detect and map invasive grasses, combining UAVs and high-resolution RGB technologies and machine learning for data processing. This approach is illustrated by segmenting Buffel Grass (Cenchrus ciliaris) and Spinifex (Triodia sp.), Segmentation results produced individual detection rates of 97% for buffel grass, 96% for spinifex and 97% for the overall classification task. The algorithm is robust against variations in illumination, occlusion, object rotation and density of vegetation.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"389 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":"122992134","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}
Recently many deep Convolutional Neural Networks (CNN) based architectures have been used for predicting camera pose, though most of these have been deep and require quite a lot of computing capabilities for accurate prediction. For these reasons their incorporation in mobile robotics, where there is a limit on the amount of power and computation capabilities, has been slow. With these in mind, we propose a real-time CNN based architecture which combines low-cost sensors of a mobile robot with information from images of a single monocular camera using an Extended Kalman Filter to perform accurate robot relocalization. The proposed method first trains a CNN that takes RGB images from a monocular camera as input and performs regression for robot pose. It then incorporates the relocalization output of the trained CNN in an Extended Kalman Filter (EKF) for robot localization. The proposed algorithm is demonstrated using mobile robots in GPS-denied indoor and outdoor environments.
{"title":"Convolutional Neural Network Based Sensors for Mobile Robot Relocalization","authors":"Harsh Sinha, Jay Patrikar, Eeshan Gunesh Dhekane, Gaurav Pandey, Mangal Kothari","doi":"10.1109/MMAR.2018.8485921","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485921","url":null,"abstract":"Recently many deep Convolutional Neural Networks (CNN) based architectures have been used for predicting camera pose, though most of these have been deep and require quite a lot of computing capabilities for accurate prediction. For these reasons their incorporation in mobile robotics, where there is a limit on the amount of power and computation capabilities, has been slow. With these in mind, we propose a real-time CNN based architecture which combines low-cost sensors of a mobile robot with information from images of a single monocular camera using an Extended Kalman Filter to perform accurate robot relocalization. The proposed method first trains a CNN that takes RGB images from a monocular camera as input and performs regression for robot pose. It then incorporates the relocalization output of the trained CNN in an Extended Kalman Filter (EKF) for robot localization. The proposed algorithm is demonstrated using mobile robots in GPS-denied indoor and outdoor environments.","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":"125752404","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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