Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8486091
Tomasz Grzejszczak, Adrian Olczyk, A. Gałuszka
This paper presents the part of automation process of Forced Swim Test (FST). In the test a mouse behavior should be determined. In the automated process the mouse behavior is usually estimated with use of computer vision. Image processing algorithms are used to determine features that can determine mouse behavior. In this paper a common features are identified from a literature search. Those methods are presented and validated whether they can be used to create a classifier. The mouse position, speed and the sum of different pixels are compared to test outcome.
{"title":"Identifying Features Determining Mouse Behavior in Forced Swim Test","authors":"Tomasz Grzejszczak, Adrian Olczyk, A. Gałuszka","doi":"10.1109/MMAR.2018.8486091","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486091","url":null,"abstract":"This paper presents the part of automation process of Forced Swim Test (FST). In the test a mouse behavior should be determined. In the automated process the mouse behavior is usually estimated with use of computer vision. Image processing algorithms are used to determine features that can determine mouse behavior. In this paper a common features are identified from a literature search. Those methods are presented and validated whether they can be used to create a classifier. The mouse position, speed and the sum of different pixels are compared to test outcome.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"41 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":"132974278","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.2018.8485888
H. Wenzl, Florian Straußberger, Tristan Braun, S. Wirtensohn, Lothar Kiltz, J. Reuter, H. Aschemann
In this paper, the mechanical subsystem of a proportional solenoid excited by a dither signal is considered. The objective is to find a suitable friction model that reflects the characteristic mechanical properties of the dynamic system. Several different friction models from the literature are compared. The friction models are evaluated with respect to their accuracy as well as their practical identifiability, the latter being quantified based on the Fisher information matrix.
{"title":"Comparison and Identifiability Analysis of Friction Models for the Dither Motion of a Solenoid","authors":"H. Wenzl, Florian Straußberger, Tristan Braun, S. Wirtensohn, Lothar Kiltz, J. Reuter, H. Aschemann","doi":"10.1109/MMAR.2018.8485888","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485888","url":null,"abstract":"In this paper, the mechanical subsystem of a proportional solenoid excited by a dither signal is considered. The objective is to find a suitable friction model that reflects the characteristic mechanical properties of the dynamic system. Several different friction models from the literature are compared. The friction models are evaluated with respect to their accuracy as well as their practical identifiability, the latter being quantified based on the Fisher information matrix.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"330 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":"133542901","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.2018.8485892
W. Grega
The OPC (OLE for Process Control) protocol was developed as a solution which fulfils the requirements of open data integration architecture for industrial control. The OPC standard was primarily not intended for feedback control with real-time requirements. The main complication of this control architecture is the presence of variable time delays. There are several ways to reduce the negative impact of the delays which OPC introduces into the control loop. The Smith predictor turns out to be a simple and effective compensator that rejects the time delays from the control loop.
OPC (OLE for Process Control)协议是一种满足工业控制开放数据集成体系结构要求的解决方案。OPC标准主要不是为了满足实时需求的反馈控制。这种控制体系结构的主要复杂性是存在可变的时间延迟。有几种方法可以减少OPC引入控制回路的延迟的负面影响。结果表明，Smith预测器是一种简单有效的补偿器，可以抑制来自控制回路的时间延迟。
{"title":"Control Loop Performance Improvement for OPC Implementation","authors":"W. Grega","doi":"10.1109/MMAR.2018.8485892","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485892","url":null,"abstract":"The OPC (OLE for Process Control) protocol was developed as a solution which fulfils the requirements of open data integration architecture for industrial control. The OPC standard was primarily not intended for feedback control with real-time requirements. The main complication of this control architecture is the presence of variable time delays. There are several ways to reduce the negative impact of the delays which OPC introduces into the control loop. The Smith predictor turns out to be a simple and effective compensator that rejects the time delays from the control loop.","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":"132290648","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.2018.8485932
A. Wolniakowski, M. Ciȩżkowski
The ever more dynamic development of autonomous systems in many areas of industry cause the precise indoor navigation to be an important issue. Unfortunately, the influence of walls and other obstacles that interfere with the measurement signals make the indoor navigation systems less accurate - such disturbances introduce so-called signal multipathing. Multipathing is often reduced by creating error maps, which is a labor-intensive task. Another problem in navigation is the precise determination of the position of the navigation reference points called beacons. In this paper, we present an ABPE method (Apparent Beacon Position Estimation) to improve the accuracy of the indoor triangulation positioning system by estimating the apparent beacons positions that does not require a-priori knowledge of beacon positions. The proposed method has been verified experimentally and additionally it has been compared with the methods based on mapping using a second order polynomial.
{"title":"Improving the Measurement Accuracy of the Static IR Triangulation System Through Apparent Beacon Position Estimation","authors":"A. Wolniakowski, M. Ciȩżkowski","doi":"10.1109/MMAR.2018.8485932","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485932","url":null,"abstract":"The ever more dynamic development of autonomous systems in many areas of industry cause the precise indoor navigation to be an important issue. Unfortunately, the influence of walls and other obstacles that interfere with the measurement signals make the indoor navigation systems less accurate - such disturbances introduce so-called signal multipathing. Multipathing is often reduced by creating error maps, which is a labor-intensive task. Another problem in navigation is the precise determination of the position of the navigation reference points called beacons. In this paper, we present an ABPE method (Apparent Beacon Position Estimation) to improve the accuracy of the indoor triangulation positioning system by estimating the apparent beacons positions that does not require a-priori knowledge of beacon positions. The proposed method has been verified experimentally and additionally it has been compared with the methods based on mapping using a second order polynomial.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"83 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":"132096444","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.2018.8486088
Marzena Dolbniak, J. Śmieja, A. Świerniak
Simple mathematical models of tumor growth are commonly used to predict efficiency of different therapy protocols and to optimize therapy outcome. Nowadays, the focus is on personalized oncology, in which treatment strategy is tailored to an individual patient. Simple models with minimal number of parameters can be used to find appropriate treatment strategy. The main idea of this study is to describe effects of combined radio-chemotherapy by two control actions. In this work we compare results of different control strategies (treatment protocols) for a family of models of tumor growth. Using simulations in silico we analyse responses of a thousand patients to three possible therapy protocols. Comparing Kaplan-Meier survival curves obtained for two different tumor growth models indicates that while Gompertz model is slightly less sensitive to changes in control action than exponential and logistic models, the difference is negligible. The important finding is that the shapes of survival curves are similar in all cases. It suggests that the family of models is structurally insensitive. Obtained results imply that more attention should be paid on estimation of parameters for a tumor growth model, than on model selection.
{"title":"Structural Sensitivity of Control Models Arising in Combined Chemo-Radiotherapy","authors":"Marzena Dolbniak, J. Śmieja, A. Świerniak","doi":"10.1109/MMAR.2018.8486088","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486088","url":null,"abstract":"Simple mathematical models of tumor growth are commonly used to predict efficiency of different therapy protocols and to optimize therapy outcome. Nowadays, the focus is on personalized oncology, in which treatment strategy is tailored to an individual patient. Simple models with minimal number of parameters can be used to find appropriate treatment strategy. The main idea of this study is to describe effects of combined radio-chemotherapy by two control actions. In this work we compare results of different control strategies (treatment protocols) for a family of models of tumor growth. Using simulations in silico we analyse responses of a thousand patients to three possible therapy protocols. Comparing Kaplan-Meier survival curves obtained for two different tumor growth models indicates that while Gompertz model is slightly less sensitive to changes in control action than exponential and logistic models, the difference is negligible. The important finding is that the shapes of survival curves are similar in all cases. It suggests that the family of models is structurally insensitive. Obtained results imply that more attention should be paid on estimation of parameters for a tumor growth model, than on model selection.","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":"133270456","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.2018.8485814
K. Jerzy
In the paper linear fractional finite-dimensional stationary damped dynamical control systems are considered. Under controllability assumption minimum energy control problem is formulated and analytically solved using properties of scalar product and norm in the finite dimensional space. The possible extensions are also pointed out.
{"title":"Minimum Energy Control of Fractional Linear Systems","authors":"K. Jerzy","doi":"10.1109/MMAR.2018.8485814","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485814","url":null,"abstract":"In the paper linear fractional finite-dimensional stationary damped dynamical control systems are considered. Under controllability assumption minimum energy control problem is formulated and analytically solved using properties of scalar product and norm in the finite dimensional space. The possible extensions are also pointed out.","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":"114539273","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.2018.8485968
H. Aschemann, Benedikt Haus, Paolo Mercorelli
As the drive force depends in a nonlinear way on the currents, tracking control of permanent magnetic actuators requires sophisticated control approaches. In this contribution, a cascaded control strategy is proposed that cancels the effect of the nonlinearity and allows for an accurate trajectory tracking. The strategy involves the combination of an inversion-based current control, a second-order sliding mode control (SMC), and a Kalman filter (KF) that provides estimates for the state variables as well as a lumped disturbance force from noisy measurements. The combination of second-order sliding mode control and estimator-based disturbance compensation contributes to the robustness of the overall control structure, reduces chattering effects significantly and addresses unknown disturbances as well as parametric uncertainties. Successful simulation results indicate the potential of the proposed nonlinear control strategy.
{"title":"Second-Order Sliding Mode Control with State and Disturbance Estimation for a Permanent Magnet Linear Motor","authors":"H. Aschemann, Benedikt Haus, Paolo Mercorelli","doi":"10.1109/MMAR.2018.8485968","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485968","url":null,"abstract":"As the drive force depends in a nonlinear way on the currents, tracking control of permanent magnetic actuators requires sophisticated control approaches. In this contribution, a cascaded control strategy is proposed that cancels the effect of the nonlinearity and allows for an accurate trajectory tracking. The strategy involves the combination of an inversion-based current control, a second-order sliding mode control (SMC), and a Kalman filter (KF) that provides estimates for the state variables as well as a lumped disturbance force from noisy measurements. The combination of second-order sliding mode control and estimator-based disturbance compensation contributes to the robustness of the overall control structure, reduces chattering effects significantly and addresses unknown disturbances as well as parametric uncertainties. Successful simulation results indicate the potential of the proposed nonlinear control strategy.","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":"116498665","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.2018.8485964
M. Sowa, A. Kawala-Janik, W. Bauer
This paper concerns solvers for time fractional differential equations in Matlab and Octave. The main analysis revolves around a time step size adaptive solver basing on the numerical method called SubIval. The basis of SubIval is explained and formulae for the step size adaptivity are given. The solver is compared with others basing on: fractional linear multistep methods, product integration rules and the Grünwald-Letnikov approximation.
{"title":"Fractional Differential Equation Solvers in Octave/Matlab","authors":"M. Sowa, A. Kawala-Janik, W. Bauer","doi":"10.1109/MMAR.2018.8485964","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485964","url":null,"abstract":"This paper concerns solvers for time fractional differential equations in Matlab and Octave. The main analysis revolves around a time step size adaptive solver basing on the numerical method called SubIval. The basis of SubIval is explained and formulae for the step size adaptivity are given. The solver is compared with others basing on: fractional linear multistep methods, product integration rules and the Grünwald-Letnikov approximation.","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":"116707438","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.2018.8486123
Przemyslaw Siwek, K. Urbanski
The following paper presents a method for improving the dynamics of a PMSM drive torque control loop by using Quasi Z-Source Direct Matrix Converter. In recent research Quasi Z-Source, which is a boost converter, was connected with the Matrix Converter in order to allow operation with unity voltage transfer ratio. In this paper voltage boost of the mentioned device was used to speed up the increase and decrease of the current in motor coils. A Field Oriented Control for Matrix Converter method is presented, which is adapted to operate with Quasi Z-Source controlled by the Simple Boost. The simulation research comparing the traditional Matrix Converter with the proposed system was performed. The following were analysed: motor current rise time, power grid THD, spectrum and power consumption of both devices. Quasi Z-Source Direct Matrix Converter turned out to have higher torque control loop dynamics and lower values of the current control error integral but at the cost of an increase of power consumption and THD.
{"title":"Improvement of the Torque Control Dynamics of the PMSM Drive Using the FOC-Controlled Simple Boost QZSDMC Converter","authors":"Przemyslaw Siwek, K. Urbanski","doi":"10.1109/MMAR.2018.8486123","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486123","url":null,"abstract":"The following paper presents a method for improving the dynamics of a PMSM drive torque control loop by using Quasi Z-Source Direct Matrix Converter. In recent research Quasi Z-Source, which is a boost converter, was connected with the Matrix Converter in order to allow operation with unity voltage transfer ratio. In this paper voltage boost of the mentioned device was used to speed up the increase and decrease of the current in motor coils. A Field Oriented Control for Matrix Converter method is presented, which is adapted to operate with Quasi Z-Source controlled by the Simple Boost. The simulation research comparing the traditional Matrix Converter with the proposed system was performed. The following were analysed: motor current rise time, power grid THD, spectrum and power consumption of both devices. Quasi Z-Source Direct Matrix Converter turned out to have higher torque control loop dynamics and lower values of the current control error integral but at the cost of an increase of power consumption and THD.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"97 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":"128328661","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.2018.8486145
M. Kaminski
This article aims to present design, implementation and analysis of results prepared for adaptive control structure based on two neural networks. The first of them is main controller with reconfigurable parameters, the second is applied in training algorithm. The task of additional model is prediction of information about measured signal. Then obtained values are used in optimization process of weights. That construction of the controller can improve (accelerate) reaction of main neural networks against changes of state variables. Significant part of described work is focused on implementation of proposed model as speed controller of electrical drive. Firstly, presented results were obtained in simulations. Next, the whole control structure was applied in dSAPCE card in order to prepare laboratory experiment. Final results present high quality of control, even in presence of drive parameter changes, and also confirm initial assumptions about correct work of the predictor and better quality of control obtained using modified neural speed controller.
{"title":"Adaptive Controller with Neural Signal Predictor Applied for Two-Mass System","authors":"M. Kaminski","doi":"10.1109/MMAR.2018.8486145","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486145","url":null,"abstract":"This article aims to present design, implementation and analysis of results prepared for adaptive control structure based on two neural networks. The first of them is main controller with reconfigurable parameters, the second is applied in training algorithm. The task of additional model is prediction of information about measured signal. Then obtained values are used in optimization process of weights. That construction of the controller can improve (accelerate) reaction of main neural networks against changes of state variables. Significant part of described work is focused on implementation of proposed model as speed controller of electrical drive. Firstly, presented results were obtained in simulations. Next, the whole control structure was applied in dSAPCE card in order to prepare laboratory experiment. Final results present high quality of control, even in presence of drive parameter changes, and also confirm initial assumptions about correct work of the predictor and better quality of control obtained using modified neural speed controller.","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":"132813007","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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