Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8486027
P. Nowak, Patryk Grelewicz, Jacek Czeczot
In this paper, the application of Reduced-Order Active Disturbance Rejection Controller (RADRC) for processes with significant time delay is analysed. First, the analysis of the modified RADRC and its tuning method is presented. Then a practical verification for temperature control in the electric flow heater is shown. In practical studies, the superiority of RADRC over PI and PI with Smith predictor is presented.
{"title":"Practical Validation of the Reduced-Order Active Disturbance Rejection Controller for the Delay-Dominated Processes","authors":"P. Nowak, Patryk Grelewicz, Jacek Czeczot","doi":"10.1109/MMAR.2018.8486027","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486027","url":null,"abstract":"In this paper, the application of Reduced-Order Active Disturbance Rejection Controller (RADRC) for processes with significant time delay is analysed. First, the analysis of the modified RADRC and its tuning method is presented. Then a practical verification for temperature control in the electric flow heater is shown. In practical studies, the superiority of RADRC over PI and PI with Smith predictor is presented.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"59 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":"122039574","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.2018.8486062
A. Skulimowski
This paper investigates sensitivity and optimality of distance scalarizing solutions in multicriteria problems with reference sets. When approaching reference values, this preference requirement results in solving an equivalent second-level scalar optimization problem with a certain distance measure to be minimized. In a situation where the reference set contains values to be avoided within the solution process, distance maximization with respect to this set is a natural technique. The reference sets may arise as relaxed criteria space constraints and are non-precisely defined. Therefore, we provide sufficient conditions ensuring the stability of solutions with respect to reference set perturbations. For various reasons, including trajectory safety, the above problem may be particularly relevant in the case of avoidance values, which are usually defined with a native uncertainty. We propose a sensitivity analysis method based on investigating the properties of attainable criteria values minimizing the distance to perturbed reference sets. Two problems of this kind are formulated and solved. An application to selecting compromise trajectories in multicriteria optimal control with two reference multifunctions is outlined in the final part of this paper.
{"title":"Optimality and Sensitivity of Least-Distance and Avoidance Solutions in Multicriteria Optimization","authors":"A. Skulimowski","doi":"10.1109/MMAR.2018.8486062","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486062","url":null,"abstract":"This paper investigates sensitivity and optimality of distance scalarizing solutions in multicriteria problems with reference sets. When approaching reference values, this preference requirement results in solving an equivalent second-level scalar optimization problem with a certain distance measure to be minimized. In a situation where the reference set contains values to be avoided within the solution process, distance maximization with respect to this set is a natural technique. The reference sets may arise as relaxed criteria space constraints and are non-precisely defined. Therefore, we provide sufficient conditions ensuring the stability of solutions with respect to reference set perturbations. For various reasons, including trajectory safety, the above problem may be particularly relevant in the case of avoidance values, which are usually defined with a native uncertainty. We propose a sensitivity analysis method based on investigating the properties of attainable criteria values minimizing the distance to perturbed reference sets. Two problems of this kind are formulated and solved. An application to selecting compromise trajectories in multicriteria optimal control with two reference multifunctions is outlined in the final part of this paper.","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":"124899738","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.2018.8485813
D. Swierczynska, T. Stach, Mariusz Pelc
While willing to implement any self-learning mechanisms, the decision making process must be partially supported by recalling some previous decisions rather than triggering the reasoning process every time a decision is needed. For relatively simple systems storing previous decisions does not need any sophisticated mechanism but for some complex systems, when there are multiple decisions and many environmental information to be analysed while making those decisions, the whole context information (information about the environment state and accompanying decision) may need to be supported on one hand, by a database system (providing efficient search mechanisms) and on the other hand, by a cache-like system that would even improve decision making process by providing quick access mechanism in the most typical situations. The aim of this paper is to propose a framework for benchmarking real cache management algorithms within embedded systems.
{"title":"Toward a Framework for Evaluation of Cache-Based Decision Making Process","authors":"D. Swierczynska, T. Stach, Mariusz Pelc","doi":"10.1109/MMAR.2018.8485813","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485813","url":null,"abstract":"While willing to implement any self-learning mechanisms, the decision making process must be partially supported by recalling some previous decisions rather than triggering the reasoning process every time a decision is needed. For relatively simple systems storing previous decisions does not need any sophisticated mechanism but for some complex systems, when there are multiple decisions and many environmental information to be analysed while making those decisions, the whole context information (information about the environment state and accompanying decision) may need to be supported on one hand, by a database system (providing efficient search mechanisms) and on the other hand, by a cache-like system that would even improve decision making process by providing quick access mechanism in the most typical situations. The aim of this paper is to propose a framework for benchmarking real cache management algorithms within embedded systems.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"53 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":"130178784","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.2018.8485995
R. Różycki, Grzegorz Waligóra
We consider a problem of power allocation to computational jobs performed on a single processor, where jobs may be performed with different speeds. Power/energy is a continuous, doubly-constrained resource whose amount is nonlinearly related to a particular speed of a job. Jobs are preemptable, independent, and all are available at the start of the process. A so-called server problem is considered in which the power usage is to be minimized under the condition that an assumed schedule deadline is met for the completion of the given set of jobs. We analyze two cases of the problem: when the energy amount available is not limited, as well as when it is limited for the entire schedule.
{"title":"Power-Aware Scheduling of Preemptable Independent Jobs on a Single Processor to Meet a Schedule Deadline","authors":"R. Różycki, Grzegorz Waligóra","doi":"10.1109/MMAR.2018.8485995","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485995","url":null,"abstract":"We consider a problem of power allocation to computational jobs performed on a single processor, where jobs may be performed with different speeds. Power/energy is a continuous, doubly-constrained resource whose amount is nonlinearly related to a particular speed of a job. Jobs are preemptable, independent, and all are available at the start of the process. A so-called server problem is considered in which the power usage is to be minimized under the condition that an assumed schedule deadline is met for the completion of the given set of jobs. We analyze two cases of the problem: when the energy amount available is not limited, as well as when it is limited for the entire schedule.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"15 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":"130388702","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.2018.8486099
A. Rauh, Swantje Romig, H. Aschemann
In many practical applications, noisy measurements are low-pass filtered by (quasi-)continuous-time filters with linear, fixed-order lag behavior that are manually tuned according to the designer's gut feeling. However, if the time constants of these low-pass filters are neglected during control synthesis, oscillations may arise even in cases in which the non-filtered closed-loop dynamics are described by linear system models with purely real eigenvalues. In this paper, Lyapunov methods are applied to system models given in terms of stochastic differential equations to account for measurement and process noise and to predict the influence of noise on the filter and closed-loop system dynamics. In addition, an optimization approach for the parameterization of state observers is derived which is based on these Lyapunov techniques. It is implemented by a suitable problem formulation in terms of linear matrix inequalities. Illustrative simulation case studies, including a comparison with the well-known stationary Kalman Filter, conclude this paper.
{"title":"When is Naive Low-Pass Filtering of Noisy Measurements Counter-Productive for the Dynamics of Controlled Systems?","authors":"A. Rauh, Swantje Romig, H. Aschemann","doi":"10.1109/MMAR.2018.8486099","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486099","url":null,"abstract":"In many practical applications, noisy measurements are low-pass filtered by (quasi-)continuous-time filters with linear, fixed-order lag behavior that are manually tuned according to the designer's gut feeling. However, if the time constants of these low-pass filters are neglected during control synthesis, oscillations may arise even in cases in which the non-filtered closed-loop dynamics are described by linear system models with purely real eigenvalues. In this paper, Lyapunov methods are applied to system models given in terms of stochastic differential equations to account for measurement and process noise and to predict the influence of noise on the filter and closed-loop system dynamics. In addition, an optimization approach for the parameterization of state observers is derived which is based on these Lyapunov techniques. It is implemented by a suitable problem formulation in terms of linear matrix inequalities. Illustrative simulation case studies, including a comparison with the well-known stationary Kalman Filter, conclude this paper.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"24 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":"129135753","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.2018.8486059
Mehmet Polat Kuntuz, M. S. Qureshi, O. Bebek
Electromechanical solenoid actuators are widely used in industrial applications that require fast and linear motion. High velocities can be achieved in small stroke lengths; in turn the motion results with high-velocity impacts, which may cause excessive noise and create mechanical damage to the parts. In this paper, three distinct position reference profiles are tested using Proportional Integral Derivative (PID) control and Sliding Mode Control (SMC) in a closed loop to achieve the soft landing of the actuators plunger. The experimental results reveal that the SMC is robust and can be used to reduce the impact of the fast motion.
{"title":"Sliding Mode Control of an Electromechanical Solenoid Actuator for Soft Landing","authors":"Mehmet Polat Kuntuz, M. S. Qureshi, O. Bebek","doi":"10.1109/MMAR.2018.8486059","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486059","url":null,"abstract":"Electromechanical solenoid actuators are widely used in industrial applications that require fast and linear motion. High velocities can be achieved in small stroke lengths; in turn the motion results with high-velocity impacts, which may cause excessive noise and create mechanical damage to the parts. In this paper, three distinct position reference profiles are tested using Proportional Integral Derivative (PID) control and Sliding Mode Control (SMC) in a closed loop to achieve the soft landing of the actuators plunger. The experimental results reveal that the SMC is robust and can be used to reduce the impact of the fast motion.","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":"129156174","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.2018.8485974
J. Kurek
The Model Reference Control algorithm for SISO 2-D system is presented. The algorithm is simple one and can be easily used in practice. It enables simple design of 2-D system. The proposed approach is illustrated by numerical example.
{"title":"Model Reference Control for 2-D System","authors":"J. Kurek","doi":"10.1109/MMAR.2018.8485974","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485974","url":null,"abstract":"The Model Reference Control algorithm for SISO 2-D system is presented. The algorithm is simple one and can be easily used in practice. It enables simple design of 2-D system. The proposed approach is illustrated by numerical example.","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":"127815774","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.2018.8485991
E. Roszkowska, P. Dulewicz, Lukasz Janiec
Coordination of multiple mobile robots operating in the same area requires a discrete-event supervisor, whose role is to ensure their correct concurrent motion. Performance analysis of such a system requires a hybrid model that combines the DES model of the supervisor with the continuous time models of the robot motion processes. The contribution of this paper is twofold. We propose the logic that formally ensures collision and deadlock free robot coordination and implement it in the form of a composite automaton supervisor. This allows us to to combine the supervisor with time models of robot motion processes in Matlab/Simulink/Stateflow environment. The obtained simulation model of a system of multiple mobile robots ensures their formally correct co-operation and can be directly used for prediction or experimental optimization of the system performance.
{"title":"Coordination of Concurrent Mobile Robot Motion Processes with Composite Automaton Supervisor","authors":"E. Roszkowska, P. Dulewicz, Lukasz Janiec","doi":"10.1109/MMAR.2018.8485991","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485991","url":null,"abstract":"Coordination of multiple mobile robots operating in the same area requires a discrete-event supervisor, whose role is to ensure their correct concurrent motion. Performance analysis of such a system requires a hybrid model that combines the DES model of the supervisor with the continuous time models of the robot motion processes. The contribution of this paper is twofold. We propose the logic that formally ensures collision and deadlock free robot coordination and implement it in the form of a composite automaton supervisor. This allows us to to combine the supervisor with time models of robot motion processes in Matlab/Simulink/Stateflow environment. The obtained simulation model of a system of multiple mobile robots ensures their formally correct co-operation and can be directly used for prediction or experimental optimization of the system performance.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"35 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":"129415056","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.2018.8485820
Marcin Żurowski, Stanisław Gawiejnowicz
We consider a two-machine scheduling problem with a learning effect and the objective to minimize the schedule length. Jobs are preemptable but only preemption of a single job is allowed. We present basic properties of this problem and an enumerative algorithm for its exact solution.
{"title":"An Enumerative Algorithm for a Two-Machine Preemptive Job Scheduling with a Learning Effect","authors":"Marcin Żurowski, Stanisław Gawiejnowicz","doi":"10.1109/MMAR.2018.8485820","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485820","url":null,"abstract":"We consider a two-machine scheduling problem with a learning effect and the objective to minimize the schedule length. Jobs are preemptable but only preemption of a single job is allowed. We present basic properties of this problem and an enumerative algorithm for its exact solution.","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":"124608202","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.2018.8486084
S. Grzeszewski, M. Kaminski, T. Okulik, K. Pietrusewicz, M. Szydłowski, P. Waszczuk
This article depicts developed biomechanical system designed for measuring the breaking force of the inguinal hernia mesh according to its fixation method – stitching and gluing. Authors describe in details structure of the laboratory stand which objective was to simulate Lichtenstein tension-free repair conditions as well as facilitate presentation of the methodology of conducted experiments. Statistical analysis of obtained data was performed to confirm usefulness of both fixation techniques. The goal of the presented in this work biomechanical system was to verify the reliability of inguinal hernia mesh fixation methods and to reach conclusions that could be later put into clinical practice.
{"title":"Biomechanical System for Measuring the Breaking Force of the Inguinal Hernia Mesh After Lichtenstein Tension-Free Repair","authors":"S. Grzeszewski, M. Kaminski, T. Okulik, K. Pietrusewicz, M. Szydłowski, P. Waszczuk","doi":"10.1109/MMAR.2018.8486084","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486084","url":null,"abstract":"This article depicts developed biomechanical system designed for measuring the breaking force of the inguinal hernia mesh according to its fixation method – stitching and gluing. Authors describe in details structure of the laboratory stand which objective was to simulate Lichtenstein tension-free repair conditions as well as facilitate presentation of the methodology of conducted experiments. Statistical analysis of obtained data was performed to confirm usefulness of both fixation techniques. The goal of the presented in this work biomechanical system was to verify the reliability of inguinal hernia mesh fixation methods and to reach conclusions that could be later put into clinical practice.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"4 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":"123903179","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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