Pub Date : 2014-05-22DOI: 10.1109/AQTR.2014.6857828
B. Ata, Ramazan Coban
The main purpose of this paper is determination of suitable weighting matrices to design a linear quadratic optimal controller for an inverted pendulum using the artificial bee colony algorithm. It is challenging to select appropriate weighting matrices for a linear quadratic optimal control system and there is no relevant systematic techniques presented for this goal. Generally, selecting these weights is performed by trial and error method which is based on designer's experience and time consuming. Also there is no direct relation between weighting matrices' values and time domain specifications like settling time, overshoot and steady state error. In this paper, the artificial bee colony algorithm has been used for selecting weighting matrices to overcome these difficulties. The artificial bee colony algorithm is a swarm intelligence based optimization algorithm and inspired by honey bees' swarming around their hive. It can be efficiently used for multivariable, multimodal function optimization. Simulation results show that the artificial bee colony algorithm is very efficient and robust in comparison with trial and error method.
{"title":"Linear quadratic optimal control of an inverted pendulum using the artificial bee colony algorithm","authors":"B. Ata, Ramazan Coban","doi":"10.1109/AQTR.2014.6857828","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857828","url":null,"abstract":"The main purpose of this paper is determination of suitable weighting matrices to design a linear quadratic optimal controller for an inverted pendulum using the artificial bee colony algorithm. It is challenging to select appropriate weighting matrices for a linear quadratic optimal control system and there is no relevant systematic techniques presented for this goal. Generally, selecting these weights is performed by trial and error method which is based on designer's experience and time consuming. Also there is no direct relation between weighting matrices' values and time domain specifications like settling time, overshoot and steady state error. In this paper, the artificial bee colony algorithm has been used for selecting weighting matrices to overcome these difficulties. The artificial bee colony algorithm is a swarm intelligence based optimization algorithm and inspired by honey bees' swarming around their hive. It can be efficiently used for multivariable, multimodal function optimization. Simulation results show that the artificial bee colony algorithm is very efficient and robust in comparison with trial and error method.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123492859","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 : 2014-05-22DOI: 10.1109/AQTR.2014.6857889
C. Avram, D. Mircescu, A. Astilean, O. Ghiran
The present paper proposes a Fluid Stochastic Petri Nets based model, with a flexible and modular structure, to represent the behavioural characteristics and possible interactions among the controlled Micro Hydro Power units in a run of the river chain. Environmental influences were embedded, the final goal of the proposed modelling method being to simulate the dynamicity of the hydrographic assembly in order to optimize the management of water resources. The proposed approach was developed, the case study of a micro hydropower stations chain situated in the hydrographic basin of Someş river being considered. An UPPAAL based simulation was realized in various conditions corresponding to environmental changes and taking into account the main functioning characteristics of the components. Verified by simulation, control modules were implemented as a part of a SCADA system designed for complex automation of a micro hydropower plant.
{"title":"Fluid Stochastic Petri Nets based Modelling and simulation of Micro Hydro Power stations behaviour","authors":"C. Avram, D. Mircescu, A. Astilean, O. Ghiran","doi":"10.1109/AQTR.2014.6857889","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857889","url":null,"abstract":"The present paper proposes a Fluid Stochastic Petri Nets based model, with a flexible and modular structure, to represent the behavioural characteristics and possible interactions among the controlled Micro Hydro Power units in a run of the river chain. Environmental influences were embedded, the final goal of the proposed modelling method being to simulate the dynamicity of the hydrographic assembly in order to optimize the management of water resources. The proposed approach was developed, the case study of a micro hydropower stations chain situated in the hydrographic basin of Someş river being considered. An UPPAAL based simulation was realized in various conditions corresponding to environmental changes and taking into account the main functioning characteristics of the components. Verified by simulation, control modules were implemented as a part of a SCADA system designed for complex automation of a micro hydropower plant.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122107309","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 : 2014-05-22DOI: 10.1109/AQTR.2014.6857926
M. Secara, M. Abrudean, M. L. Boca, B. Croitoru
Oxygen has three stable isotopes (16O, 17O, 18O) with a ratio of natural concentration of (99.759%, 0.037% and 0.204%). There are lot of applications in which (18O) is used, so it is necessary to produce it in industrial scale. This isotope can be separated by using various methods, one of them being the chemical exchange between nitrogen oxides (NOx) and nitric acid (HNO3). After a short description of the 18O separation process plant, the paper focuses on the experimental identification of the (18O) separation cascade, the first order models and the simulation of the cascade behavior.
{"title":"The experimental identification of the separation cascade of (18O) in the NO, NO2 — H2O, HNO3 system","authors":"M. Secara, M. Abrudean, M. L. Boca, B. Croitoru","doi":"10.1109/AQTR.2014.6857926","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857926","url":null,"abstract":"Oxygen has three stable isotopes (<sup>16</sup>O, <sup>17</sup>O, <sup>18</sup>O) with a ratio of natural concentration of (99.759%, 0.037% and 0.204%). There are lot of applications in which (<sup>18</sup>O) is used, so it is necessary to produce it in industrial scale. This isotope can be separated by using various methods, one of them being the chemical exchange between nitrogen oxides (NO<sub>x</sub>) and nitric acid (HNO<sub>3</sub>). After a short description of the <sup>18</sup>O separation process plant, the paper focuses on the experimental identification of the (<sup>18</sup>O) separation cascade, the first order models and the simulation of the cascade behavior.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128699053","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 : 2014-05-22DOI: 10.1109/AQTR.2014.6857918
M. Rata, Tudor Viorel Blidaru, P. Agachi
This article reviews the application of Geographic Information System (GIS) technology in the field of decision support systems for water management activities. These systems are particularly important in extreme, therefore dangerous, conditions like floods or draughts. The GIS concepts are contextually reviewed based on their use as spatial database for water management modeling, integration within hydrologic time courses and hydraulic modeling (from both software and management perspective). Hydrologic and hydraulic models are introduced and discussed according to their GIS integration potential. Decision Support Systems (DSS) concepts are reviewed with respect to their integration within GIS, and their relevance to water management problems.
{"title":"GIS data modeling in water management decision support systems","authors":"M. Rata, Tudor Viorel Blidaru, P. Agachi","doi":"10.1109/AQTR.2014.6857918","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857918","url":null,"abstract":"This article reviews the application of Geographic Information System (GIS) technology in the field of decision support systems for water management activities. These systems are particularly important in extreme, therefore dangerous, conditions like floods or draughts. The GIS concepts are contextually reviewed based on their use as spatial database for water management modeling, integration within hydrologic time courses and hydraulic modeling (from both software and management perspective). Hydrologic and hydraulic models are introduced and discussed according to their GIS integration potential. Decision Support Systems (DSS) concepts are reviewed with respect to their integration within GIS, and their relevance to water management problems.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128989903","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 : 2014-05-22DOI: 10.1109/AQTR.2014.6857845
Laura Vegh, L. Miclea
Information technology is continually changing, discoveries are made every other day. Cyber-physical systems consist of both physical and computational elements and are becoming more and more popular in today's society. They are complex systems, used in complex applications. Therefore, security is a critical and challenging aspect when developing cyber-physical systems. In this paper, we present a solution for ensuring data confidentiality and security by combining some of the most common methods in the area of security - cryptography and steganography. Furthermore, we use hierarchical access to information to ensure confidentiality and also increase the overall security of the cyber-physical system.
{"title":"Enhancing security in cyber-physical systems through cryptographic and steganographic techniques","authors":"Laura Vegh, L. Miclea","doi":"10.1109/AQTR.2014.6857845","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857845","url":null,"abstract":"Information technology is continually changing, discoveries are made every other day. Cyber-physical systems consist of both physical and computational elements and are becoming more and more popular in today's society. They are complex systems, used in complex applications. Therefore, security is a critical and challenging aspect when developing cyber-physical systems. In this paper, we present a solution for ensuring data confidentiality and security by combining some of the most common methods in the area of security - cryptography and steganography. Furthermore, we use hierarchical access to information to ensure confidentiality and also increase the overall security of the cyber-physical system.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126925560","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 : 2014-05-22DOI: 10.1109/AQTR.2014.6857882
R. Prodan, I. Nascu
The identification of human activities using image and movement sensors belongs to a new service provided by just a few telecommunication companies, in a “fifth-play” package of services. The paper describes some experiments done by the authors when two persons were present simultaneously in the area covered by a homemade ubiquitous system, for example, a smart home. The bi-dimensional images captured by the image sensor in the kitchen area were filtered to ensure privacy protection. They were further used to build and recognize human activity patterns. The obtained results create the prerequisites to develop new e-health and social services for elder and impaired persons.
{"title":"Identifying patterns for human activities of daily living in smart homes","authors":"R. Prodan, I. Nascu","doi":"10.1109/AQTR.2014.6857882","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857882","url":null,"abstract":"The identification of human activities using image and movement sensors belongs to a new service provided by just a few telecommunication companies, in a “fifth-play” package of services. The paper describes some experiments done by the authors when two persons were present simultaneously in the area covered by a homemade ubiquitous system, for example, a smart home. The bi-dimensional images captured by the image sensor in the kitchen area were filtered to ensure privacy protection. They were further used to build and recognize human activity patterns. The obtained results create the prerequisites to develop new e-health and social services for elder and impaired persons.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"79 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116564937","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 : 2014-05-22DOI: 10.1109/AQTR.2014.6857909
Amélie Chevalier, C. Copot, D. Copot, C. Ionescu, R. Keyser
This study presents the design of a fractional-order proportional-integral (FOPI) controller for a mass-spring-damper system which is poorly damped. A model based design technique is used to design a FOPI controller for this system. A good performance of the closed loop control of a high order oscillatory system, such as the mass-spring-damper system, is with traditional proportional-integral (PI) controllers difficult to achieve. Therefore, a comparison between a traditional PI controller and a FOPI controller is performed by simulation. The simulation results show that the FOPI controller outperforms the classical PI controller resulting in an increased damping of the oscillations while maintaining a reasonable control effort.
{"title":"Fractional-order feedback control of a poorly damped system","authors":"Amélie Chevalier, C. Copot, D. Copot, C. Ionescu, R. Keyser","doi":"10.1109/AQTR.2014.6857909","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857909","url":null,"abstract":"This study presents the design of a fractional-order proportional-integral (FOPI) controller for a mass-spring-damper system which is poorly damped. A model based design technique is used to design a FOPI controller for this system. A good performance of the closed loop control of a high order oscillatory system, such as the mass-spring-damper system, is with traditional proportional-integral (PI) controllers difficult to achieve. Therefore, a comparison between a traditional PI controller and a FOPI controller is performed by simulation. The simulation results show that the FOPI controller outperforms the classical PI controller resulting in an increased damping of the oscillations while maintaining a reasonable control effort.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115826253","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 : 2014-05-22DOI: 10.1109/AQTR.2014.6857901
A. Burlacu, M. Kloetzer, F. Ostafi
This research targets the problem of automatically planning a team of mobile agents such that they collect the samples scattered throughout an environment in minimum time. Each mobile agent can carry at most one sample at a time and it can travel a maximum total distance, given by agent's available energy. The environment is assumed already abstracted to a finite graph, where a node plays the role of the deposit where the samples should be gathered. Our solution consists in several steps that lead to a formulation of the initial problem as a Mixed Integer Linear Programming one. The solution yields a plan that imposes for each agent the samples and the order for collecting them. This result is optimal from the point of view of collecting all samples in minimum time.
{"title":"Optimal multi-agent planning solution for a sample gathering problem","authors":"A. Burlacu, M. Kloetzer, F. Ostafi","doi":"10.1109/AQTR.2014.6857901","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857901","url":null,"abstract":"This research targets the problem of automatically planning a team of mobile agents such that they collect the samples scattered throughout an environment in minimum time. Each mobile agent can carry at most one sample at a time and it can travel a maximum total distance, given by agent's available energy. The environment is assumed already abstracted to a finite graph, where a node plays the role of the deposit where the samples should be gathered. Our solution consists in several steps that lead to a formulation of the initial problem as a Mixed Integer Linear Programming one. The solution yields a plan that imposes for each agent the samples and the order for collecting them. This result is optimal from the point of view of collecting all samples in minimum time.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132353885","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 : 2014-05-22DOI: 10.1109/AQTR.2014.6857827
I. Clitan, I. Muntean
The robotic arm presented in this paper is part of an unloading machine used in the process of hot rolling to extract the heated billets from inside the rotary hearth furnace. The robotic arm positioning is hydraulically driven due to higher speed response. For the horizontal positioning of the arm a control structure is needed since the displacement of a billet is constantly changing. It is intended by means of this paper to obtain a control structure using the internal model control method that improves the performances of the current control systems that are mostly tuned based on rich experience. The results assessment is done by means of simulation and the obtained controllers are compared on the basis of overall performances.
{"title":"Internal model control for a hydraulically driven robotic arm","authors":"I. Clitan, I. Muntean","doi":"10.1109/AQTR.2014.6857827","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857827","url":null,"abstract":"The robotic arm presented in this paper is part of an unloading machine used in the process of hot rolling to extract the heated billets from inside the rotary hearth furnace. The robotic arm positioning is hydraulically driven due to higher speed response. For the horizontal positioning of the arm a control structure is needed since the displacement of a billet is constantly changing. It is intended by means of this paper to obtain a control structure using the internal model control method that improves the performances of the current control systems that are mostly tuned based on rich experience. The results assessment is done by means of simulation and the obtained controllers are compared on the basis of overall performances.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129113525","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 : 2014-05-22DOI: 10.1109/AQTR.2014.6857868
O. Elshazly, Z. Zyada, A. Abo-Ismail
In this paper, the kinematics of a skid steering mobile robot is controlled using a nonlinear controller augmented with a genetic algorithm which is used to tune the controller parameters. The controller is simple in terms of design and implementation. Moreover, it maintains good performance and has stronger robustness. Furthermore, the proposed controller is used to control an extended kinematics model taking into account slip effects to test the validity and enhancement of the controller. Simulation results are included.
{"title":"Genetic nonlinear controller of a skid steering mobile robot with slip conditions","authors":"O. Elshazly, Z. Zyada, A. Abo-Ismail","doi":"10.1109/AQTR.2014.6857868","DOIUrl":"https://doi.org/10.1109/AQTR.2014.6857868","url":null,"abstract":"In this paper, the kinematics of a skid steering mobile robot is controlled using a nonlinear controller augmented with a genetic algorithm which is used to tune the controller parameters. The controller is simple in terms of design and implementation. Moreover, it maintains good performance and has stronger robustness. Furthermore, the proposed controller is used to control an extended kinematics model taking into account slip effects to test the validity and enhancement of the controller. Simulation results are included.","PeriodicalId":297141,"journal":{"name":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131880091","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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