Pub Date : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228671
J. Kowal, S. Blok, A. Sioma
Using measurements from inertial sensors such as gyroscopes and accelerometers and other, orientation of solids can be defined in space. To solve this task, one type of sensor is not enough, because there are certain dependencies between the individual measurements. Estimation of orientation must be used in navigation and autopilot systems in aircraft. It uses a unique combination of well known filters, transformation and advanced Kalman filter in order to determine the three Euler angles that define the orientation of the body in space.
{"title":"Determining the orientation of a body in space using the Kalman filter","authors":"J. Kowal, S. Blok, A. Sioma","doi":"10.1109/CARPATHIANCC.2012.6228671","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228671","url":null,"abstract":"Using measurements from inertial sensors such as gyroscopes and accelerometers and other, orientation of solids can be defined in space. To solve this task, one type of sensor is not enough, because there are certain dependencies between the individual measurements. Estimation of orientation must be used in navigation and autopilot systems in aircraft. It uses a unique combination of well known filters, transformation and advanced Kalman filter in order to determine the three Euler angles that define the orientation of the body in space.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130075322","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228710
J. Pluta, M. Sibielak
This paper aims to present the throttle valve, in which a piezoelectric stack was used for adjustment of the flow section area of the throttle aperture. The valve was built based on a proprietary design, using the components of a standard manufactured overflow valve. Laboratory tests were carried out to establish the valve's characteristics, describing its usefulness for control of small flow intensity. LabView software was used for measuring the data gathered. The test results, after conversion, were developed using the Matlab/Simuling software package. This paper presents the most notable results of the tests of a valve equipped with a high-voltage piezoelectric stack. Based on the results obtained, the functional correlation between the volumetric flow rate, pressure drop in the throttling aperture and control signal input to the piezoelectric stack were determined.
{"title":"The application of a piezoelectric stack for control of small flow intensity hydraulic fluid","authors":"J. Pluta, M. Sibielak","doi":"10.1109/CARPATHIANCC.2012.6228710","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228710","url":null,"abstract":"This paper aims to present the throttle valve, in which a piezoelectric stack was used for adjustment of the flow section area of the throttle aperture. The valve was built based on a proprietary design, using the components of a standard manufactured overflow valve. Laboratory tests were carried out to establish the valve's characteristics, describing its usefulness for control of small flow intensity. LabView software was used for measuring the data gathered. The test results, after conversion, were developed using the Matlab/Simuling software package. This paper presents the most notable results of the tests of a valve equipped with a high-voltage piezoelectric stack. Based on the results obtained, the functional correlation between the volumetric flow rate, pressure drop in the throttling aperture and control signal input to the piezoelectric stack were determined.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114341163","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228662
Wojciech Kostowski, Barbara Mendecka, K. Gorny, Janusz Skorek, Damian Kasprzak, Janusz Rajnhold, Aleksandra Linkowska, Andrzej Kozik
The paper presents the assumptions and the architecture of a multi-layer system for a perimetric protection of an industrial infrastructure object, i.e. the natural gas city gas station. Perimetry, which originally refers to the systematic measurement of human's eye visual system, here is used to describe system capabilities of monitoring a wide-angle visual field located in an industrial object. Such surveillance is aimed at detecting malfunctioning elements, even if their dimensions and contrast are extremely low. In particular, the reported research was focused on detecting gas leakages. The system analyses multimodal image input, acquired from conventional video and IR thermography cameras as well as accounts for information on natural gas flow pattern inside the pipelines. The information is processed and submitted to the natural gas dispatching centre, and the acquired parameters are use to evaluate a level of failure probability. The objective of the system is to support the dispatching centre crew in taking decisions concerning appropriate maintenance or rescue actions.
{"title":"Designing a perimetric integrity evaluation system for a natural gas city gate station","authors":"Wojciech Kostowski, Barbara Mendecka, K. Gorny, Janusz Skorek, Damian Kasprzak, Janusz Rajnhold, Aleksandra Linkowska, Andrzej Kozik","doi":"10.1109/CARPATHIANCC.2012.6228662","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228662","url":null,"abstract":"The paper presents the assumptions and the architecture of a multi-layer system for a perimetric protection of an industrial infrastructure object, i.e. the natural gas city gas station. Perimetry, which originally refers to the systematic measurement of human's eye visual system, here is used to describe system capabilities of monitoring a wide-angle visual field located in an industrial object. Such surveillance is aimed at detecting malfunctioning elements, even if their dimensions and contrast are extremely low. In particular, the reported research was focused on detecting gas leakages. The system analyses multimodal image input, acquired from conventional video and IR thermography cameras as well as accounts for information on natural gas flow pattern inside the pipelines. The information is processed and submitted to the natural gas dispatching centre, and the acquired parameters are use to evaluate a level of failure probability. The objective of the system is to support the dispatching centre crew in taking decisions concerning appropriate maintenance or rescue actions.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114620226","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228724
Frank E. Schneider, J. Welle, D. Wildermuth, M. Ducke
This paper presents a prototype of a multi-robot reconnaissance system for detection of chemical, biological, radiological, nuclear, and explosive (CBRNE) threats. Different robot platforms are able to carry highly modularized payload platforms: either a multi-purpose CBRNE sensor suite or a mobile manipulator for semi-autonomous sample collection. A variety of sensors is available for detection and identification of chemical and radiological hazards as well as for collecting potentially dangerous airborne biological particles. The manipulator is used to gather chemical and biological samples directly from surfaces in the environment. Unlike in most industrial applications the environment is not known a priori, therefore a randomized path planning algorithm is used to generate collision-free trajectories. A detailed description illustrates the robot platforms, the CBRNE sensor suite, and the mobile manipulator as well as relevant parts of control software and user interface. For a technical validation preliminary real world experiments are presented.
{"title":"Unmanned multi-robot CBRNE reconnaissance with mobile manipulation System description and technical validation","authors":"Frank E. Schneider, J. Welle, D. Wildermuth, M. Ducke","doi":"10.1109/CARPATHIANCC.2012.6228724","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228724","url":null,"abstract":"This paper presents a prototype of a multi-robot reconnaissance system for detection of chemical, biological, radiological, nuclear, and explosive (CBRNE) threats. Different robot platforms are able to carry highly modularized payload platforms: either a multi-purpose CBRNE sensor suite or a mobile manipulator for semi-autonomous sample collection. A variety of sensors is available for detection and identification of chemical and radiological hazards as well as for collecting potentially dangerous airborne biological particles. The manipulator is used to gather chemical and biological samples directly from surfaces in the environment. Unlike in most industrial applications the environment is not known a priori, therefore a randomized path planning algorithm is used to generate collision-free trajectories. A detailed description illustrates the robot platforms, the CBRNE sensor suite, and the mobile manipulator as well as relevant parts of control software and user interface. For a technical validation preliminary real world experiments are presented.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133551235","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228749
M. Vítečková, A. Víteček
The paper is devoted to the tuning of analog and digital PI and PID controllers for the first order plus time delay plants. The described method is fully analytical. It is based on the multiple dominant pole method and compensation. The described controller tuning method makes possible to obtain a non-oscillatory control process without an overshoot for all input variables. The use is shown in the example.
{"title":"Controller tuning for FOPTD plants","authors":"M. Vítečková, A. Víteček","doi":"10.1109/CARPATHIANCC.2012.6228749","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228749","url":null,"abstract":"The paper is devoted to the tuning of analog and digital PI and PID controllers for the first order plus time delay plants. The described method is fully analytical. It is based on the multiple dominant pole method and compensation. The described controller tuning method makes possible to obtain a non-oscillatory control process without an overshoot for all input variables. The use is shown in the example.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123433986","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228659
J. Kokeš, N. Nghien
Forecasting the future time series values from the past values plays important role in daily life. There are some techniques support for time series analysis such as statistics, Neural Network (NN), Fuzzy Logic (FL) and fusion NN and FL. However, there is lack of easy, free and visual tools for users to analysis time series data. In this paper we try to use Java program language to implement of Fuzzy Logic system using table lookup scheme to predict time series data. The results of our experiments show that our tool can give a high accuracy of prediction results. Since program is written in Java language so it can run across hardware and software platform and easily embed into website for user run through Internet.
{"title":"Implement of Fuzzy Logic system using table lookup scheme by Java language to predict time series data","authors":"J. Kokeš, N. Nghien","doi":"10.1109/CARPATHIANCC.2012.6228659","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228659","url":null,"abstract":"Forecasting the future time series values from the past values plays important role in daily life. There are some techniques support for time series analysis such as statistics, Neural Network (NN), Fuzzy Logic (FL) and fusion NN and FL. However, there is lack of easy, free and visual tools for users to analysis time series data. In this paper we try to use Java program language to implement of Fuzzy Logic system using table lookup scheme to predict time series data. The results of our experiments show that our tool can give a high accuracy of prediction results. Since program is written in Java language so it can run across hardware and software platform and easily embed into website for user run through Internet.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127263371","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228717
H. Rusinowski, M. Szega, A. Milejski
The paper presents a mathematical model of CFB (Circulating Fluidized-Bed) boiler co-fired with power coal, low-grade coal and biomass. The model based on the mass and energy balance equations. Calculation algorithm uses the method included in the European PN-EN-12952-15 Standard (applicable in Poland) and the German DIN 1942 Standard. Parameters and consumption of fuels burning in the boiler (except primary fuel), temperature, volume fraction of oxygen in flue gases, mass fraction of combustible elements in slag and dust as well as parameters of the combustion air are the input data. The mathematical model equations for the boiler are used to calculate the power efficiency, energy losses in the boiler and the consumption of primary fuel. Exemplary calculation results obtained with the aid of the model are presented in this paper.
{"title":"Mathematical model of the CFB boiler co-fired with coal and biomass","authors":"H. Rusinowski, M. Szega, A. Milejski","doi":"10.1109/CARPATHIANCC.2012.6228717","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228717","url":null,"abstract":"The paper presents a mathematical model of CFB (Circulating Fluidized-Bed) boiler co-fired with power coal, low-grade coal and biomass. The model based on the mass and energy balance equations. Calculation algorithm uses the method included in the European PN-EN-12952-15 Standard (applicable in Poland) and the German DIN 1942 Standard. Parameters and consumption of fuels burning in the boiler (except primary fuel), temperature, volume fraction of oxygen in flue gases, mass fraction of combustible elements in slag and dust as well as parameters of the combustion air are the input data. The mathematical model equations for the boiler are used to calculate the power efficiency, energy losses in the boiler and the consumption of primary fuel. Exemplary calculation results obtained with the aid of the model are presented in this paper.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129646774","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228730
M. Spurny, M. Mahdal, L. Richtr, P. Stanicek
The application is created in program environment of Matlab - GUIDE is described in this paper. It enables a digital simulation of control system. The control system with 1 degree of controller freedom (1DOF) or with 2 degrees of controller freedom (2DOF) and plant with a time delay is considered for digital simulation. The application is shown in the examples.
{"title":"Control of plants with a time delay","authors":"M. Spurny, M. Mahdal, L. Richtr, P. Stanicek","doi":"10.1109/CARPATHIANCC.2012.6228730","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228730","url":null,"abstract":"The application is created in program environment of Matlab - GUIDE is described in this paper. It enables a digital simulation of control system. The control system with 1 degree of controller freedom (1DOF) or with 2 degrees of controller freedom (2DOF) and plant with a time delay is considered for digital simulation. The application is shown in the examples.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122713514","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228754
K. Židek, A. Hošovský, V. Maxim
The article deals with implementation of MEMS sensors to real-time safety circuit for automated rehabilitation device. It is necessary to acquire information about some dangerous situation during the rehabilitation process as fast as possible. We need a real-time response from sensors, because there is additional time needed to stop a device of several milliseconds. There is designed solution the angle, velocity, acceleration and vibration of each joints of rehabilitation arm are monitored. The Device works independently of the control system, detects critical states, stops rehabilitation process and store critical data. Two accelerometers (analog and digital) and one gyroscope sensor are used in the device. The main information is acquired from combination of MEMS accelerometer values. Gyroscope provides a check data for operation reliability. The designed solution can be used in other automated devices too, where some unpredictable error during the operation can cause a human injury.
{"title":"Real-time safety circuit based on combined MEMS sensor data for Rehabilitation device","authors":"K. Židek, A. Hošovský, V. Maxim","doi":"10.1109/CARPATHIANCC.2012.6228754","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228754","url":null,"abstract":"The article deals with implementation of MEMS sensors to real-time safety circuit for automated rehabilitation device. It is necessary to acquire information about some dangerous situation during the rehabilitation process as fast as possible. We need a real-time response from sensors, because there is additional time needed to stop a device of several milliseconds. There is designed solution the angle, velocity, acceleration and vibration of each joints of rehabilitation arm are monitored. The Device works independently of the control system, detects critical states, stops rehabilitation process and store critical data. Two accelerometers (analog and digital) and one gyroscope sensor are used in the device. The main information is acquired from combination of MEMS accelerometer values. Gyroscope provides a check data for operation reliability. The designed solution can be used in other automated devices too, where some unpredictable error during the operation can cause a human injury.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130798826","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228675
D. Krokavec, A. Filasová, V. Hladký
The paper presents conditions suitable in design of state observers for a class of continuous-time nonlinear systems with unknown input, represented by Takagi-Sugeno models with unmeasurable premise variables. Based on Lyapunov inequality, the conditions are outlined in the terms of linear matrix inequalities to possess a stable structure closest to optimal asymptotic properties. Simulation results illustrate the design procedure and demonstrate the basic performances of the proposed observer design method.
{"title":"Takagi-Sugeno model-based state estimation for one class of nonlinear systems with unknown disturbances","authors":"D. Krokavec, A. Filasová, V. Hladký","doi":"10.1109/CARPATHIANCC.2012.6228675","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228675","url":null,"abstract":"The paper presents conditions suitable in design of state observers for a class of continuous-time nonlinear systems with unknown input, represented by Takagi-Sugeno models with unmeasurable premise variables. Based on Lyapunov inequality, the conditions are outlined in the terms of linear matrix inequalities to possess a stable structure closest to optimal asymptotic properties. Simulation results illustrate the design procedure and demonstrate the basic performances of the proposed observer design method.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"26 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131224965","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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