Pub Date : 2010-09-27DOI: 10.1109/MMAR.2010.5587222
O. Pantz, K. Trabelsi
In most shape optimization problems, the optimal solution does not belong to the set of genuine shapes but is a composite structure. The homogenization method consists in relaxing the original problem thereby extending the set of admissible structures to composite shapes. From the numerical viewpoint, an important asset of the homogenization method with respect to traditional geometrical optimization is that the computed optimal shape is quite independent from the initial guess (at least for the compliance minimization problem). Nevertheless, the optimal shape being a composite, a post-treatement is needed in order to produce an almost optimal non-composite (i.e. workable) shape. The classical approach consists in penalizing the intermediate densities of material, but the obtained result deeply depends on the underlying mesh used and the level of details is not controllable. In a previous work, we proposed a new post-treatement method for the compliance minimization problem of an elastic structure. The main idea is to approximate the optimal composite shape with a locally periodic composite and to build a sequence of genuine shapes converging toward this composite structure. This method allows us to balance the level of details of the final shape and its optimality. Nevertheless, it was restricted to particular optimal shapes, depending on the topological structure of the lattice describing the arrangement of the holes of the composite. In this article, we lift this restriction in order to extend our method to any optimal composite structure for the compliance minimization problem.
{"title":"Construction of minimization sequences for shape optimization","authors":"O. Pantz, K. Trabelsi","doi":"10.1109/MMAR.2010.5587222","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587222","url":null,"abstract":"In most shape optimization problems, the optimal solution does not belong to the set of genuine shapes but is a composite structure. The homogenization method consists in relaxing the original problem thereby extending the set of admissible structures to composite shapes. From the numerical viewpoint, an important asset of the homogenization method with respect to traditional geometrical optimization is that the computed optimal shape is quite independent from the initial guess (at least for the compliance minimization problem). Nevertheless, the optimal shape being a composite, a post-treatement is needed in order to produce an almost optimal non-composite (i.e. workable) shape. The classical approach consists in penalizing the intermediate densities of material, but the obtained result deeply depends on the underlying mesh used and the level of details is not controllable. In a previous work, we proposed a new post-treatement method for the compliance minimization problem of an elastic structure. The main idea is to approximate the optimal composite shape with a locally periodic composite and to build a sequence of genuine shapes converging toward this composite structure. This method allows us to balance the level of details of the final shape and its optimality. Nevertheless, it was restricted to particular optimal shapes, depending on the topological structure of the lattice describing the arrangement of the holes of the composite. In this article, we lift this restriction in order to extend our method to any optimal composite structure for the compliance minimization problem.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116926592","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587254
Z. Zwierzewicz
The paper is concerned with a problem of adaptive tracking system control synthesis. It is assumed that a nonlinear object dynamics (model structure) is (partially) unknown and some of its nonlinear characteristics can be approximated by a sort of functional approximators. It has been proven that a nonlinear state feedback plus parameter adaptation are able to ensure its asymptotic stability. The proposed controller design is based on modified adaptive backstepping method. In this approach, as opposite to the standard backstepping, the design process has been reduced to a single iteration, which enables avoiding complicated recursive procedure. An extra task here is to find a control synthesis of linear-like, chained system. The solution of the last problem in general framework is also presented. The obtained thereby controller has several attractive features of both the feedback linearization and backstepping schemes.
{"title":"Adaptive tracking-control synthesis for functionally uncertain systems via modified backstepping","authors":"Z. Zwierzewicz","doi":"10.1109/MMAR.2010.5587254","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587254","url":null,"abstract":"The paper is concerned with a problem of adaptive tracking system control synthesis. It is assumed that a nonlinear object dynamics (model structure) is (partially) unknown and some of its nonlinear characteristics can be approximated by a sort of functional approximators. It has been proven that a nonlinear state feedback plus parameter adaptation are able to ensure its asymptotic stability. The proposed controller design is based on modified adaptive backstepping method. In this approach, as opposite to the standard backstepping, the design process has been reduced to a single iteration, which enables avoiding complicated recursive procedure. An extra task here is to find a control synthesis of linear-like, chained system. The solution of the last problem in general framework is also presented. The obtained thereby controller has several attractive features of both the feedback linearization and backstepping schemes.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131084522","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587214
J. Baczynski, M. Baczynski
The simple and low-cost audio device for scanning labels with identification codes of radiation thermoluminescence dosimeters is presented. The computer controlled Code Reader is dedicated to use it in the automatic readers of the radiation doses recorded by the dosimeters. The essential advantage of the system is the possibility to read out ID codes both by means of light scanning methods and by the proposed audio scanning technique.
{"title":"Audio system for scanning and reading identification codes of radiation dosimeters","authors":"J. Baczynski, M. Baczynski","doi":"10.1109/MMAR.2010.5587214","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587214","url":null,"abstract":"The simple and low-cost audio device for scanning labels with identification codes of radiation thermoluminescence dosimeters is presented. The computer controlled Code Reader is dedicated to use it in the automatic readers of the radiation doses recorded by the dosimeters. The essential advantage of the system is the possibility to read out ID codes both by means of light scanning methods and by the proposed audio scanning technique.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"2673 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124513286","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587220
J. Scheid, J. Sokołowski, K. Szulc
Shape optimization problem for semilinear elliptic equation is considered. There is an optimal solution which is computed by the Levelset method. To this end the shape derivative of the functional is evaluated. In order to predict the topology changes the topological derivative is employed. Numerical results confirm that the proposed framework for numerical solution of shape optimization problems is efficient.
{"title":"A numerical method for shape and topology optimization for semilinear elliptic equation","authors":"J. Scheid, J. Sokołowski, K. Szulc","doi":"10.1109/MMAR.2010.5587220","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587220","url":null,"abstract":"Shape optimization problem for semilinear elliptic equation is considered. There is an optimal solution which is computed by the Levelset method. To this end the shape derivative of the functional is evaluated. In order to predict the topology changes the topological derivative is employed. Numerical results confirm that the proposed framework for numerical solution of shape optimization problems is efficient.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128923630","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587208
J. Kurek
Servocontroller for a class of uncertain linear continuous-time systems with unmeasurable bounded disturbances is presented. The controller can be also used for control of uncertain nonlinear systems.
{"title":"Servocontroller for a class of uncertain linear continuous-time systems","authors":"J. Kurek","doi":"10.1109/MMAR.2010.5587208","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587208","url":null,"abstract":"Servocontroller for a class of uncertain linear continuous-time systems with unmeasurable bounded disturbances is presented. The controller can be also used for control of uncertain nonlinear systems.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125112707","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587200
T. Mahmoud
This paper proposes Multi resolution Wavelet Least Squares Support Vector Machine (MRWLS-SVM) network for the nonlinear system modeling. It composes a set of sub-wavelet least squares support vector machine networks with specified resolutions. The outputs of these sub-networks are aggregated via a set of weights to produce the network output. The structure of the MRWLS-SVM network is achieved using the fuzzy c-mean and the least squares support vector algorithm. The stability of the proposed network has been investigated using Lypunov stability theorem. The generalization of the proposed MRWLS-SVM network for the modeling purpose has investigated using two nonlinear systems.
{"title":"Multi resolution wavelet least squares support vector machine network for nonlinear system modeling","authors":"T. Mahmoud","doi":"10.1109/MMAR.2010.5587200","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587200","url":null,"abstract":"This paper proposes Multi resolution Wavelet Least Squares Support Vector Machine (MRWLS-SVM) network for the nonlinear system modeling. It composes a set of sub-wavelet least squares support vector machine networks with specified resolutions. The outputs of these sub-networks are aggregated via a set of weights to produce the network output. The structure of the MRWLS-SVM network is achieved using the fuzzy c-mean and the least squares support vector algorithm. The stability of the proposed network has been investigated using Lypunov stability theorem. The generalization of the proposed MRWLS-SVM network for the modeling purpose has investigated using two nonlinear systems.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131466562","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587265
I. Dulęba
In this paper a method to speed up a convergence of the Newton algorithm of motion planning for manipulators was presented. The method couples one dimensional optimization (with respect to a coefficient influencing the convergence property of the algorithm) with a virtual goal replacing a real goal of the planning. The first modification of the basic Newton algorithm can be used for any taskspace while the second one works only for low dimensional (not greater than 3) taskspaces. An algorithm based on the method was provided and its efficiency was illustrated on a planar double pendulum manipulator.
{"title":"Improving efficiency of the Newton algorithm of motion planning for robot manipulators","authors":"I. Dulęba","doi":"10.1109/MMAR.2010.5587265","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587265","url":null,"abstract":"In this paper a method to speed up a convergence of the Newton algorithm of motion planning for manipulators was presented. The method couples one dimensional optimization (with respect to a coefficient influencing the convergence property of the algorithm) with a virtual goal replacing a real goal of the planning. The first modification of the basic Newton algorithm can be used for any taskspace while the second one works only for low dimensional (not greater than 3) taskspaces. An algorithm based on the method was provided and its efficiency was illustrated on a planar double pendulum manipulator.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130504226","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587259
Michal Podgórski
The paper presents adaptive neural network based controller of dishwasher. It shows how to prepare input data for training networks and presents the simulation of network performance.
{"title":"Application of adaptive neural network to dishwasher operation control","authors":"Michal Podgórski","doi":"10.1109/MMAR.2010.5587259","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587259","url":null,"abstract":"The paper presents adaptive neural network based controller of dishwasher. It shows how to prepare input data for training networks and presents the simulation of network performance.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130664956","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587237
R. Kaszynski, A. Wysocka
In the article there is presented conclusion of analysis of filters examination. There was described 1st order filter properties, in which structure constant parameters were replaced by time-varying functions. It allows to shortening of the transient states with α — tolerance. Implementation of both varying parameters in that structure caused appearance of the overshoots. So that this simple structure indicates similar properties to higher order structure with constant parameters. Moreover, there was presented conclusion of examination of simulation of 2nd order filter, with using exactly this 1st order filter.
{"title":"Time-varying averaging filter with functions k(t) and T(t)","authors":"R. Kaszynski, A. Wysocka","doi":"10.1109/MMAR.2010.5587237","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587237","url":null,"abstract":"In the article there is presented conclusion of analysis of filters examination. There was described 1st order filter properties, in which structure constant parameters were replaced by time-varying functions. It allows to shortening of the transient states with α — tolerance. Implementation of both varying parameters in that structure caused appearance of the overshoots. So that this simple structure indicates similar properties to higher order structure with constant parameters. Moreover, there was presented conclusion of examination of simulation of 2nd order filter, with using exactly this 1st order filter.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114338474","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587217
R. Patton, Lejun Chen, S. Klinkhieo
The control of systems that involve friction presents interesting challenges. Recent research has focused on detailed modelling of friction phenomena as a very complex and difficult modelling challenge. However, the friction effects acting in a dynamic system can be viewed as actuator faults with time-varying characteristics to be estimated and compensated within a Fault Detection and Diagnosis (FDD) scheme, so that the limitations arising from the use of a friction model are obviated. This work is motivated by the utilisation of robust Linear Parameter Varying (LPV) estimation approach providing effective and robust fault estimation. The approach is illustrated using a two-link manipulator system with Stribeck friction. Results show that the time-varying friction forces on each joint can be simultaneously and robustly estimated through the online measurement of the varying parameters.
{"title":"LPV approach to friction estimation as a fault diagnosis problem","authors":"R. Patton, Lejun Chen, S. Klinkhieo","doi":"10.1109/MMAR.2010.5587217","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587217","url":null,"abstract":"The control of systems that involve friction presents interesting challenges. Recent research has focused on detailed modelling of friction phenomena as a very complex and difficult modelling challenge. However, the friction effects acting in a dynamic system can be viewed as actuator faults with time-varying characteristics to be estimated and compensated within a Fault Detection and Diagnosis (FDD) scheme, so that the limitations arising from the use of a friction model are obviated. This work is motivated by the utilisation of robust Linear Parameter Varying (LPV) estimation approach providing effective and robust fault estimation. The approach is illustrated using a two-link manipulator system with Stribeck friction. Results show that the time-varying friction forces on each joint can be simultaneously and robustly estimated through the online measurement of the varying parameters.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131794518","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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