Pub Date : 2019-08-01DOI: 10.1109/MMAR.2019.8864636
J. Szpytko, Yorlandys Salgado Duarte
The paper presents a risk-based model to coordinate the preventive-predictive maintenance process of gantry cranes in a container terminal with vessels high demand. The model coordinates the preventive-predictive maintenance process minimizing the risk of Gantry Cranes Inefficiency (GCI). The risk is estimated with a sequential Markov Chain Monte Carlo (MCMC) simulation model. In this paper, the Preventive-Predictive Maintenance Scheduling (PPMS) process of gantry cranes is non-linear stochastic optimization problem and it is efficiently solved with the algorithms Particle Swarm Optimization (PSO). The model allows the terminal container operators to obtain a maintenance schedule that minimizes the risk of GCI, as much as possible in a container terminal; as well as establishing the desired level of risk. The paper demonstrates the proposed model effectiveness with data of a real container terminal.
{"title":"Integrated Maintenance Decision Making Platform for Gantry Cranes in Container Terminal","authors":"J. Szpytko, Yorlandys Salgado Duarte","doi":"10.1109/MMAR.2019.8864636","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864636","url":null,"abstract":"The paper presents a risk-based model to coordinate the preventive-predictive maintenance process of gantry cranes in a container terminal with vessels high demand. The model coordinates the preventive-predictive maintenance process minimizing the risk of Gantry Cranes Inefficiency (GCI). The risk is estimated with a sequential Markov Chain Monte Carlo (MCMC) simulation model. In this paper, the Preventive-Predictive Maintenance Scheduling (PPMS) process of gantry cranes is non-linear stochastic optimization problem and it is efficiently solved with the algorithms Particle Swarm Optimization (PSO). The model allows the terminal container operators to obtain a maintenance schedule that minimizes the risk of GCI, as much as possible in a container terminal; as well as establishing the desired level of risk. The paper demonstrates the proposed model effectiveness with data of a real container terminal.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131407112","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864633
K. Kubiak, M. Banach, R. Dlugosz
In this work we present modified iterative methods for computing basic statistical quantities (mean, variance) for use in the calibration process of a system based on V2I (vehicle-to-infrastructure) communication devices. Such devices, mounted in the road and urban infrastructure (RSU - road side equipment) may be used as support for autonomous vehicles moving in urban environment. Calibration is necessary to determine the positions of the RSUs in global coordinate system (GCS) and to record this information in their internal memory. The proposed modifications to conventional iterative algorithms aim at adapting these methods to the application in devices with low computational abilities or directly at the transistor level in specialized integrated circuits.
{"title":"Calculation of descriptive statistics by devices with low computational resources for use in calibration of V2I system","authors":"K. Kubiak, M. Banach, R. Dlugosz","doi":"10.1109/MMAR.2019.8864633","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864633","url":null,"abstract":"In this work we present modified iterative methods for computing basic statistical quantities (mean, variance) for use in the calibration process of a system based on V2I (vehicle-to-infrastructure) communication devices. Such devices, mounted in the road and urban infrastructure (RSU - road side equipment) may be used as support for autonomous vehicles moving in urban environment. Calibration is necessary to determine the positions of the RSUs in global coordinate system (GCS) and to record this information in their internal memory. The proposed modifications to conventional iterative algorithms aim at adapting these methods to the application in devices with low computational abilities or directly at the transistor level in specialized integrated circuits.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127639783","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864694
Dawid Owoc, K. Ludwiczak, R. Piotrowski
This paper presents a mechatronics design of a low-cost Stewart-Gough platform (SGP) with rotary actuators. The designed SGP is supposed to be applied in a ball & plate control system. The synthesis of the ball & plate control system is also within the subject of the paper. A mechatronics design process of the SGP was conducted with computer-aided design (CAD) software. Unique analytical solutions of an inverse kinematics problem (IKP) of the SGP were presented for both prismatic actuators and rotary actuators. Five geometry constants which affect the final range of movement of the SGP were defined. An interactive movable 3D model of the SGP was created. The 3D model was used to test a range of movement of the SGP and to detect a potential crossing of elements during their motion. A mathematical model of a ball & plate system was designed. A control synthesis was conducted with rapid control prototyping using the MATLAB environment. A prototyped and implemented control law was based on two proportional integral derivative (PID) controllers.
{"title":"Mechatronics Design, Modelling and Controlling of the Stewart-Gough Platform","authors":"Dawid Owoc, K. Ludwiczak, R. Piotrowski","doi":"10.1109/MMAR.2019.8864694","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864694","url":null,"abstract":"This paper presents a mechatronics design of a low-cost Stewart-Gough platform (SGP) with rotary actuators. The designed SGP is supposed to be applied in a ball & plate control system. The synthesis of the ball & plate control system is also within the subject of the paper. A mechatronics design process of the SGP was conducted with computer-aided design (CAD) software. Unique analytical solutions of an inverse kinematics problem (IKP) of the SGP were presented for both prismatic actuators and rotary actuators. Five geometry constants which affect the final range of movement of the SGP were defined. An interactive movable 3D model of the SGP was created. The 3D model was used to test a range of movement of the SGP and to detect a potential crossing of elements during their motion. A mathematical model of a ball & plate system was designed. A control synthesis was conducted with rapid control prototyping using the MATLAB environment. A prototyped and implemented control law was based on two proportional integral derivative (PID) controllers.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130554790","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864640
Wang-Long Li, Wei-Lun Liang, Kuo-Ming Chang
This paper addresses synchronization control of four-dimensional unified drive-response hyperchaotic system. First, a unified four-dimensional hyperchaotic system can be implemented by an electrical circuit. Then, using the sliding mode control technique and Lyapunov stability theory, an adaptive sliding mode controller is proposed for unified drive-response hyperchaotic systems with dead-zone input, unknown system parameters, and external disturbance to achieve the synchronization control goal. Finally, experimental results are given to demonstrate the effectiveness and robustness of the proposed control scheme.
{"title":"Adaptive Sliding Mode Control for Synchronization of Unified Hyperchaotic Systems","authors":"Wang-Long Li, Wei-Lun Liang, Kuo-Ming Chang","doi":"10.1109/MMAR.2019.8864640","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864640","url":null,"abstract":"This paper addresses synchronization control of four-dimensional unified drive-response hyperchaotic system. First, a unified four-dimensional hyperchaotic system can be implemented by an electrical circuit. Then, using the sliding mode control technique and Lyapunov stability theory, an adaptive sliding mode controller is proposed for unified drive-response hyperchaotic systems with dead-zone input, unknown system parameters, and external disturbance to achieve the synchronization control goal. Finally, experimental results are given to demonstrate the effectiveness and robustness of the proposed control scheme.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132296307","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864625
A. Ailon, S. Arogeti
In this article we present a simple control procedure for a quadrotor that ensures convergence to a required altitude and attitude set-points under conditions of unknown physical parameters. The quadrotor model is highly nonlinear. The altitude set-point strategy is based on a two-mode control strategy: coarse and the fine motion modes and a sort of huristic process. In the first control mode we apply piecewise control functions. In the attitude regulation the design procedure is based on the passivity-based approach and in particular the controller is independent of the system physical parameters. The considered control strategy might be useful in various aerial missions in which stable hovering is required as for example in reconnaissance and aerial photography flights. The control design complies with the system structure which restricts the thrust force to act in one direction. Simulation results demonstrate the controller performance.
{"title":"A Simple Heuristic Approach for Attitude/Altitude Control of a Quadrotor with Uncertain Parameters","authors":"A. Ailon, S. Arogeti","doi":"10.1109/MMAR.2019.8864625","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864625","url":null,"abstract":"In this article we present a simple control procedure for a quadrotor that ensures convergence to a required altitude and attitude set-points under conditions of unknown physical parameters. The quadrotor model is highly nonlinear. The altitude set-point strategy is based on a two-mode control strategy: coarse and the fine motion modes and a sort of huristic process. In the first control mode we apply piecewise control functions. In the attitude regulation the design procedure is based on the passivity-based approach and in particular the controller is independent of the system physical parameters. The considered control strategy might be useful in various aerial missions in which stable hovering is required as for example in reconnaissance and aerial photography flights. The control design complies with the system structure which restricts the thrust force to act in one direction. Simulation results demonstrate the controller performance.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127848322","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864629
Jian Guo, I. Harmati
This paper presents a model of intelligent traffic signal control using a game theoretical framework based on decision-making operations. This model aims at finding an optimal solution to reduce traffic congestion and minimize the waiting time of cars in the urban transportation system. The expected strategies can be generated in the game theoretical framework to control the traffic signals for each incoming links (i.e. sections) in the intersection so that the vehicles are distributed optimally. In this system, each incoming link is regarded as a single player and the status of signal light (green or red) can be considered as the decisions made by these players. Thus, the global optimal solution for selecting the best routes of vehicles comes out by combining all the decisions and evaluating the cost function in this game. Furthermore, the effectiveness of the global optimal strategy and Nash equilibrium strategy produced from a game theoretical framework and constant strategy (i.e. the time interval of red and green lights is always constant and periodical) are compared after implemented in one intersection.
{"title":"Optimization of Traffic Signal Control Based on Game Theoretical Framework","authors":"Jian Guo, I. Harmati","doi":"10.1109/MMAR.2019.8864629","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864629","url":null,"abstract":"This paper presents a model of intelligent traffic signal control using a game theoretical framework based on decision-making operations. This model aims at finding an optimal solution to reduce traffic congestion and minimize the waiting time of cars in the urban transportation system. The expected strategies can be generated in the game theoretical framework to control the traffic signals for each incoming links (i.e. sections) in the intersection so that the vehicles are distributed optimally. In this system, each incoming link is regarded as a single player and the status of signal light (green or red) can be considered as the decisions made by these players. Thus, the global optimal solution for selecting the best routes of vehicles comes out by combining all the decisions and evaluating the cost function in this game. Furthermore, the effectiveness of the global optimal strategy and Nash equilibrium strategy produced from a game theoretical framework and constant strategy (i.e. the time interval of red and green lights is always constant and periodical) are compared after implemented in one intersection.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129516524","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864695
K. Oprzȩdkiewicz, W. Mitkowski
In the paper the parameters identification problem for a new, non integer order, state space model of heat transfer process is presented. The proposed model uses Atangana-Baleanu derivative operator. The analytical formula of step response is proposed. The parameters of the model are estimated via numerical minimization of the Mean Square Error (MSE) cost function. Finally the proposed model is compared to fractional order models using Caputo (C) and Caputo-Fabrizio (CF) operators. Results of numerical tests show, that the accuracy of the proposed model is better than accuracy of CF model, but worse, than accuracy of the C model.
{"title":"Parameter identification for the fractional order, state space model of heat transfer process using Atangana-Baleanu operator","authors":"K. Oprzȩdkiewicz, W. Mitkowski","doi":"10.1109/MMAR.2019.8864695","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864695","url":null,"abstract":"In the paper the parameters identification problem for a new, non integer order, state space model of heat transfer process is presented. The proposed model uses Atangana-Baleanu derivative operator. The analytical formula of step response is proposed. The parameters of the model are estimated via numerical minimization of the Mean Square Error (MSE) cost function. Finally the proposed model is compared to fractional order models using Caputo (C) and Caputo-Fabrizio (CF) operators. Results of numerical tests show, that the accuracy of the proposed model is better than accuracy of CF model, but worse, than accuracy of the C model.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123135066","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864650
M. Kaminski, Mateusz Malarczyk
This article presents the design and the subsequent implementation stages for the low-cost shape scanner of relatively small elements. The main concept of hardware and data processing algorithm are described. The code used for controlling the operation of individual parts of the device was implemented in the Arduino platform. Special software for managing work of the scanner and collecting measurement data was prepared using the Processing programming language. Assuming cost reduction and simple device construction, limited precision of the shape scanning is expected. In order to improve the obtained results, reduce the disturbances and increase the resolution (the number of points describing shape), additional data conversions performed using the neural network were used.
{"title":"Neural Data Processing in Scanner of Static Elements","authors":"M. Kaminski, Mateusz Malarczyk","doi":"10.1109/MMAR.2019.8864650","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864650","url":null,"abstract":"This article presents the design and the subsequent implementation stages for the low-cost shape scanner of relatively small elements. The main concept of hardware and data processing algorithm are described. The code used for controlling the operation of individual parts of the device was implemented in the Arduino platform. Special software for managing work of the scanner and collecting measurement data was prepared using the Processing programming language. Assuming cost reduction and simple device construction, limited precision of the shape scanning is expected. In order to improve the obtained results, reduce the disturbances and increase the resolution (the number of points describing shape), additional data conversions performed using the neural network were used.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130964683","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864717
P. Majewski, W. Hunek
A platform for simulation of MIMO wireless data transmission processes is presented in this paper. The innovative tool implements authors' solution based on the polynomial approach related to the nonsquare matrices. Through an application of some nonunique inverses of nonsquare propagation matrices it is possible to increase an efficiency of signal recovery, which is confirmed by the theoretical background and a number of simulation instances. Thus, the useful environment can compete with other platforms employing different techniques. This statement is discussed in this paper.
{"title":"Simulation platform for wireless data communication using a new signal reconstruction method","authors":"P. Majewski, W. Hunek","doi":"10.1109/MMAR.2019.8864717","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864717","url":null,"abstract":"A platform for simulation of MIMO wireless data transmission processes is presented in this paper. The innovative tool implements authors' solution based on the polynomial approach related to the nonsquare matrices. Through an application of some nonunique inverses of nonsquare propagation matrices it is possible to increase an efficiency of signal recovery, which is confirmed by the theoretical background and a number of simulation instances. Thus, the useful environment can compete with other platforms employing different techniques. This statement is discussed in this paper.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131195490","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864661
M. Rosół, L. Wieckowski
The exact location of heartbeats in the phonocardiogram signal is crucial for correct segmentation and classification of the S1 and S2 heart sounds. This task becomes difficult due to the inclusion of noise in the acquisition process and due to the fact that the implementation concerns the embedded system. In this article, we present a low-cost system of location and classification of heart sounds in S1 and S2 based on a single-chip microcontroller and MEMS microphone. The experimental data analysis methods in time and frequency domains are also presented. The heartbeat segmentation process includes autocorrelation to predict the time of the heartbeat cycle. The time-frequency characteristics are extracted with a Fast Fourier Transform to analyze diastole and systole heart cycles.
{"title":"Embedded heart rate analysis based on sound sensing","authors":"M. Rosół, L. Wieckowski","doi":"10.1109/MMAR.2019.8864661","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864661","url":null,"abstract":"The exact location of heartbeats in the phonocardiogram signal is crucial for correct segmentation and classification of the S1 and S2 heart sounds. This task becomes difficult due to the inclusion of noise in the acquisition process and due to the fact that the implementation concerns the embedded system. In this article, we present a low-cost system of location and classification of heart sounds in S1 and S2 based on a single-chip microcontroller and MEMS microphone. The experimental data analysis methods in time and frequency domains are also presented. The heartbeat segmentation process includes autocorrelation to predict the time of the heartbeat cycle. The time-frequency characteristics are extracted with a Fast Fourier Transform to analyze diastole and systole heart cycles.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132732909","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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