Pub Date : 2019-08-01DOI: 10.1109/MMAR.2019.8864689
A. Ruszewski
The stability problem of fractional discrete-time linear systems with delays has been analysed. The state-space model with a time shift in the difference has been considered. New necessary and sufficient conditions for the asymptotic stability and the practical stability have been established. The systems with only one matrix have been also analysed. It has been shown that such systems are asymptotically (practically) stable if all eigenvalues of the state matrix lie in the stability region of the complex plane.
{"title":"Stability conditions for fractional discrete-time state-space systems with delays","authors":"A. Ruszewski","doi":"10.1109/MMAR.2019.8864689","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864689","url":null,"abstract":"The stability problem of fractional discrete-time linear systems with delays has been analysed. The state-space model with a time shift in the difference has been considered. New necessary and sufficient conditions for the asymptotic stability and the practical stability have been established. The systems with only one matrix have been also analysed. It has been shown that such systems are asymptotically (practically) stable if all eigenvalues of the state matrix lie in the stability region of the complex plane.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"60 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":"126153675","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.2019.8864678
Jasmeet Singh Ladoiye, D. Necsulescu, J. Sasiadek
Minimum invasive robotic surgery is one of the most desired applications required with the advancement of medical technologies. Surgeons rely on the visual feedback solely from the laparoscopic camera to get the information about the operation to make further decisions. The control gets harder due to the presence of the latency in the network that can make the system unstable. The synchronization between the hand to eye of the surgeon is affected due to random behavior of the latency. In this paper, a novel approach is proposed by using the model predictive control to develop a predictive imaging technique that will provide the surgeon simplified imaging during the condition when delayed perception could occur. The ability of the model predictive control to predict the future will help to handle the randomness of the latency providing a better hand to eye coordination to the surgeon. A comparison is provided with the current techniques showing the effectiveness of the suggested approach.
{"title":"Kinematic Predictive Imaging Technique for Telerobotic Surgery with Time Delay using Model Predictive Control","authors":"Jasmeet Singh Ladoiye, D. Necsulescu, J. Sasiadek","doi":"10.1109/MMAR.2019.8864678","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864678","url":null,"abstract":"Minimum invasive robotic surgery is one of the most desired applications required with the advancement of medical technologies. Surgeons rely on the visual feedback solely from the laparoscopic camera to get the information about the operation to make further decisions. The control gets harder due to the presence of the latency in the network that can make the system unstable. The synchronization between the hand to eye of the surgeon is affected due to random behavior of the latency. In this paper, a novel approach is proposed by using the model predictive control to develop a predictive imaging technique that will provide the surgeon simplified imaging during the condition when delayed perception could occur. The ability of the model predictive control to predict the future will help to handle the randomness of the latency providing a better hand to eye coordination to the surgeon. A comparison is provided with the current techniques showing the effectiveness of the suggested approach.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"140 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":"121978067","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.2019.8864662
R. Dlugosz, Waldemar Dworakowski, Piotr Suliga
The paper presents selected investigation results on a static (factory) calibration procedure of the camera, for the use in Advanced Driver Assistance System (ADAS) mounted in trucks. It is a commercial project that has already been put for production. For this reason, special emphasis was put on the reliability of the proposed solutions. Additionally, the developed algorithms were optimized so that all computations are completed within an assumed period of time (requirements). One of the problems encountered during the development of the calibration procedure was the fact that various objects were located around the calibration pattern in the factory. In some situations these objects may be classified as calibration points, resulting in false outcomes of the overall calibration procedure. For this reason, special emphasis was placed on the development of appropriate robust algorithms responsible for the detection of calibration points. For example, the implemented methods allow for distinguishing the false points and removing them from the list of detected points. The overall procedure was carefully tested under various conditions, including unfavorable ones, with more than 500,000 tests.
{"title":"Static Camera Calibration for Advanced Driver Assistance System Used in Trucks - Robust Detector of Calibration Points","authors":"R. Dlugosz, Waldemar Dworakowski, Piotr Suliga","doi":"10.1109/MMAR.2019.8864662","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864662","url":null,"abstract":"The paper presents selected investigation results on a static (factory) calibration procedure of the camera, for the use in Advanced Driver Assistance System (ADAS) mounted in trucks. It is a commercial project that has already been put for production. For this reason, special emphasis was put on the reliability of the proposed solutions. Additionally, the developed algorithms were optimized so that all computations are completed within an assumed period of time (requirements). One of the problems encountered during the development of the calibration procedure was the fact that various objects were located around the calibration pattern in the factory. In some situations these objects may be classified as calibration points, resulting in false outcomes of the overall calibration procedure. For this reason, special emphasis was placed on the development of appropriate robust algorithms responsible for the detection of calibration points. For example, the implemented methods allow for distinguishing the false points and removing them from the list of detected points. The overall procedure was carefully tested under various conditions, including unfavorable ones, with more than 500,000 tests.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"10 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":"127991275","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.2019.8864641
A. Martowicz, A. Gallina, G. Karpiel
The paper is devoted to the development and experimental validation of a radar model elaborated for an automotive application. The described numerical model takes into account the physical properties of a typical automotive radar, the environmental conditions as well as the properties of targeted objects. Moreover, a dedicated, very efficient algorithm of geometric transformations - implemented in the radar model for simulation of wave scattering phenomena - is presented. A phenomenological model of uncertainty is enclosed to the algorithm to represent more effectively radar detections. The solution presented by the authors is thus ready to be used in hardware-in-the-loop simulations of various road traffic scenarios.
{"title":"Uncertainty propagation for vehicle detections in experimentally validated radar model for automotive application","authors":"A. Martowicz, A. Gallina, G. Karpiel","doi":"10.1109/MMAR.2019.8864641","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864641","url":null,"abstract":"The paper is devoted to the development and experimental validation of a radar model elaborated for an automotive application. The described numerical model takes into account the physical properties of a typical automotive radar, the environmental conditions as well as the properties of targeted objects. Moreover, a dedicated, very efficient algorithm of geometric transformations - implemented in the radar model for simulation of wave scattering phenomena - is presented. A phenomenological model of uncertainty is enclosed to the algorithm to represent more effectively radar detections. The solution presented by the authors is thus ready to be used in hardware-in-the-loop simulations of various road traffic scenarios.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"68 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":"133518454","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.2019.8864626
W. Bauer, J. Baranowski, S. Kapoulea, C. Psychalinos
Paper presents two implementations of a fractional-order proportional-derivative (PD) controller for a position servo system. The first one is an analog one with the offered attractive benefit of using only one second-generation current conveyor (CCII) as an active element, minimizing the active component count compared to the conventional way of implementation where it requires three CCIIs for this purpose. The behavior of the controller is evaluated using the Cadence software and MOS transistor models. The second approach uses a digital implementation of Oustaloup filter in a time domain version.
{"title":"Digital and Analog Design of Fractional PD Controller for a Servo System","authors":"W. Bauer, J. Baranowski, S. Kapoulea, C. Psychalinos","doi":"10.1109/MMAR.2019.8864626","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864626","url":null,"abstract":"Paper presents two implementations of a fractional-order proportional-derivative (PD) controller for a position servo system. The first one is an analog one with the offered attractive benefit of using only one second-generation current conveyor (CCII) as an active element, minimizing the active component count compared to the conventional way of implementation where it requires three CCIIs for this purpose. The behavior of the controller is evaluated using the Cadence software and MOS transistor models. The second approach uses a digital implementation of Oustaloup filter in a time domain version.","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":"129007856","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.2019.8864646
M. Banach, R. Dlugosz
Solutions proposed in this work are related to development of vehicle-to-infrastructure (V2I) communication in the context of its support for Traffic Sign Recognition (TSR) algorithms used in advanced driver assistance systems (ADAS). One of the ideas of the application of the V2I communication, proposed in the literature, is to equip traffic signs (TS) with devices, capable of communicate their meaning to passing vehicles equipped with ADAS functions or autonomous vehicles. We propose grouping TSs and covering groups with single road side unit (RSU) devices. It will facilitate implementation and maintenance of the overall system. This will also reduce the amount of data sent over the network.
{"title":"Techniques to Facilitate the Use of V2I Communication System as Support for Traffic Sign Recognition Algorithms","authors":"M. Banach, R. Dlugosz","doi":"10.1109/MMAR.2019.8864646","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864646","url":null,"abstract":"Solutions proposed in this work are related to development of vehicle-to-infrastructure (V2I) communication in the context of its support for Traffic Sign Recognition (TSR) algorithms used in advanced driver assistance systems (ADAS). One of the ideas of the application of the V2I communication, proposed in the literature, is to equip traffic signs (TS) with devices, capable of communicate their meaning to passing vehicles equipped with ADAS functions or autonomous vehicles. We propose grouping TSs and covering groups with single road side unit (RSU) devices. It will facilitate implementation and maintenance of the overall system. This will also reduce the amount of data sent over the network.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"33 4 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":"129193585","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.2019.8864693
M. Sowa, Klaudia Dziedzic
The study concerns a numerical solver that can be applied in Matlab and Octave. At this stage where the solver is able to solve nonlinear fractional problems - an initial study is made at the attempt to support the inclusion of time delays. The aim is for the solver to be able to solve delay nonlinear fractional differential equations. An example of control theory is brought forth and solved. The error estimation results are presented and a verification of the solution is performed. The verification especially targets the time delay, which is a new element that can be included in problems supported by the solver.
{"title":"Expansion of a solver for nonlinear fractional problems - the inclusion of time delays","authors":"M. Sowa, Klaudia Dziedzic","doi":"10.1109/MMAR.2019.8864693","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864693","url":null,"abstract":"The study concerns a numerical solver that can be applied in Matlab and Octave. At this stage where the solver is able to solve nonlinear fractional problems - an initial study is made at the attempt to support the inclusion of time delays. The aim is for the solver to be able to solve delay nonlinear fractional differential equations. An example of control theory is brought forth and solved. The error estimation results are presented and a verification of the solution is performed. The verification especially targets the time delay, which is a new element that can be included in problems supported by the solver.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"25 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":"127466733","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.2019.8864683
Robert Maniarski, Kamil Klimkowicz, W. Paszke
In this paper we consider the $mathcal{H}_{infty}$ controller design problem for uncertain differential linear repetitive processes via full order dynamic output feedback controllers. The existence condition of desired robust $mathcal{H}_{infty}$ controllers is expressed as a feasibility problem of a linear matrix inequality (LMI). Then it is shown that the developed results can be applied to robust distributed controller design for 1D-spatially interconnected systems that are composed of several linear continuous-time subsystems, where each directly interacts with neighbouring subsystems. A simulation based case study on the model of a vehicle platoons system is given to demonstrate the feasibility and effectiveness of the new designs.
{"title":"Design of distributed robust control of 1D-spatially interconnected systems in the repetitive process setting","authors":"Robert Maniarski, Kamil Klimkowicz, W. Paszke","doi":"10.1109/MMAR.2019.8864683","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864683","url":null,"abstract":"In this paper we consider the $mathcal{H}_{infty}$ controller design problem for uncertain differential linear repetitive processes via full order dynamic output feedback controllers. The existence condition of desired robust $mathcal{H}_{infty}$ controllers is expressed as a feasibility problem of a linear matrix inequality (LMI). Then it is shown that the developed results can be applied to robust distributed controller design for 1D-spatially interconnected systems that are composed of several linear continuous-time subsystems, where each directly interacts with neighbouring subsystems. A simulation based case study on the model of a vehicle platoons system is given to demonstrate the feasibility and effectiveness of the new designs.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"128 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":"121588772","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.2019.8864706
Arkadiusz Mielczarek, I. Dulęba
In this paper an undesirable phenomenon of a premature convergence in nonholonomic motion planning is discussed. It relies on reaching a configuration where energy expensive motions are necessary to approach a goal configuration. An algorithm is proposed to counteract this phenomenon and to choose some sub-goals which allow for energy effective motions. The motion towards the sub-goals is evaluated using some Lie algebraic tools. The algorithm is illustrated on a simple unicycle robot. Simulations reveal that using the proposed algorithm some energy gains can be achieved, resulting paths are shorter and easy to localize within a configuration space.
{"title":"Premature Convergence in Motion Planning of Nonholonomic Systems and how to Counteract it","authors":"Arkadiusz Mielczarek, I. Dulęba","doi":"10.1109/MMAR.2019.8864706","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864706","url":null,"abstract":"In this paper an undesirable phenomenon of a premature convergence in nonholonomic motion planning is discussed. It relies on reaching a configuration where energy expensive motions are necessary to approach a goal configuration. An algorithm is proposed to counteract this phenomenon and to choose some sub-goals which allow for energy effective motions. The motion towards the sub-goals is evaluated using some Lie algebraic tools. The algorithm is illustrated on a simple unicycle robot. Simulations reveal that using the proposed algorithm some energy gains can be achieved, resulting paths are shorter and easy to localize within a configuration space.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"46 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":"131874851","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.2019.8864677
P. Ignaciuk, M. Morawski
Owing to the security policies imposed, TCP conveys data for diverse application types, yet not necessarily suitable for the stream-related transport services. While in many contexts high throughput is preferred, other, e.g., multimedia or control system related ones, demand short latencies, rarely obtainable in the TCP scenarios. While such requirement can be fulfilled using appropriate network administration, it is a costly solution. Hence, another approach gains importance - the simultaneous use of separate transmission channels under a common control framework. For that purpose, suitable versions of well-known protocols are being developed. One of them is multipath TCP - MPTCP. The use of parallel channels to transfer the data promises numerous advantages from the application point of view. It also opens new research perspectives concerning data flow optimization. In this paper, a new flow controller, designed for the communication of multihome systems that exchange data using MPTCP protocol is presented. The controller operates on the top of other protocol components and responds properly to the fluctuations observed beneath, e.g., uncertain throughput and delays on the paths and non-optimal stream split ratio. The control algorithm establishes a feasible (non-negative and bounded) input signal and prevents both exhausting and overflowing the receiver buffer despite fluctuating networking conditions. It is executed at the sender side and it does not require any changes at the receiver.
{"title":"Remote Receiver Control in MPTCP Networks in Uncertain Operating Conditions","authors":"P. Ignaciuk, M. Morawski","doi":"10.1109/MMAR.2019.8864677","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864677","url":null,"abstract":"Owing to the security policies imposed, TCP conveys data for diverse application types, yet not necessarily suitable for the stream-related transport services. While in many contexts high throughput is preferred, other, e.g., multimedia or control system related ones, demand short latencies, rarely obtainable in the TCP scenarios. While such requirement can be fulfilled using appropriate network administration, it is a costly solution. Hence, another approach gains importance - the simultaneous use of separate transmission channels under a common control framework. For that purpose, suitable versions of well-known protocols are being developed. One of them is multipath TCP - MPTCP. The use of parallel channels to transfer the data promises numerous advantages from the application point of view. It also opens new research perspectives concerning data flow optimization. In this paper, a new flow controller, designed for the communication of multihome systems that exchange data using MPTCP protocol is presented. The controller operates on the top of other protocol components and responds properly to the fluctuations observed beneath, e.g., uncertain throughput and delays on the paths and non-optimal stream split ratio. The control algorithm establishes a feasible (non-negative and bounded) input signal and prevents both exhausting and overflowing the receiver buffer despite fluctuating networking conditions. It is executed at the sender side and it does not require any changes at the receiver.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"8 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":"131900088","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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