Pub Date : 2019-08-01DOI: 10.1109/MMAR.2019.8864660
B. Rehák, V. Lynnyk
Stabilization of a linear discrete-time large-scale interconnected systems composed of identical subsystems is studied. The controls of every subsystem are delayed. The control design is based on a state transformation that decouples the subsystems. Then, a suitable design method is used. Robustness to deal with systems with uncertainties is guaranteed. The results are illustrated by an example.
{"title":"Robust stabilization of a discrete-time large-scale interconnected system composed of identical subsystems","authors":"B. Rehák, V. Lynnyk","doi":"10.1109/MMAR.2019.8864660","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864660","url":null,"abstract":"Stabilization of a linear discrete-time large-scale interconnected systems composed of identical subsystems is studied. The controls of every subsystem are delayed. The control design is based on a state transformation that decouples the subsystems. Then, a suitable design method is used. Robustness to deal with systems with uncertainties is guaranteed. The results are illustrated by an example.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"341 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":"124214263","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.2019.8864687
Z. Zwierzewicz
The paper considers the problem of ship path-following system design based on realistic, nonlinear, full, surface ship model. The ship under consideration is an underactuated, course-unstable, nonlinear object. Since it is assumed that the ship's parameters are unknown and there are significant environmental disturbances and unmodeled dynamics, the applied design procedures combine the robust and adaptive control techniques. As the basis for controller synthesis, the adaptive output feedback linearization and H∞ optimal control techniques have been used. Simulations of the ship path-following process are provided to illustrate the effectiveness and superiority of the proposed control scheme.
{"title":"Robust and adaptive ship path-following control design with the full vessel model","authors":"Z. Zwierzewicz","doi":"10.1109/MMAR.2019.8864687","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864687","url":null,"abstract":"The paper considers the problem of ship path-following system design based on realistic, nonlinear, full, surface ship model. The ship under consideration is an underactuated, course-unstable, nonlinear object. Since it is assumed that the ship's parameters are unknown and there are significant environmental disturbances and unmodeled dynamics, the applied design procedures combine the robust and adaptive control techniques. As the basis for controller synthesis, the adaptive output feedback linearization and H∞ optimal control techniques have been used. Simulations of the ship path-following process are provided to illustrate the effectiveness and superiority of the proposed control scheme.","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":"115957527","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.2019.8864725
A. Gavrikov, G. Kostin, D. Knyazkov, A. Rauh, H. Aschemann
In this paper, mathematical modeling of transient processes and parameter optimization of control laws for heat transfer in a conductive solid structure are considered. In accordance with an implementation of an experimental setup, a nonlinear model is proposed for the thermoelectric process in a Peltier element arranged in between of two metal cylinders. The method of separation of variables is applied to reduce the spatially three-dimensional system to a finite set of ordinary differential equations. The nonlinearity of the resulting equations with respect to the temperature state is eliminated by introducing feedback control in the form of a voltage proportional to the temperature drop on the Peltier element. Additionally, a feedforward control law defined by a piecewise constant function of time is optimized to bring the system, which is still nonlinear w.r.t. this voltage input, as closely as possible to a prescribed terminal steady state.
{"title":"Parameter Optimization of Control with Feedback Linearization for a Model of Thermoelectric Processes in Cylindrical Bodies","authors":"A. Gavrikov, G. Kostin, D. Knyazkov, A. Rauh, H. Aschemann","doi":"10.1109/MMAR.2019.8864725","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864725","url":null,"abstract":"In this paper, mathematical modeling of transient processes and parameter optimization of control laws for heat transfer in a conductive solid structure are considered. In accordance with an implementation of an experimental setup, a nonlinear model is proposed for the thermoelectric process in a Peltier element arranged in between of two metal cylinders. The method of separation of variables is applied to reduce the spatially three-dimensional system to a finite set of ordinary differential equations. The nonlinearity of the resulting equations with respect to the temperature state is eliminated by introducing feedback control in the form of a voltage proportional to the temperature drop on the Peltier element. Additionally, a feedforward control law defined by a piecewise constant function of time is optimized to bring the system, which is still nonlinear w.r.t. this voltage input, as closely as possible to a prescribed terminal steady state.","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":"128751113","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.2019.8864722
Rafał Grycuk, R. Scherer
In the paper we describe a system for retrieving images by their features. The software components are built around a multi-layer architecture. We propose also an idea of finding similar images by the CEDD descriptor andvector similarity. We test the proposed method on the Pascal VOC dataset. We published the sources of the system in a public repository.
{"title":"Software Framework for Fast Image Retrieval","authors":"Rafał Grycuk, R. Scherer","doi":"10.1109/MMAR.2019.8864722","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864722","url":null,"abstract":"In the paper we describe a system for retrieving images by their features. The software components are built around a multi-layer architecture. We propose also an idea of finding similar images by the CEDD descriptor andvector similarity. We test the proposed method on the Pascal VOC dataset. We published the sources of the system in a public repository.","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":"124392203","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.2019.8864614
Ruosen Qi, Jie Zhang
Existing fault reconstruction methods are very effective in dealing with sensor faults not involved in control loops where the fault direction is usually easy to determine. However, implementing fault reconstruction methods for process faults or sensor faults involved with control loops is quite challenging as the fault direction vectors are usually difficult to specify. Process faults usually affect a number of process variables with various extents. This paper introduces a principal component analysis (PCA) based fault reconstruction method for process faults. PCA is used to analyze historical process data with faults to extract fault directions, which are then used for fault reconstruction. The proposed method is demonstrated on a simulated continuous stirred tank reactor.
{"title":"Process Fault Detection and Reconstruction by Principal Component Analysis","authors":"Ruosen Qi, Jie Zhang","doi":"10.1109/MMAR.2019.8864614","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864614","url":null,"abstract":"Existing fault reconstruction methods are very effective in dealing with sensor faults not involved in control loops where the fault direction is usually easy to determine. However, implementing fault reconstruction methods for process faults or sensor faults involved with control loops is quite challenging as the fault direction vectors are usually difficult to specify. Process faults usually affect a number of process variables with various extents. This paper introduces a principal component analysis (PCA) based fault reconstruction method for process faults. PCA is used to analyze historical process data with faults to extract fault directions, which are then used for fault reconstruction. The proposed method is demonstrated on a simulated continuous stirred tank reactor.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"211 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113972478","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.2019.8864666
K. Arent, Joanna Kruk-Lasocka, Tomasz Niemiec, R. Szczepanowski
Current research on autism raises an important methodological issue concerning reliable measurement tools to diagnose abnormal social interactions within autistic children. Here we presents proposal of a interdisciplinary approach combining psychology and robotics yielding Human-Robot interaction to recognize autism symptoms based on a pre-schoolers' play with the social robot (‘Touch me’ and ‘Dance with me’). The observational measures combined with competent raters technique indicated abnormal interaction patterns in children with autism during interactive games with NAO robot. Our research, by linking psychological and engineering perspectives provides promising preliminary results on application of robot to study autism based on HRI and results in collection of user's requirements and evaluation's criteria for a robot design.
{"title":"Social robot in diagnosis of autism among preschool children","authors":"K. Arent, Joanna Kruk-Lasocka, Tomasz Niemiec, R. Szczepanowski","doi":"10.1109/MMAR.2019.8864666","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864666","url":null,"abstract":"Current research on autism raises an important methodological issue concerning reliable measurement tools to diagnose abnormal social interactions within autistic children. Here we presents proposal of a interdisciplinary approach combining psychology and robotics yielding Human-Robot interaction to recognize autism symptoms based on a pre-schoolers' play with the social robot (‘Touch me’ and ‘Dance with me’). The observational measures combined with competent raters technique indicated abnormal interaction patterns in children with autism during interactive games with NAO robot. Our research, by linking psychological and engineering perspectives provides promising preliminary results on application of robot to study autism based on HRI and results in collection of user's requirements and evaluation's criteria for a robot design.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"48 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":"114175421","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.2019.8864610
T. Kaczorek
The stability and the angles between state matrices of positive continuous-time and discrete-time linear systems are addressed. It is shown that: 1) The angles between matrices can be useful tool for analysis of the stability of positive continuous-time and discrete-time linear systems; 2) The positive linear system is asymptotically stable if and only if the symmetrical part of the state matrix is Hurwitz for continuous-time systems and Schur for discrete-time systems; 3) Using the angles between matrices necessary and sufficient conditions are established for the asymptotic stability of the positive linear systemst.
{"title":"Stability and angles between state matrices of positive linear systems","authors":"T. Kaczorek","doi":"10.1109/MMAR.2019.8864610","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864610","url":null,"abstract":"The stability and the angles between state matrices of positive continuous-time and discrete-time linear systems are addressed. It is shown that: 1) The angles between matrices can be useful tool for analysis of the stability of positive continuous-time and discrete-time linear systems; 2) The positive linear system is asymptotically stable if and only if the symmetrical part of the state matrix is Hurwitz for continuous-time systems and Schur for discrete-time systems; 3) Using the angles between matrices necessary and sufficient conditions are established for the asymptotic stability of the positive linear systemst.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"15 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":"121455056","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.2019.8864682
R. Beniak, T. Pyka
This paper presents an advanced control algorithm, which accounts for an additional impact of a castor wheel on a tri-wheel robot's trajectory. It demonstrates how to use the information on the angle of twist in order to limit the errors stemming from odometry. Thanks to applying the proven relationship between the trajectory's curvature and the angle of twist of a castor free wheel, we reduced the driving wheels' rotation errors in the robot's motion along the desired trajectory.
{"title":"Trajectory tracking of a tri-wheel mobile robot using the castor wheel's twist angle","authors":"R. Beniak, T. Pyka","doi":"10.1109/MMAR.2019.8864682","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864682","url":null,"abstract":"This paper presents an advanced control algorithm, which accounts for an additional impact of a castor wheel on a tri-wheel robot's trajectory. It demonstrates how to use the information on the angle of twist in order to limit the errors stemming from odometry. Thanks to applying the proven relationship between the trajectory's curvature and the angle of twist of a castor free wheel, we reduced the driving wheels' rotation errors in the robot's motion along the desired trajectory.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"49 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":"122926594","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.2019.8864635
M. Jaskula, P. Leśniewski
In this paper we consider the discrete time sliding mode control of the plant perturbed by the unknown, bounded external disturbances. The controller is designed using the reaching law approach. This method allows us to better control the systems dynamics up to the sliding phase. The rate of convergence of the sliding variable to zero is chosen in such a manner to ensure the fulfillment of the given constraints on the system state and the control signal. The properties of the proposed sliding mode controller are demonstrated analytically and in computer simulations.
{"title":"Discrete time sliding mode control in the presence of state and control signal constraints","authors":"M. Jaskula, P. Leśniewski","doi":"10.1109/MMAR.2019.8864635","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864635","url":null,"abstract":"In this paper we consider the discrete time sliding mode control of the plant perturbed by the unknown, bounded external disturbances. The controller is designed using the reaching law approach. This method allows us to better control the systems dynamics up to the sliding phase. The rate of convergence of the sliding variable to zero is chosen in such a manner to ensure the fulfillment of the given constraints on the system state and the control signal. The properties of the proposed sliding mode controller are demonstrated analytically and in computer simulations.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"13 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":"123364027","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.2019.8864620
J. Figwer
In the paper nonlinear transformations of multivariate orthogonal multisine random time-series are discussed. A focus on transformations that preserves orthogonality of transformed multivariate orthogonal multisine random time-series elements is given and the following from this property decomposition of multichannel nonlinear dynamic system identification problem into separate single-channel nonlinear dynamic system identification problems is described. This decomposition is illustrated by simulation examples devoted to identification of two-input single-output nonlinear dynamic systems based on observed mixtures of single-channel nonlinear block-oriented dynamic system outputs and the corresponding samples of the used bivariate orthogonal white multisine random excitations.
{"title":"Identification of Multichannel Nonlinear Systems Excited by Realisations of Mutivariate Orthogonal Multisine Random Time-Series","authors":"J. Figwer","doi":"10.1109/MMAR.2019.8864620","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864620","url":null,"abstract":"In the paper nonlinear transformations of multivariate orthogonal multisine random time-series are discussed. A focus on transformations that preserves orthogonality of transformed multivariate orthogonal multisine random time-series elements is given and the following from this property decomposition of multichannel nonlinear dynamic system identification problem into separate single-channel nonlinear dynamic system identification problems is described. This decomposition is illustrated by simulation examples devoted to identification of two-input single-output nonlinear dynamic systems based on observed mixtures of single-channel nonlinear block-oriented dynamic system outputs and the corresponding samples of the used bivariate orthogonal white multisine random excitations.","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":"129724809","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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