Pub Date : 2019-08-01DOI: 10.1109/MMAR.2019.8864669
M. Jasinski
Since Advanced Driver Assistance Systems are getting more and more complex a strong effort is put into the development of open-source autonomous driving simulators. However a robust virtual environment should not only be assessed by its realistic physics or 3D assets variety, but it also has to incorporate highly accurate and real-time capable sensor models. The research presented in this paper introduces a robust method for validating radar sensor models enabling a simple proof of their reliability in a virtual scenario. To give an overview of radar sensor modeling approaches, the solutions available in the literature are evaluated in terms of usage in virtual environments based on simple criteria. Finally, an exemplary radar sensor model integrated into the CARLA simulator is presented and also a short outline of further research is depicted.
{"title":"A Generic Validation Scheme for real-time capable Automotive Radar Sensor Models integrated into an Autonomous Driving Simulator","authors":"M. Jasinski","doi":"10.1109/MMAR.2019.8864669","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864669","url":null,"abstract":"Since Advanced Driver Assistance Systems are getting more and more complex a strong effort is put into the development of open-source autonomous driving simulators. However a robust virtual environment should not only be assessed by its realistic physics or 3D assets variety, but it also has to incorporate highly accurate and real-time capable sensor models. The research presented in this paper introduces a robust method for validating radar sensor models enabling a simple proof of their reliability in a virtual scenario. To give an overview of radar sensor modeling approaches, the solutions available in the literature are evaluated in terms of usage in virtual environments based on simple criteria. Finally, an exemplary radar sensor model integrated into the CARLA simulator is presented and also a short outline of further research is depicted.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"7 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":"128337296","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.2019.8864691
S. Czapp, F. Ratkowski, Seweryn Szultka, A. Tomaszewski
Current-carrying capacity of underground power cable lines depends, among others, on thermal resistivity of the soil and cables layout: trefoil formation, flat formation with or without spacing. If conditions for heat transfer in the ground are favorable, the current-carrying capacity is relatively high. Therefore, it generates risk of the power cables overheating, if part of the cable line is located vertically in the air, to be connected with an overhead power line at its pole. Risk of the overheating is very high especially during strong solar radiation. The maximum permissible cable load for underground thermal condition is too optimistic for part of the cable line placed in the air. This paper presents computer modelling and simulations of thermal conditions of an underground low-voltage cable line, which part is located at the pole of the overhead line. Results of simulations indicate that part of the cables in the air can be strongly overheated.
{"title":"Overheating of Underground Power Cable Line Due to Its Partial Exposition to Solar Radiation","authors":"S. Czapp, F. Ratkowski, Seweryn Szultka, A. Tomaszewski","doi":"10.1109/MMAR.2019.8864691","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864691","url":null,"abstract":"Current-carrying capacity of underground power cable lines depends, among others, on thermal resistivity of the soil and cables layout: trefoil formation, flat formation with or without spacing. If conditions for heat transfer in the ground are favorable, the current-carrying capacity is relatively high. Therefore, it generates risk of the power cables overheating, if part of the cable line is located vertically in the air, to be connected with an overhead power line at its pole. Risk of the overheating is very high especially during strong solar radiation. The maximum permissible cable load for underground thermal condition is too optimistic for part of the cable line placed in the air. This paper presents computer modelling and simulations of thermal conditions of an underground low-voltage cable line, which part is located at the pole of the overhead line. Results of simulations indicate that part of the cables in the air can be strongly overheated.","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":"127129309","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.2019.8864630
T. Figurina, D. Knyazkov
The paper considers rectilinear motion of a system consisting of a body and a moving internal mass. The body moves in a resistive environment. The internal mass moves periodically with respect to the body. We investigate such periodic regimes of motion, that the velocity of the body is also periodic. We consider the problems of existence and uniqueness of the periodic regimes of motion and their stability. It is shown that a periodic regime of motion exists if the medium resistance is a monotonically decreasing unbounded function of the velocity and the relative velocity of the internal mass does not have jumps. A two-sided estimate of the initial velocity of the body for the periodic regime of motion is obtained. The uniqueness and exponential stability of the periodic regime of motion is proved for any monotonically decreasing law of resistance. In the special cases of linear and piecewise linear laws of the medium resistance, a periodic regime of motion is constructed and the rate of the exponential convergence of an arbitrary motion to this periodic regime is found. The general results are illustrated by simulations performed with the parameters of a physical prototype of a capsule robot.
{"title":"Periodic Regimes of Motion of a Body with a Moving Internal Mass","authors":"T. Figurina, D. Knyazkov","doi":"10.1109/MMAR.2019.8864630","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864630","url":null,"abstract":"The paper considers rectilinear motion of a system consisting of a body and a moving internal mass. The body moves in a resistive environment. The internal mass moves periodically with respect to the body. We investigate such periodic regimes of motion, that the velocity of the body is also periodic. We consider the problems of existence and uniqueness of the periodic regimes of motion and their stability. It is shown that a periodic regime of motion exists if the medium resistance is a monotonically decreasing unbounded function of the velocity and the relative velocity of the internal mass does not have jumps. A two-sided estimate of the initial velocity of the body for the periodic regime of motion is obtained. The uniqueness and exponential stability of the periodic regime of motion is proved for any monotonically decreasing law of resistance. In the special cases of linear and piecewise linear laws of the medium resistance, a periodic regime of motion is constructed and the rate of the exponential convergence of an arbitrary motion to this periodic regime is found. The general results are illustrated by simulations performed with the parameters of a physical prototype of a capsule robot.","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":"127139304","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.2019.8864679
M. Kaminski
This paper presents analysis of multiparameter optimization realized applying Particle Swarm Optimization (PSO). Model of Neural Network (NN) was selected as object. The main goal was adaptation of internal coefficients (weights) used in data processing. Selected problems appearing in real engineering applications are analyzed (for the sake of example selection of initial parameters and coefficients of optimization algorithm). Tests present implementation of neural network for two tasks. The first of them is calculation of selected variables from the Lorenz attractor. The next example shows application of neural network as a state variable estimator implemented in electric drive. For this analysis also experimental research is presented. Considered results show flexibility of neural models used for data mapping and effectiveness of Particle Swarm Optimization algorithm.
{"title":"Neural Network Training Using Particle Swarm Optimization - a Case Study","authors":"M. Kaminski","doi":"10.1109/MMAR.2019.8864679","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864679","url":null,"abstract":"This paper presents analysis of multiparameter optimization realized applying Particle Swarm Optimization (PSO). Model of Neural Network (NN) was selected as object. The main goal was adaptation of internal coefficients (weights) used in data processing. Selected problems appearing in real engineering applications are analyzed (for the sake of example selection of initial parameters and coefficients of optimization algorithm). Tests present implementation of neural network for two tasks. The first of them is calculation of selected variables from the Lorenz attractor. The next example shows application of neural network as a state variable estimator implemented in electric drive. For this analysis also experimental research is presented. Considered results show flexibility of neural models used for data mapping and effectiveness of Particle Swarm Optimization algorithm.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"66 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":"114657673","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.2019.8864631
Miroslaw Lawrynowicz, J. Józefczyk
This research explores integrated and sequential approaches to a combined job scheduling and discrete facility location optimization problem (ScheLoc). The makespan is considered as a criterion for job scheduling. A Tabu Search based Memetic Algorithm (TSMA) has been developed and applied for the former approach due to the NP-hardness of ScheLoc. For the latter approach, the problem is decomposed into two sub-problems m-median and parallel job scheduling with unrelated machines. Extensive numerical tests have confirmed the advantage of the integrated optimization strategy ensured by TSMA in terms of the makespan and the computation time. Conducted computational experiments have also shown the improvement of results generated by TSMA in comparison with another algorithm known from the literature.
{"title":"A memetic algorithm for the discrete scheduling-location problem with unrelated machines","authors":"Miroslaw Lawrynowicz, J. Józefczyk","doi":"10.1109/MMAR.2019.8864631","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864631","url":null,"abstract":"This research explores integrated and sequential approaches to a combined job scheduling and discrete facility location optimization problem (ScheLoc). The makespan is considered as a criterion for job scheduling. A Tabu Search based Memetic Algorithm (TSMA) has been developed and applied for the former approach due to the NP-hardness of ScheLoc. For the latter approach, the problem is decomposed into two sub-problems m-median and parallel job scheduling with unrelated machines. Extensive numerical tests have confirmed the advantage of the integrated optimization strategy ensured by TSMA in terms of the makespan and the computation time. Conducted computational experiments have also shown the improvement of results generated by TSMA in comparison with another algorithm known from the literature.","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":"131097274","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.2019.8864643
Paweł Wachel, P. Sliwinski, Z. Hasiewicz
We consider a class of non-linear dynamic systems with finite memory and nonlinear characteristic that reveals time-varying behavior. It is assumed that the considered systems can change their mode in the a priori known range of modes but the switching moments are unknown and cannot be directly detected. In the considered approach, based on the noisy measurements of the system output, we apply exponentially weighted aggregation techniques to estimate noise-free counterparts of the possessed output observations. Theoretical properties of the method as well as exemplary numerical simulations are also described and discussed in the paper.
{"title":"Modeling of switching-mode nonlinear system by exponentially weighted aggregation","authors":"Paweł Wachel, P. Sliwinski, Z. Hasiewicz","doi":"10.1109/MMAR.2019.8864643","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864643","url":null,"abstract":"We consider a class of non-linear dynamic systems with finite memory and nonlinear characteristic that reveals time-varying behavior. It is assumed that the considered systems can change their mode in the a priori known range of modes but the switching moments are unknown and cannot be directly detected. In the considered approach, based on the noisy measurements of the system output, we apply exponentially weighted aggregation techniques to estimate noise-free counterparts of the possessed output observations. Theoretical properties of the method as well as exemplary numerical simulations are also described and discussed in the paper.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"16 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":"129612507","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.2019.8864698
Ewa Gilner, A. Gałuszka, Tomasz Grychowski
The need to reduce energy consumption, resources, the introduction of new and ecological materials, the multiplicity of modern technologies available, and the complexity and multi-branch nature of architectural and construction projects means that designers must make complex and difficult decisions. This work presents currently available and used in the AEC industry project tools, sustainable building design analysis and provides an overview of the possibilities of using artificial intelligence methods and tools, such as Knowledge Based Engineering (KBE), fuzzy logic, neural networks, genetic algorithms, Monte-Carlo simulation. These methods can be used in the early design stage to improve decision making process and to optimize both the design process and the project itself. This article presents possible ways of developing AI methods for wider application in architectural design with possibilities to commercialize them.
{"title":"Application of Artificial Intelligence in Sustainable Building Design - Optimisation Methods","authors":"Ewa Gilner, A. Gałuszka, Tomasz Grychowski","doi":"10.1109/MMAR.2019.8864698","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864698","url":null,"abstract":"The need to reduce energy consumption, resources, the introduction of new and ecological materials, the multiplicity of modern technologies available, and the complexity and multi-branch nature of architectural and construction projects means that designers must make complex and difficult decisions. This work presents currently available and used in the AEC industry project tools, sustainable building design analysis and provides an overview of the possibilities of using artificial intelligence methods and tools, such as Knowledge Based Engineering (KBE), fuzzy logic, neural networks, genetic algorithms, Monte-Carlo simulation. These methods can be used in the early design stage to improve decision making process and to optimize both the design process and the project itself. This article presents possible ways of developing AI methods for wider application in architectural design with possibilities to commercialize them.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"28 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":"114172552","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.2019.8864715
Lili Ma
This paper presents cooperative tracking of a moving target using a group of mobile robots in an elliptical formation. This result is obtained based on the balanced circular formation obtained earlier, by further applying a similarity transformation. Orientation of the elliptical formation can be specified by a design parameter. Since our control law to each agent was designed as the summation of two control components (i.e., tracking and formation), only the formation control component needs to be modified. The extension to elliptical formation is achieved for both single-integrator and double-integrator robot models. For the communication topology, the cyclic pursuit strategy is used. The effectiveness of the proposed schemes is demonstrated by simulation examples.
{"title":"Cooperative Target Tracking in Elliptical Formation","authors":"Lili Ma","doi":"10.1109/MMAR.2019.8864715","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864715","url":null,"abstract":"This paper presents cooperative tracking of a moving target using a group of mobile robots in an elliptical formation. This result is obtained based on the balanced circular formation obtained earlier, by further applying a similarity transformation. Orientation of the elliptical formation can be specified by a design parameter. Since our control law to each agent was designed as the summation of two control components (i.e., tracking and formation), only the formation control component needs to be modified. The extension to elliptical formation is achieved for both single-integrator and double-integrator robot models. For the communication topology, the cyclic pursuit strategy is used. The effectiveness of the proposed schemes is demonstrated by simulation examples.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"12 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":"126504011","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.2019.8864712
M. Zolubak, Barbara Grochowicz, Mariusz Pelc, Aleksandra Kawala-Sterniuk
Stress is an increasingly common problem. Thanks to the use of various mathematical methods, it can be described mathematically based on the EEG signal. Generally, the stress in mathematical analysis can be divided into several models. To determine the variability in the stress-related EEG signal, the periodograms used for the overall assessment are checked.
{"title":"Stress analysis recorded in the EEG signal based on mathematical markers","authors":"M. Zolubak, Barbara Grochowicz, Mariusz Pelc, Aleksandra Kawala-Sterniuk","doi":"10.1109/MMAR.2019.8864712","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864712","url":null,"abstract":"Stress is an increasingly common problem. Thanks to the use of various mathematical methods, it can be described mathematically based on the EEG signal. Generally, the stress in mathematical analysis can be divided into several models. To determine the variability in the stress-related EEG signal, the periodograms used for the overall assessment are checked.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"5 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":"117318543","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.2019.8864651
A. Babiarz, A. Czornik
The controllability problem for discrete-time linear fractional switched systems is considered. In the paper, it is assumed that there are some constraints posed on the switching signal. Moreover, a necessary and sufficient conditions of some types of controllability are formulated. Three varieties of controllability, namely: from zero initial state to any final state, from any initial state to zero final state and from any initial state to any final state are considered. At the end, an example is presented.
{"title":"Controllability of switched discrete-time fractional order systems with constrained switching sequence","authors":"A. Babiarz, A. Czornik","doi":"10.1109/MMAR.2019.8864651","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864651","url":null,"abstract":"The controllability problem for discrete-time linear fractional switched systems is considered. In the paper, it is assumed that there are some constraints posed on the switching signal. Moreover, a necessary and sufficient conditions of some types of controllability are formulated. Three varieties of controllability, namely: from zero initial state to any final state, from any initial state to zero final state and from any initial state to any final state are considered. At the end, an example is presented.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"391 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":"128030423","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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