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.2019.8864621
W. Kowalczyk, K. Kozlowski
This paper presents control algorithm for formation of multiple non-holonomic mobile robots. It combines persistent excitation trajectory tracking algorithm and collision avoidance based on artificial potential functions. The robots avoid collision with each other and static obstacles existing in the task-space. Stability analysis of the closed-loop system based on Lyapunov-like function is presented. Effectiveness of the proposed method is illustrated by simulation results. They include also case of bounded wheel controls.
{"title":"Formation of Two-Wheeled Mobile Robots Moving in the Task Space with Static Obstacles - Numerical Verification for Bounded Controls","authors":"W. Kowalczyk, K. Kozlowski","doi":"10.1109/MMAR.2019.8864621","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864621","url":null,"abstract":"This paper presents control algorithm for formation of multiple non-holonomic mobile robots. It combines persistent excitation trajectory tracking algorithm and collision avoidance based on artificial potential functions. The robots avoid collision with each other and static obstacles existing in the task-space. Stability analysis of the closed-loop system based on Lyapunov-like function is presented. Effectiveness of the proposed method is illustrated by simulation results. They include also case of bounded wheel controls.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"70 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":"131420710","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.2019.8864710
Thomas Hansen, Maria A. B. Jørgensen, Van Roy Tran, Kasper Jessen, M. Soltani
This paper will focus on using system identification on experimental data for building a mathematical model for the platform of a floating offshore wind turbine and analyzing the behavior of the structure. The floating offshore wind turbine examined in this paper uses a scaled tension leg platform as its foundation and the wind turbine is a 1:35 scaled model of the 5 MW NREL offshore wind turbine. The mathematical model of the platform will describe the displacement of the TLP in surge when affected by an irregular wave series generated from a scaled Pierson-Moskowitz wave spectrum. To obtain such a mathematical model, an examination of the displacement of the platform due to the hydrodynamic loads will be conducted on the foundation of the floating offshore wind turbine. The height of the waves and the displacement of the floating offshore wind turbines will be measured by resistive wave gauges and OptiTrack cameras, respectively, at the offshore laboratory at Aalborg University Esbjerg. System identification is used on the data obtained from the experiments, to build multiple mathematical models with different model structures, in order to find the most appropriate model structure. It is concluded from the analysis of the different mathematical models, that the Autoregressive Moving Average and Extra input model structure is the most accurate model at describing the dynamics of the platform of a floating offshore wind turbine. The model is valid for a specific operating range of Pierson-Moskowitz waves generated with a wind speed corresponding to 2 meters per seconds.
{"title":"System Identification and model comparison of a Tension Leg Platform for Floating Offshore Wind Turbines","authors":"Thomas Hansen, Maria A. B. Jørgensen, Van Roy Tran, Kasper Jessen, M. Soltani","doi":"10.1109/MMAR.2019.8864710","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864710","url":null,"abstract":"This paper will focus on using system identification on experimental data for building a mathematical model for the platform of a floating offshore wind turbine and analyzing the behavior of the structure. The floating offshore wind turbine examined in this paper uses a scaled tension leg platform as its foundation and the wind turbine is a 1:35 scaled model of the 5 MW NREL offshore wind turbine. The mathematical model of the platform will describe the displacement of the TLP in surge when affected by an irregular wave series generated from a scaled Pierson-Moskowitz wave spectrum. To obtain such a mathematical model, an examination of the displacement of the platform due to the hydrodynamic loads will be conducted on the foundation of the floating offshore wind turbine. The height of the waves and the displacement of the floating offshore wind turbines will be measured by resistive wave gauges and OptiTrack cameras, respectively, at the offshore laboratory at Aalborg University Esbjerg. System identification is used on the data obtained from the experiments, to build multiple mathematical models with different model structures, in order to find the most appropriate model structure. It is concluded from the analysis of the different mathematical models, that the Autoregressive Moving Average and Extra input model structure is the most accurate model at describing the dynamics of the platform of a floating offshore wind turbine. The model is valid for a specific operating range of Pierson-Moskowitz waves generated with a wind speed corresponding to 2 meters per seconds.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"2 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":"132554655","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.2019.8864703
Jako Fritz, A. Xhonneux, D. Müller
This contribution introduces a new system for distributed model predictive control of energy systems. This system uses multiple agents where each agents optimizes a subsystem. A central instance coordinates the individual agents and takes care of feasibility of the combination of the single solutions. The advantages of this approach are increased maintainability and privacy for the individual agents, thus increasing applicability to real-world systems where often multiple parties are involved in a single energy system. Where adequate, the agents perform MPC to control their subsystems. The system and method can be chosen for each agent individually. In order to build this system a framework is developed as existing frameworks lack one or more required features for the overall system. A small example is presented together with first results.
{"title":"Development of an Agent-Based System for Decentralized Control of District Energy Systems","authors":"Jako Fritz, A. Xhonneux, D. Müller","doi":"10.1109/MMAR.2019.8864703","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864703","url":null,"abstract":"This contribution introduces a new system for distributed model predictive control of energy systems. This system uses multiple agents where each agents optimizes a subsystem. A central instance coordinates the individual agents and takes care of feasibility of the combination of the single solutions. The advantages of this approach are increased maintainability and privacy for the individual agents, thus increasing applicability to real-world systems where often multiple parties are involved in a single energy system. Where adequate, the agents perform MPC to control their subsystems. The system and method can be chosen for each agent individually. In order to build this system a framework is developed as existing frameworks lack one or more required features for the overall system. A small example is presented together with first results.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"50 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":"128638933","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.2019.8864671
Neha Baranwal, Avinash Kumar Singh, T. Hellström
An approach for decision-level fusion for gesture and speech based human-robot interaction (HRI) is proposed. A rule-based method is compared with several machine learning approaches. Gestures and speech signals are initially classified using hidden Markov models, reaching accuracies of 89.6% and 84% respectively. The rule-based approach reached 91.6% while SVM, which was the best of all evaluated machine learning algorithms, reached an accuracy of 98.2% on the test data. A complete framework is deployed in real time humanoid robot (NAO) which proves the efficacy of the system.
{"title":"Fusion of Gesture and Speech for Increased Accuracy in Human Robot Interaction","authors":"Neha Baranwal, Avinash Kumar Singh, T. Hellström","doi":"10.1109/MMAR.2019.8864671","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864671","url":null,"abstract":"An approach for decision-level fusion for gesture and speech based human-robot interaction (HRI) is proposed. A rule-based method is compared with several machine learning approaches. Gestures and speech signals are initially classified using hidden Markov models, reaching accuracies of 89.6% and 84% respectively. The rule-based approach reached 91.6% while SVM, which was the best of all evaluated machine learning algorithms, reached an accuracy of 98.2% on the test data. A complete framework is deployed in real time humanoid robot (NAO) which proves the efficacy of the system.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"9 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":"114412561","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.2019.8864702
L. Zawarczynski, T. Stefanski
The problems of mathematical modelling and parameter identification of PMSM (Permanent Magnet Synchronous Motor) mathematical model were analysed. The numerical Box's method of static optimisation was applied in offline parametric identification. Parameters of the mathematical models were determined according to minimisation of the mean-square error of the stator current and of the angular velocity. In laboratory tests the influence of the excitation signals and the plan of the experiments on the values of identified parameters were shown. The experimental validation was carried out for the laboratory model of the inverter drive system with PMSM of rated power 2.5 kW.
{"title":"Parametric Identification of PMSM Mathematical Model","authors":"L. Zawarczynski, T. Stefanski","doi":"10.1109/MMAR.2019.8864702","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864702","url":null,"abstract":"The problems of mathematical modelling and parameter identification of PMSM (Permanent Magnet Synchronous Motor) mathematical model were analysed. The numerical Box's method of static optimisation was applied in offline parametric identification. Parameters of the mathematical models were determined according to minimisation of the mean-square error of the stator current and of the angular velocity. In laboratory tests the influence of the excitation signals and the plan of the experiments on the values of identified parameters were shown. The experimental validation was carried out for the laboratory model of the inverter drive system with PMSM of rated power 2.5 kW.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"6 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":"114416747","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.2019.8864627
Czeslaw Smutnicki
The paper reports very recent results dealing with a prevalent case of so called cyclical manufacturing/production systems supplying various products in lots with inter-lots setup times. Setups appear between series of different goods. We propose a convenient approach for modeling and approximate solving, which uses our previous findings developed already for classical systems occurring in operations research (OR) field, namely job-shop scheduling problem with setups, as well as those proved for cyclical job-shop. Analysis is carried out for a general structure of manufacturing system, namely the job-shop scheduling problem because of practical applicability of this model. We consider chiefly the modelling aspect by using combinatorial representation of a solution with the support of unique class of graphs. We propose the method of finding/evaluating the minimal cycle time for given processing order by using the graph and some special features of the problem.
{"title":"Cyclic Scheduling of Lots with Setup Times","authors":"Czeslaw Smutnicki","doi":"10.1109/MMAR.2019.8864627","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864627","url":null,"abstract":"The paper reports very recent results dealing with a prevalent case of so called cyclical manufacturing/production systems supplying various products in lots with inter-lots setup times. Setups appear between series of different goods. We propose a convenient approach for modeling and approximate solving, which uses our previous findings developed already for classical systems occurring in operations research (OR) field, namely job-shop scheduling problem with setups, as well as those proved for cyclical job-shop. Analysis is carried out for a general structure of manufacturing system, namely the job-shop scheduling problem because of practical applicability of this model. We consider chiefly the modelling aspect by using combinatorial representation of a solution with the support of unique class of graphs. We propose the method of finding/evaluating the minimal cycle time for given processing order by using the graph and some special features of the problem.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"50 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":"121534534","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.2019.8864667
M. Bonini, Augusto Urru, W. Echelmeyer
In standardized sectors such as the automotive, the cost-benefit ratio of automation solutions is high as they contribute to increase capacity, decrease costs and improve product quality. In less standardized application fields, the contribution of automation to improvements in capacity, cost and quality blurs. The automation of complex and unstructured tasks requires sophisticated, expensive and low-performing systems, whose impact on product quality is oftentimes not directly perceived by customers. As a result, the full automation of process chains in the general manufacturing or the logistic sectors is often a sub-optimal solution. Taking the distance from the false idea that a process should be either fully automated, or fully manual, this paper presents a novel heuristic method for design of lean human-robot interaction, the Quality Interaction Function Deployment, with the objective of the “right level of automation”. Functions are divided among human and automated agents and several automation scenarios are created and evaluated with respect to their compliance to the requirements of all process' stakeholders. As a result, synergies among operators (manual tasks) and machines (automated tasks) are improved, thus reducing time-losses and increasing productivity.
{"title":"The Quality Interaction Function Deployment for lean Human-Robot Interaction","authors":"M. Bonini, Augusto Urru, W. Echelmeyer","doi":"10.1109/MMAR.2019.8864667","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864667","url":null,"abstract":"In standardized sectors such as the automotive, the cost-benefit ratio of automation solutions is high as they contribute to increase capacity, decrease costs and improve product quality. In less standardized application fields, the contribution of automation to improvements in capacity, cost and quality blurs. The automation of complex and unstructured tasks requires sophisticated, expensive and low-performing systems, whose impact on product quality is oftentimes not directly perceived by customers. As a result, the full automation of process chains in the general manufacturing or the logistic sectors is often a sub-optimal solution. Taking the distance from the false idea that a process should be either fully automated, or fully manual, this paper presents a novel heuristic method for design of lean human-robot interaction, the Quality Interaction Function Deployment, with the objective of the “right level of automation”. Functions are divided among human and automated agents and several automation scenarios are created and evaluated with respect to their compliance to the requirements of all process' stakeholders. As a result, synergies among operators (manual tasks) and machines (automated tasks) are improved, thus reducing time-losses and increasing productivity.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"32 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":"117100151","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.2019.8864609
M. Blachuta, Z. Rymarski, R. Bieda, K. Bernacki, R. Grygiel
The paper presents modeling and simulation of DC/AC inverters with PID controllers designed so as to induce time-scale separation between fast mode of controller and slow mode of the output signal. The sampled data PWM system is modeled using its quasi-continuous time representation. SIMULINK models are used to verify approximations used. The results are verified on a real inverter.
{"title":"Design, Modeling and Simulation of PID Control for DC/AC Inverters","authors":"M. Blachuta, Z. Rymarski, R. Bieda, K. Bernacki, R. Grygiel","doi":"10.1109/MMAR.2019.8864609","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864609","url":null,"abstract":"The paper presents modeling and simulation of DC/AC inverters with PID controllers designed so as to induce time-scale separation between fast mode of controller and slow mode of the output signal. The sampled data PWM system is modeled using its quasi-continuous time representation. SIMULINK models are used to verify approximations used. The results are verified on a real inverter.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"59 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":"126425764","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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