Pub Date : 2019-08-01DOI: 10.1109/MMAR.2019.8864622
Kamil Klimkowicz, Robert Maniarski, M. Patan
The paper discuss an effective approach to iterative learning control synthesis for a class of distributed parameter systems described by partial differential equations with biharmonic operator. The study is carried out based on the example of transverse displacements in a cantilever beam induced by the external loads. The sufficient conditions for the convergence of the proposed iterative control law are formulated. Also, the resulting control learning scheme supported by effective implementation based on the finite element method was investigated subject to the different configurations of actuator/sensor field.
{"title":"Iterative learning control of deflections in vibrating beam","authors":"Kamil Klimkowicz, Robert Maniarski, M. Patan","doi":"10.1109/MMAR.2019.8864622","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864622","url":null,"abstract":"The paper discuss an effective approach to iterative learning control synthesis for a class of distributed parameter systems described by partial differential equations with biharmonic operator. The study is carried out based on the example of transverse displacements in a cantilever beam induced by the external loads. The sufficient conditions for the convergence of the proposed iterative control law are formulated. Also, the resulting control learning scheme supported by effective implementation based on the finite element method was investigated subject to the different configurations of actuator/sensor field.","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":"125587589","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.2019.8864658
P. T. Anh, A. Babiarz, A. Czornik, M. Niezabitowski, S. Siegmund
This paper discusses dynamic properties of discrete Volterra equations of convolution type. The asymptotic separation of solutions is studied. More precisely, a polynomial lower bound for the norm of differences between two different solutions of discrete Volterra equations of convolution type is presented. We apply this result to the theory of fractional difference equations.
{"title":"On asymptotic properties of discrete Volterra equations of convolution type","authors":"P. T. Anh, A. Babiarz, A. Czornik, M. Niezabitowski, S. Siegmund","doi":"10.1109/MMAR.2019.8864658","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864658","url":null,"abstract":"This paper discusses dynamic properties of discrete Volterra equations of convolution type. The asymptotic separation of solutions is studied. More precisely, a polynomial lower bound for the norm of differences between two different solutions of discrete Volterra equations of convolution type is presented. We apply this result to the theory of fractional difference equations.","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":"129457266","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.2019.8864638
A. Kowalewski, M. Miśkowicz
Extremal problems for integral time lag parabolic systems are presented. An optimal boundary control problem for distributed parabolic systems in which integral time lags appear in the state equations and in the boundary conditions simultaneously is solved. Such equations constitute in a linear approximation a universal mathematical model for many diffusion processes. The time horizon is fixed. Making use of the Dubovicki-Milutin scheme, necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance functionals and constrained control are derived.
{"title":"Extremal Problems for Integral Time Lag Parabolic Systems","authors":"A. Kowalewski, M. Miśkowicz","doi":"10.1109/MMAR.2019.8864638","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864638","url":null,"abstract":"Extremal problems for integral time lag parabolic systems are presented. An optimal boundary control problem for distributed parabolic systems in which integral time lags appear in the state equations and in the boundary conditions simultaneously is solved. Such equations constitute in a linear approximation a universal mathematical model for many diffusion processes. The time horizon is fixed. Making use of the Dubovicki-Milutin scheme, necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance functionals and constrained control are derived.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"65 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":"131131455","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.2019.8864704
D. Knyazkov, G. Kostin, A. Gavrikov, H. Aschemann, A. Rauh
In this paper, a test rig available at the University of Rostock is considered that consists of two co-axial aluminum cylinders heated by a Peltier element (PE) located in between them. The end faces of the cylinders that are not in contact with the PE are thermally insulated. For the assessment of control structures, an accurate finite element (FE) model for the complete system is derived including a detailed thermoelectric model for the PE. Given experimental data from the test rig, characteristic system parameters of the PE - the Seebeck coefficient and the Ohmic resistance - are identified. A comparison of the parametrized overall FE model with validation data shows that the simulation results are in good agreement with experimental data.
{"title":"FEM Modeling and Parameter Identification of Thermoelectrical Processes in Cylindrical Bodies","authors":"D. Knyazkov, G. Kostin, A. Gavrikov, H. Aschemann, A. Rauh","doi":"10.1109/MMAR.2019.8864704","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864704","url":null,"abstract":"In this paper, a test rig available at the University of Rostock is considered that consists of two co-axial aluminum cylinders heated by a Peltier element (PE) located in between them. The end faces of the cylinders that are not in contact with the PE are thermally insulated. For the assessment of control structures, an accurate finite element (FE) model for the complete system is derived including a detailed thermoelectric model for the PE. Given experimental data from the test rig, characteristic system parameters of the PE - the Seebeck coefficient and the Ohmic resistance - are identified. A comparison of the parametrized overall FE model with validation data shows that the simulation results are in good agreement with experimental data.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"31 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":"130595124","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.2019.8864728
D. Schitz, H. Aschemann
Fuel cells are in risk of starvation due to a possible drop of the oxygen partial pressure during a dynamic operation. Therefore, feedback control of the cathode pressure plays an important role towards an efficient operation of a polymer electrolyte membrane (PEM) fuel cell system. In this paper, hence, a model-based nonlinear pressure control approach using a variable turbine geometry (VTG) is presented. The system model is derived from physical considerations in symbolic form, and parametrized by a least-squares parameter identification. As the derived dynamic model of the cathode subsystem is highly nonlinear, appropriate techniques using differential flatness are applied. Moreover, a sigma-point Kalman filter (SPKF) provides accurate estimates for the state variables and a lumped disturbance. Simulation results show the effectiveness and illustrate the achieved control performance.
{"title":"Model-Based Nonlinear Control of the Cathode Pressure of a PEM Fuel Cell System Using a VTG","authors":"D. Schitz, H. Aschemann","doi":"10.1109/MMAR.2019.8864728","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864728","url":null,"abstract":"Fuel cells are in risk of starvation due to a possible drop of the oxygen partial pressure during a dynamic operation. Therefore, feedback control of the cathode pressure plays an important role towards an efficient operation of a polymer electrolyte membrane (PEM) fuel cell system. In this paper, hence, a model-based nonlinear pressure control approach using a variable turbine geometry (VTG) is presented. The system model is derived from physical considerations in symbolic form, and parametrized by a least-squares parameter identification. As the derived dynamic model of the cathode subsystem is highly nonlinear, appropriate techniques using differential flatness are applied. Moreover, a sigma-point Kalman filter (SPKF) provides accurate estimates for the state variables and a lumped disturbance. Simulation results show the effectiveness and illustrate the achieved control performance.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"27 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":"133949059","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.2019.8864716
P. Domański, M. Lawrynczuk, Sebastian Golonka, B. Moszowski, Piotr Matyja
This paper is concerned with Control Performance Assessment (CPA) of an industrial nitric fertilizer production installation. As many as more than 200 single or cascaded loops based on the PID control algorithm are considered. Effectiveness of various control loop quality measures is compared: integral indexes, factors of different probabilistic density functions and persistence fractal measures are taken into account. Finally, the most informative ones are integrated into a single radar plot being the common platform for comparison. Analysis is accompanied with PID settings analysis showing further tuning directions. As each of the installation elements is in different status, the results enable to point out necessary steps for future plant improvements.
{"title":"Multi-criteria Loop Quality Assessment: A Large-Scale Industrial Case Study","authors":"P. Domański, M. Lawrynczuk, Sebastian Golonka, B. Moszowski, Piotr Matyja","doi":"10.1109/MMAR.2019.8864716","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864716","url":null,"abstract":"This paper is concerned with Control Performance Assessment (CPA) of an industrial nitric fertilizer production installation. As many as more than 200 single or cascaded loops based on the PID control algorithm are considered. Effectiveness of various control loop quality measures is compared: integral indexes, factors of different probabilistic density functions and persistence fractal measures are taken into account. Finally, the most informative ones are integrated into a single radar plot being the common platform for comparison. Analysis is accompanied with PID settings analysis showing further tuning directions. As each of the installation elements is in different status, the results enable to point out necessary steps for future plant improvements.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"43 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":"126776974","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.2019.8864611
Z. Kowalczuk, J. Cybulski, Michał Czubenko
The most popular method for optimizing a certain strategy based on a reward is Reinforcement Learning (RL). Lately, a big challenge for this technique are computer games such as StarCraft II which is a real-time strategy game, created by Blizzard. The main idea of this game is to fight between agents and control objects on the battlefield in order to defeat the enemy. This work concerns creating an autonomous bot using reinforced learning, in particular, the Q-Learning algorithm for playing StarCraft. JamesBot consists of three parts. State Manager processes relevant information from the environment. Decision Manager consists of a table implementation of the Q-Learning algorithm, which assigns actions to states, and the epsilon-greedy strategy, which determines the behavior of the bot. In turn, Action Manager is responsible for executing commands. Testing bots involves fighting the default (simple) agent built into the game. Although JamesBot played better than the default (random) agent, it failed to gain the ability to defeat the opponent. The obtained results, however, are quite promising in terms of the possibilities of further development.
{"title":"JamesBot - an intelligent agent playing StarCraft II","authors":"Z. Kowalczuk, J. Cybulski, Michał Czubenko","doi":"10.1109/MMAR.2019.8864611","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864611","url":null,"abstract":"The most popular method for optimizing a certain strategy based on a reward is Reinforcement Learning (RL). Lately, a big challenge for this technique are computer games such as StarCraft II which is a real-time strategy game, created by Blizzard. The main idea of this game is to fight between agents and control objects on the battlefield in order to defeat the enemy. This work concerns creating an autonomous bot using reinforced learning, in particular, the Q-Learning algorithm for playing StarCraft. JamesBot consists of three parts. State Manager processes relevant information from the environment. Decision Manager consists of a table implementation of the Q-Learning algorithm, which assigns actions to states, and the epsilon-greedy strategy, which determines the behavior of the bot. In turn, Action Manager is responsible for executing commands. Testing bots involves fighting the default (simple) agent built into the game. Although JamesBot played better than the default (random) agent, it failed to gain the ability to defeat the opponent. The obtained results, however, are quite promising in terms of the possibilities of further development.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"29 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":"134503297","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.2019.8864659
Kamil Lelowicz
This document presents mathematical model of camera with strong lens distortion that can be used in calibration process and in a computer vision algorithms. Both radial and tangential aberration are taken into consideration. Moreover, a comparison of the use of the division and Brown-Conrady models has been presented.
{"title":"Camera model for lens with strong distortion in automotive application","authors":"Kamil Lelowicz","doi":"10.1109/MMAR.2019.8864659","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864659","url":null,"abstract":"This document presents mathematical model of camera with strong lens distortion that can be used in calibration process and in a computer vision algorithms. Both radial and tangential aberration are taken into consideration. Moreover, a comparison of the use of the division and Brown-Conrady models has been presented.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"45 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":"132288901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-01DOI: 10.1109/MMAR.2019.8864694
Dawid Owoc, K. Ludwiczak, R. Piotrowski
This paper presents a mechatronics design of a low-cost Stewart-Gough platform (SGP) with rotary actuators. The designed SGP is supposed to be applied in a ball & plate control system. The synthesis of the ball & plate control system is also within the subject of the paper. A mechatronics design process of the SGP was conducted with computer-aided design (CAD) software. Unique analytical solutions of an inverse kinematics problem (IKP) of the SGP were presented for both prismatic actuators and rotary actuators. Five geometry constants which affect the final range of movement of the SGP were defined. An interactive movable 3D model of the SGP was created. The 3D model was used to test a range of movement of the SGP and to detect a potential crossing of elements during their motion. A mathematical model of a ball & plate system was designed. A control synthesis was conducted with rapid control prototyping using the MATLAB environment. A prototyped and implemented control law was based on two proportional integral derivative (PID) controllers.
{"title":"Mechatronics Design, Modelling and Controlling of the Stewart-Gough Platform","authors":"Dawid Owoc, K. Ludwiczak, R. Piotrowski","doi":"10.1109/MMAR.2019.8864694","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864694","url":null,"abstract":"This paper presents a mechatronics design of a low-cost Stewart-Gough platform (SGP) with rotary actuators. The designed SGP is supposed to be applied in a ball & plate control system. The synthesis of the ball & plate control system is also within the subject of the paper. A mechatronics design process of the SGP was conducted with computer-aided design (CAD) software. Unique analytical solutions of an inverse kinematics problem (IKP) of the SGP were presented for both prismatic actuators and rotary actuators. Five geometry constants which affect the final range of movement of the SGP were defined. An interactive movable 3D model of the SGP was created. The 3D model was used to test a range of movement of the SGP and to detect a potential crossing of elements during their motion. A mathematical model of a ball & plate system was designed. A control synthesis was conducted with rapid control prototyping using the MATLAB environment. A prototyped and implemented control law was based on two proportional integral derivative (PID) controllers.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130554790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-01DOI: 10.1109/MMAR.2019.8864713
E. Kurniawan, B. Widiyatmoko, D. Bayuwati, M. Afandi, Suryadi, M. Y. Rofianingrum
This paper presents the design of discrete-time model reference learning control of linear system for tracking aperiodic signal while rejecting periodic disturbance. The design integrates Model Reference Control (MRC) and Iterative Learning Control (ILC) in order to achieve the desired objective. The use of MRC makes tracking any reference signal is possible, while ILC is used to eliminate the periodic disturbance. The proposed design is simulated on LTI system with repetitive output disturbance. Model reference learning control with several ILC learning gains are simulated. It is shown that ILC learning gain can be tuned to determine the convergence rate and stability of the whole system. Simulation results indicate that the accurate tracking of aperiodic reference can be achieved as long as the plant and disturbance models are accurately known.
{"title":"Discrete-Time Design of Model Reference Learning Control System","authors":"E. Kurniawan, B. Widiyatmoko, D. Bayuwati, M. Afandi, Suryadi, M. Y. Rofianingrum","doi":"10.1109/MMAR.2019.8864713","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864713","url":null,"abstract":"This paper presents the design of discrete-time model reference learning control of linear system for tracking aperiodic signal while rejecting periodic disturbance. The design integrates Model Reference Control (MRC) and Iterative Learning Control (ILC) in order to achieve the desired objective. The use of MRC makes tracking any reference signal is possible, while ILC is used to eliminate the periodic disturbance. The proposed design is simulated on LTI system with repetitive output disturbance. Model reference learning control with several ILC learning gains are simulated. It is shown that ILC learning gain can be tuned to determine the convergence rate and stability of the whole system. Simulation results indicate that the accurate tracking of aperiodic reference can be achieved as long as the plant and disturbance models are accurately known.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"78 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":"128327509","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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