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.2019.8864671
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.2019.8864609
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}
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.2019.8864611
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.2019.8864638
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.2019.8864692
R. Różycki, Grzegorz Waligóra
We consider a resource allocation problem, where a limited renewable continuous resource has to be assigned to independent, nonpreemptable jobs in such a way that the schedule length is minimized. Each job is characterized by the same profile determined by a resource usage function. We assume that this function is linear and decreasing. Its initial value as well as a drop coefficient are the same for each job. Although there is no additional discrete resource (i.e. the number of machines is unlimited), the problem may be treated as a scheduling problem, since a limited amount of the continuous resource prevents the parallel execution of all jobs. Thus, to find the schedule with the minimum length, it is necessary to find an optimal sequence of moments when consecutive jobs start. We propose an iterative algorithm to find such moments. Moreover, we describe an interesting property of solutions of the considered problem.
{"title":"Scheduling identical jobs with linear resource usage profile to minimize schedule length","authors":"R. Różycki, Grzegorz Waligóra","doi":"10.1109/MMAR.2019.8864692","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864692","url":null,"abstract":"We consider a resource allocation problem, where a limited renewable continuous resource has to be assigned to independent, nonpreemptable jobs in such a way that the schedule length is minimized. Each job is characterized by the same profile determined by a resource usage function. We assume that this function is linear and decreasing. Its initial value as well as a drop coefficient are the same for each job. Although there is no additional discrete resource (i.e. the number of machines is unlimited), the problem may be treated as a scheduling problem, since a limited amount of the continuous resource prevents the parallel execution of all jobs. Thus, to find the schedule with the minimum length, it is necessary to find an optimal sequence of moments when consecutive jobs start. We propose an iterative algorithm to find such moments. Moreover, we describe an interesting property of solutions of the considered problem.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124219837","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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