Pub Date : 2011-09-29DOI: 10.1109/MMAR.2011.6031344
W. Mickiewicz, M. Jablonski, Michal Pyla
In the paper a portable automatized system for measurements of vectorial effects in a sound intensity field is presented. The system enables the realization of the point-by-point measurements of the sound intensity field and consists of 3 main blocks realised in LabVIEW environment: positioning system control, multichannel data acquisition and signal processing. This hardware-software solution allows the determination of the spatial vector distribution of sound intensity. To estimate sound intensity vector at each measurement point in space, sound pressure scalar and three component (x, y, z) of sound particle velocity (3D) vector must be measured. It is done using the condenser microphone coupled with 3D Microflown hot wire anemometry USP type sensor. The system controls positioning of the measuring probe in sequential points, acquires 4 data channels (pressure and 3 velocity components) and processes the data to obtain the sound intensity values in each measuring points. All the computation needed is done in real-time.
本文介绍了一种用于声强场矢量效应测量的便携式自动化系统。该系统能够实现声强场的逐点测量，主要由定位系统控制、多通道数据采集和信号处理3个模块组成，在LabVIEW环境下实现。这种硬件软件解决方案允许确定声强的空间矢量分布。为了估计空间中每个测点的声强矢量，必须测量声压标量和声粒子速度(3D)矢量的三分量(x, y, z)。采用电容式传声器与三维微飞热线风速计USP型传感器相结合。系统控制测量探头在顺序测点的定位，获取4个数据通道(压力分量和3个速度分量)，并对数据进行处理，得到每个测点的声强值。所有需要的计算都是实时完成的。
{"title":"Automatized system for 3D sound intensity field measurement","authors":"W. Mickiewicz, M. Jablonski, Michal Pyla","doi":"10.1109/MMAR.2011.6031344","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031344","url":null,"abstract":"In the paper a portable automatized system for measurements of vectorial effects in a sound intensity field is presented. The system enables the realization of the point-by-point measurements of the sound intensity field and consists of 3 main blocks realised in LabVIEW environment: positioning system control, multichannel data acquisition and signal processing. This hardware-software solution allows the determination of the spatial vector distribution of sound intensity. To estimate sound intensity vector at each measurement point in space, sound pressure scalar and three component (x, y, z) of sound particle velocity (3D) vector must be measured. It is done using the condenser microphone coupled with 3D Microflown hot wire anemometry USP type sensor. The system controls positioning of the measuring probe in sequential points, acquires 4 data channels (pressure and 3 velocity components) and processes the data to obtain the sound intensity values in each measuring points. All the computation needed is done in real-time.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128628437","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031373
M. Ibraheem
The work presented in this paper addresses a practical approach to the problem of 3D pose estimation. The proposed method extends a classical 2D dead reckoning system to a 3D pose estimation system by merging data from odometry and multiple low cost rate gyros and accelerometers. The localization problem is decomposed into two parts, i.e. attitude estimation followed by pose estimation. Based on the innovation sequence, the pitch and roll angles are estimated by an R-adaptive Kalman filter. The adaptive filter is initialized with the maximum measurement noise level resulting from non-gravitational acceleration. Based on the discrepancy between the theoretical and the actual innovation covariance, the measurement covariance R is adjusted by applying a scalar gain for each time step. Heading is calculated based on the gyrodometry algorithm. Finally, the attitude information is fused with data coming from the wheel encoders in order to estimate the 3D position of the robotic walker. Experimental results to investigate the performance of the proposed adaptive Kalman filter and the 3D localization system are presented.
{"title":"Towards a 3D localization system for an intelligent walker in uneven outdoor environments","authors":"M. Ibraheem","doi":"10.1109/MMAR.2011.6031373","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031373","url":null,"abstract":"The work presented in this paper addresses a practical approach to the problem of 3D pose estimation. The proposed method extends a classical 2D dead reckoning system to a 3D pose estimation system by merging data from odometry and multiple low cost rate gyros and accelerometers. The localization problem is decomposed into two parts, i.e. attitude estimation followed by pose estimation. Based on the innovation sequence, the pitch and roll angles are estimated by an R-adaptive Kalman filter. The adaptive filter is initialized with the maximum measurement noise level resulting from non-gravitational acceleration. Based on the discrepancy between the theoretical and the actual innovation covariance, the measurement covariance R is adjusted by applying a scalar gain for each time step. Heading is calculated based on the gyrodometry algorithm. Finally, the attitude information is fused with data coming from the wheel encoders in order to estimate the 3D position of the robotic walker. Experimental results to investigate the performance of the proposed adaptive Kalman filter and the 3D localization system are presented.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130259707","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031377
K. Arent, B. Kreczmer, Lukasz Malek
The paper refers to the issue of robot companion being able to migrate between different embodiments. The main attention is focused on the case when two or more companions can share the same embodiment. It is shown that some behavioural characteristics can be significant in the process of recognition of the companion's identity. The results are based on a video based experimental study. Animations for this study were prepared using a dedicated software.
{"title":"Identity of socially interactive robotic twins: Initial results of VHRI study","authors":"K. Arent, B. Kreczmer, Lukasz Malek","doi":"10.1109/MMAR.2011.6031377","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031377","url":null,"abstract":"The paper refers to the issue of robot companion being able to migrate between different embodiments. The main attention is focused on the case when two or more companions can share the same embodiment. It is shown that some behavioural characteristics can be significant in the process of recognition of the companion's identity. The results are based on a video based experimental study. Animations for this study were prepared using a dedicated software.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129212332","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031349
P. Ignaciuk, A. Bartoszewicz
In this paper we address the problem of efficient control of periodic-review perishable inventory systems. In the considered systems the stock used to fulfill unknown, variable demand deteriorates exponentially, and is replenished with delay from several supply sources. The supply options are characterized by different lead times, spanning multiple review periods. We develop a new supply policy based on discrete-time sliding-mode (DSM) control. The proposed DSM controller with the sliding plane selected for a dead-beat scheme ensures the maximum service level with smaller holding costs and smoother ordering signal as compared to the classical order-up-to policy.
{"title":"DSM control of inventory systems with deteriorating stock and multiple supply sources","authors":"P. Ignaciuk, A. Bartoszewicz","doi":"10.1109/MMAR.2011.6031349","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031349","url":null,"abstract":"In this paper we address the problem of efficient control of periodic-review perishable inventory systems. In the considered systems the stock used to fulfill unknown, variable demand deteriorates exponentially, and is replenished with delay from several supply sources. The supply options are characterized by different lead times, spanning multiple review periods. We develop a new supply policy based on discrete-time sliding-mode (DSM) control. The proposed DSM controller with the sliding plane selected for a dead-beat scheme ensures the maximum service level with smaller holding costs and smoother ordering signal as compared to the classical order-up-to policy.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125387133","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031368
K. Kaliński, C. Buchholz
Purpose of the paper is to demonstrate current research addressed to implementation of time changeable energy performance index obtained by Kalinski [1, 2], applied to three-wheeled mobile platform. In order to operate optimally during performance of any operations, a mobile robot must understand the effects of its own dynamic model and interactions with the track. Propulsion system should be optimised to withstand environmental conditions and acquire precise motion control. Additionally, during the design process, it is required to consider limitation of accessible control platforms and systems. Therefore, it is natural to implement control algorithms to achieve prescribed optimal motion and immune system for imperfectness of the model, trajectory disturbances and electronics limitations.
{"title":"Error minimisation in orientation and localization by correction velocities for three-wheeled mobile platform at time changeable energy performance index","authors":"K. Kaliński, C. Buchholz","doi":"10.1109/MMAR.2011.6031368","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031368","url":null,"abstract":"Purpose of the paper is to demonstrate current research addressed to implementation of time changeable energy performance index obtained by Kalinski [1, 2], applied to three-wheeled mobile platform. In order to operate optimally during performance of any operations, a mobile robot must understand the effects of its own dynamic model and interactions with the track. Propulsion system should be optimised to withstand environmental conditions and acquire precise motion control. Additionally, during the design process, it is required to consider limitation of accessible control platforms and systems. Therefore, it is natural to implement control algorithms to achieve prescribed optimal motion and immune system for imperfectness of the model, trajectory disturbances and electronics limitations.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"2018 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121518789","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031305
J. Figwer
In the paper an approach to discrete-time frequency response identification in the case of periodic disturbances is presented. A focus on almost sure convergence of the identified discrete-time frequency response to true plant is given. The presented discussion is illustrated by an example showing effectiveness of the presented approach.
{"title":"Frequency response identification in the case of periodic disturbances","authors":"J. Figwer","doi":"10.1109/MMAR.2011.6031305","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031305","url":null,"abstract":"In the paper an approach to discrete-time frequency response identification in the case of periodic disturbances is presented. A focus on almost sure convergence of the identified discrete-time frequency response to true plant is given. The presented discussion is illustrated by an example showing effectiveness of the presented approach.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126285067","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031375
A. Monjazeb, J. Sasiadek, D. Necsulescu
This paper compares two commonly used algorithms to solve Simultaneous Localization and Mapping (SLAM) problem in order to safely navigate an outdoor autonomous robot in an unknown location and without any access to a priori map. EKF-SLAM is considered as a classical method to solve SLAM problem. This method, however, suffers from two major issues; the quadratic computational complexity and single hypothesis data association. Large number of landmarks in the environment, especially, nearby landmarks, causes extensive error accumulation when the robot is traveling along a desired path. The multi-hypothesis data association property and the linear computational complexity are essential features in FastSLAM method. Those features make this method an alternative to overcome mentioned issues. The FastSLAM algorithm uses Rao-Blackwellised particle filtering to estimate the path of the robot and EKF-SLAM method to estimate locations of landmarks. In case of FastSLAM applications, however, observation noise needs to be reconsidered if the motion measurements are noisy while the range sensor is noiseless. This study suggests optimization of a specific situation of FastSLAM algorithm in case of noise discrepancy.
{"title":"Autonomous navigation among large number of nearby landmarks using FastSLAM and EKF-SLAM - A comparative study","authors":"A. Monjazeb, J. Sasiadek, D. Necsulescu","doi":"10.1109/MMAR.2011.6031375","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031375","url":null,"abstract":"This paper compares two commonly used algorithms to solve Simultaneous Localization and Mapping (SLAM) problem in order to safely navigate an outdoor autonomous robot in an unknown location and without any access to a priori map. EKF-SLAM is considered as a classical method to solve SLAM problem. This method, however, suffers from two major issues; the quadratic computational complexity and single hypothesis data association. Large number of landmarks in the environment, especially, nearby landmarks, causes extensive error accumulation when the robot is traveling along a desired path. The multi-hypothesis data association property and the linear computational complexity are essential features in FastSLAM method. Those features make this method an alternative to overcome mentioned issues. The FastSLAM algorithm uses Rao-Blackwellised particle filtering to estimate the path of the robot and EKF-SLAM method to estimate locations of landmarks. In case of FastSLAM applications, however, observation noise needs to be reconsidered if the motion measurements are noisy while the range sensor is noiseless. This study suggests optimization of a specific situation of FastSLAM algorithm in case of noise discrepancy.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121754893","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031369
M. Tanas, W. Holubowicz, A. Adamczyk, G. Taberski
This paper describes the TALOS project, which is a new way to use autonomous robotic vehicles to strengthen the security of land borders of the European Union. The existing system, based on a network of fixed Border Guard posts and routine patrols of Border Guard officers becomes obsolete and inadequate to counter present-day threats and in addition is economically inefficient. The TALOS system introduces fully autonomous robotic craft, able to perform routine patrols and react to typical situations without constant human supervision. Such robots operate from a fully mobile base, which can be transported and deployed at any place along the EU land border in a matter of hours. Therefore, the robotic component of a border protection system is expected to be a remedy against its current main disadvantages, which are its static nature and predictability. Moreover, an increase in economic efficiency and personal safety of Border Guard officers is also expected.
{"title":"The TALOS project. EU wide robotic border guard system","authors":"M. Tanas, W. Holubowicz, A. Adamczyk, G. Taberski","doi":"10.1109/MMAR.2011.6031369","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031369","url":null,"abstract":"This paper describes the TALOS project, which is a new way to use autonomous robotic vehicles to strengthen the security of land borders of the European Union. The existing system, based on a network of fixed Border Guard posts and routine patrols of Border Guard officers becomes obsolete and inadequate to counter present-day threats and in addition is economically inefficient. The TALOS system introduces fully autonomous robotic craft, able to perform routine patrols and react to typical situations without constant human supervision. Such robots operate from a fully mobile base, which can be transported and deployed at any place along the EU land border in a matter of hours. Therefore, the robotic component of a border protection system is expected to be a remedy against its current main disadvantages, which are its static nature and predictability. Moreover, an increase in economic efficiency and personal safety of Border Guard officers is also expected.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132807285","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031340
Yijian Liu, Shilong Xue
The traditional shaft generator with the thyristor inverter runs on a synchronous generator for compensating the var. A novel marine shaft-driven generator system with two PWM converters is introduced. In this system, one PWM converter is used to convert the varying into the DC energy, the other PWM converter converts the DC energy into AC energy with the fixed frequency and voltage. Based on space vector control, this system maintains the constant voltage and constant frequency of generator and supplies effective power and reactive power to load in ship without the synchronous compensator.
{"title":"Control strategy of the shaft-driven generator based on the PWM converters","authors":"Yijian Liu, Shilong Xue","doi":"10.1109/MMAR.2011.6031340","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031340","url":null,"abstract":"The traditional shaft generator with the thyristor inverter runs on a synchronous generator for compensating the var. A novel marine shaft-driven generator system with two PWM converters is introduced. In this system, one PWM converter is used to convert the varying into the DC energy, the other PWM converter converts the DC energy into AC energy with the fixed frequency and voltage. Based on space vector control, this system maintains the constant voltage and constant frequency of generator and supplies effective power and reactive power to load in ship without the synchronous compensator.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"192 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133809369","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031364
A. Świerniak
A model of a combination of antiangiogenic treatment and chemotherapy is proposed and analyzed. The model is a modified Hahnfeldt model and the analysis has two goals: first of all we check stability of the equilibrium point of the model to find conditions leading to tumour eradication for constant dosing and periodic treatment then we propose an optimization problem and give necessary conditions of its solution. We discuss modifications of the model which enable more realistic description of treatment effects.
{"title":"Control theoretic approach to combined anticancer therapies","authors":"A. Świerniak","doi":"10.1109/MMAR.2011.6031364","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031364","url":null,"abstract":"A model of a combination of antiangiogenic treatment and chemotherapy is proposed and analyzed. The model is a modified Hahnfeldt model and the analysis has two goals: first of all we check stability of the equilibrium point of the model to find conditions leading to tumour eradication for constant dosing and periodic treatment then we propose an optimization problem and give necessary conditions of its solution. We discuss modifications of the model which enable more realistic description of treatment effects.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124138920","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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