Pub Date : 2011-09-29DOI: 10.1109/MMAR.2011.6031336
Lukasz Malinski, J. Figwer
In the paper stationarity of random processes obtained from elementary bilinear time-series models is analysed. It is shown in the presented analysis that elementary bilinear time-series models can be interpreted as linear time-series with time varying random parameters. The analysis is illustrated by simulation experiments showing time dependencies of some statistical moments of the discussed random processes.
{"title":"On stationarity of elementary bilinear time-series","authors":"Lukasz Malinski, J. Figwer","doi":"10.1109/MMAR.2011.6031336","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031336","url":null,"abstract":"In the paper stationarity of random processes obtained from elementary bilinear time-series models is analysed. It is shown in the presented analysis that elementary bilinear time-series models can be interpreted as linear time-series with time varying random parameters. The analysis is illustrated by simulation experiments showing time dependencies of some statistical moments of the discussed random processes.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"266 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":"116613566","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.2011.6031317
C. Zieliński, Tomasz Kornuta
The paper focuses on the problem of Cartesian trajectory generation for manipulators. The proposed solution relies on the computation of spline coefficients both in the Cartesian and joint spaces. The method takes into account motor capabilities by checking maximum velocity and acceleration constraints. The solution was experimentally verified on a novel manipulator with hybrid, parallel-serial kinematic structure.
{"title":"Generation of linear cartesian trajectories for robots using industrial motion-controllers","authors":"C. Zieliński, Tomasz Kornuta","doi":"10.1109/MMAR.2011.6031317","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031317","url":null,"abstract":"The paper focuses on the problem of Cartesian trajectory generation for manipulators. The proposed solution relies on the computation of spline coefficients both in the Cartesian and joint spaces. The method takes into account motor capabilities by checking maximum velocity and acceleration constraints. The solution was experimentally verified on a novel manipulator with hybrid, parallel-serial kinematic structure.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"355 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":"132687928","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.2011.6031366
Lukasz Malinski
Reversibility of elementary bilinear time-series model is very important issue in parametric model identification based on minimisation of mean square value of prediction error. The reason is that estimation of parameters of irreversible time-series model is irreversible it is difficult. There is already very well known mathematical reversibility condition expressed as a function of the model's coefficient, which has to be identified. The paper contains a discussion of simple condition, which can provide information about model's reversibility before its identification.
{"title":"The reversibility condition for elementary bilinear time-series model based on output sequence alone","authors":"Lukasz Malinski","doi":"10.1109/MMAR.2011.6031366","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031366","url":null,"abstract":"Reversibility of elementary bilinear time-series model is very important issue in parametric model identification based on minimisation of mean square value of prediction error. The reason is that estimation of parameters of irreversible time-series model is irreversible it is difficult. There is already very well known mathematical reversibility condition expressed as a function of the model's coefficient, which has to be identified. The paper contains a discussion of simple condition, which can provide information about model's reversibility before its identification.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"9 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":"132203919","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.2011.6031337
David Novak, P. Čermák
In this paper, the possibility of using multi-agent systems principles in design of universal Fail - safe UAV structure is presented. The advantages of this approach and a particular system design are introduced. The benefits of multi-agent approach to design the UAV system are related to its desired properties, which is fail safe feature, meaning the resistance of the system to software and hardware failures. There is also proposed a system's ability to deal with emergency situations and in eventuality of crash, minimal damage caused by accidents. In this context, the ability of “autonomous controlled accident” is described.
{"title":"Advantages of using multi-agent principles in FAIL - SAFE UAV system design","authors":"David Novak, P. Čermák","doi":"10.1109/MMAR.2011.6031337","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031337","url":null,"abstract":"In this paper, the possibility of using multi-agent systems principles in design of universal Fail - safe UAV structure is presented. The advantages of this approach and a particular system design are introduced. The benefits of multi-agent approach to design the UAV system are related to its desired properties, which is fail safe feature, meaning the resistance of the system to software and hardware failures. There is also proposed a system's ability to deal with emergency situations and in eventuality of crash, minimal damage caused by accidents. In this context, the ability of “autonomous controlled accident” is described.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"5 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":"133220249","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.2011.6031310
M. Mika, R. Różycki, Grzegorz Waligóra
In this paper a discrete-continuous project scheduling problem with discounted cash flows is considered. In discrete-continuous project scheduling activities require for their processing discrete and continuous resources. Processing rate of an activity depends on the amount of the continuous resource allotted to this activity at a time. A positive cash flow is associated with each activity. A common payment model - payments at activity completion times is considered. The objective is the maximization of the net present value of all cash flows of the project. Applications of two local search metaheuristics - simulated annealing and tabu search are described. The algorithms are compared on the basis of a computational experiment, the results are analyzed and discussed. Some conclusions as well as directions for further research are given.
{"title":"Local search metaheuristics for some discrete-continuous project scheduling problems with discounted cash flows","authors":"M. Mika, R. Różycki, Grzegorz Waligóra","doi":"10.1109/MMAR.2011.6031310","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031310","url":null,"abstract":"In this paper a discrete-continuous project scheduling problem with discounted cash flows is considered. In discrete-continuous project scheduling activities require for their processing discrete and continuous resources. Processing rate of an activity depends on the amount of the continuous resource allotted to this activity at a time. A positive cash flow is associated with each activity. A common payment model - payments at activity completion times is considered. The objective is the maximization of the net present value of all cash flows of the project. Applications of two local search metaheuristics - simulated annealing and tabu search are described. The algorithms are compared on the basis of a computational experiment, the results are analyzed and discussed. Some conclusions as well as directions for further research are given.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"11 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":"133377433","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.2011.6031352
Michael Tomforde, W. Drewelow, M. Schultalbers
Reducing exhaust emissions is one of the biggest challenges facing the automotive engineering community today. In order to comply with future more stringent emission standards, the air-fuel ratio control must be improved. Commonly used control concepts do not account for the oxygen storage ability of the three-way catalyst, even though the storage state mainly influences post-catalyst exhaust emissions. In this paper a new air-fuel ratio control strategy based on the oxygen storage state is presented. Since the oxygen storage state can not be measured directly, a major component of the controller is a newly developed catalyst model that accounts for the spatial distribution of oxygen within the catalyst. The proposed control concept has been successfully tested on a vehicle equipped with a turbocharged, direct injection gasoline engine.
{"title":"Air-fuel ratio control with respect to oxygen storage dynamics","authors":"Michael Tomforde, W. Drewelow, M. Schultalbers","doi":"10.1109/MMAR.2011.6031352","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031352","url":null,"abstract":"Reducing exhaust emissions is one of the biggest challenges facing the automotive engineering community today. In order to comply with future more stringent emission standards, the air-fuel ratio control must be improved. Commonly used control concepts do not account for the oxygen storage ability of the three-way catalyst, even though the storage state mainly influences post-catalyst exhaust emissions. In this paper a new air-fuel ratio control strategy based on the oxygen storage state is presented. Since the oxygen storage state can not be measured directly, a major component of the controller is a newly developed catalyst model that accounts for the spatial distribution of oxygen within the catalyst. The proposed control concept has been successfully tested on a vehicle equipped with a turbocharged, direct injection gasoline engine.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"820 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133287981","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.2011.6031328
A. Rauh, Irina Krasnochtanova, H. Aschemann
In this paper, the properties of a criterion to quantify the overestimation arising in both interval evaluation of multidimensional nonlinear multivariate functions and interval simulation of dynamical systems are discussed. Computationally efficient, easy-to-implement consistency tests which are based on this criterion are developed for static as well as dynamic nonlinearities to find tight guaranteed enclosures of all possible results. The efficiency of these consistency tests is demonstrated for steady-state analysis of an electrical bridge circuit and for dynamical simulation of an activated sludge process in biological wastewater treatment under consideration of parameter uncertainties.
{"title":"Quantification of overestimation in interval simulations of uncertain systems","authors":"A. Rauh, Irina Krasnochtanova, H. Aschemann","doi":"10.1109/MMAR.2011.6031328","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031328","url":null,"abstract":"In this paper, the properties of a criterion to quantify the overestimation arising in both interval evaluation of multidimensional nonlinear multivariate functions and interval simulation of dynamical systems are discussed. Computationally efficient, easy-to-implement consistency tests which are based on this criterion are developed for static as well as dynamic nonlinearities to find tight guaranteed enclosures of all possible results. The efficiency of these consistency tests is demonstrated for steady-state analysis of an electrical bridge circuit and for dynamical simulation of an activated sludge process in biological wastewater treatment under consideration of parameter uncertainties.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"8 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":"122511266","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.2011.6031372
K. Bartecki
In this paper, approximation of the spatio-temporal response of a hyperbolic distributed parameter system with the use of the proper orthogonal decomposition method is discussed. Based on a simulation data set, representing the profile of a selected process variable, the model reduction procedure is performed. The procedure consists in the projection of the original data into the subspace represented by eigenvectors of the spatial covariance matrix, corresponding to its highest eigenvalues. Influence of the approximation order on the response approximation error and on the data compression ratio is also analyzed.
{"title":"Approximation of a class of distributed parameter systems using proper orthogonal decomposition","authors":"K. Bartecki","doi":"10.1109/MMAR.2011.6031372","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031372","url":null,"abstract":"In this paper, approximation of the spatio-temporal response of a hyperbolic distributed parameter system with the use of the proper orthogonal decomposition method is discussed. Based on a simulation data set, representing the profile of a selected process variable, the model reduction procedure is performed. The procedure consists in the projection of the original data into the subspace represented by eigenvectors of the spatial covariance matrix, corresponding to its highest eigenvalues. Influence of the approximation order on the response approximation error and on the data compression ratio is also analyzed.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"11 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":"124069541","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.2011.6031355
F. Rongère, W. Khalil, J. Kobus
This paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. The inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.
{"title":"Dynamic modeling and simulation of rowing with a robotics formalism","authors":"F. Rongère, W. Khalil, J. Kobus","doi":"10.1109/MMAR.2011.6031355","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031355","url":null,"abstract":"This paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. The inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"28 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":"127875356","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.2011.6031380
Peter Häuptle, P. Hubinský, G. Gruhler
The automation industry seeks for positioning systems with high dynamics and precision. In robotics or other light-weight applications where mechatronic drives are used, the end-effector often undesirably oscillates due to a relatively low system damping. Knowing the frequency of the damped oscillation would allow, e.g. “posicast”- or “input shaping”-control methods. Thus, suppression or even elimination of such an oscillation can be achieved. When the frequency changes due to e.g. variable loads or gravitational issues, the control settings should be changed as well. Then dynamics/precision can be held among non oscillation. Having a method which adapts e.g. a shaper to the actual frequency would allow a better suppression of such an oscillation. During run time, several sensor data of a mechatronic system contains this frequency more or less incisive. Several methods which may estimate online (during run time) this frequency in “transient”- as well as “semi-steady”-state were discussed in the following.
{"title":"Investigation in online-methods estimating the oscillating frequency to improve control adaptively","authors":"Peter Häuptle, P. Hubinský, G. Gruhler","doi":"10.1109/MMAR.2011.6031380","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031380","url":null,"abstract":"The automation industry seeks for positioning systems with high dynamics and precision. In robotics or other light-weight applications where mechatronic drives are used, the end-effector often undesirably oscillates due to a relatively low system damping. Knowing the frequency of the damped oscillation would allow, e.g. “posicast”- or “input shaping”-control methods. Thus, suppression or even elimination of such an oscillation can be achieved. When the frequency changes due to e.g. variable loads or gravitational issues, the control settings should be changed as well. Then dynamics/precision can be held among non oscillation. Having a method which adapts e.g. a shaper to the actual frequency would allow a better suppression of such an oscillation. During run time, several sensor data of a mechatronic system contains this frequency more or less incisive. Several methods which may estimate online (during run time) this frequency in “transient”- as well as “semi-steady”-state were discussed in the following.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"46 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":"127936256","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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