Pub Date : 2011-09-29DOI: 10.1109/MMAR.2011.6031383
P. Kolendo, B. Jaworski, R. Smierzchalski
The main goal of the present paper is to discuss the application of the power-law fitness function scaling in the evolutionary method of path planning and its impact on the quality of final solution and the computation time necessary to solve the problem with the described scaling applied. In this paper we use the navigation problem of avoiding collision at sea for testing ground. A wide range of marine collision situations was provided to reveal advantages of power-law scaling application. The performed investigations have shown that the use of power-law scaling in the evolutionary path planning method preserves the diversity of solutions by a larger number of generations in the exploration phase. Results were also compared with a previous research that was performed using linear scaling.
{"title":"Power-law fitness function scaling in the evolutionary method of path planning","authors":"P. Kolendo, B. Jaworski, R. Smierzchalski","doi":"10.1109/MMAR.2011.6031383","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031383","url":null,"abstract":"The main goal of the present paper is to discuss the application of the power-law fitness function scaling in the evolutionary method of path planning and its impact on the quality of final solution and the computation time necessary to solve the problem with the described scaling applied. In this paper we use the navigation problem of avoiding collision at sea for testing ground. A wide range of marine collision situations was provided to reveal advantages of power-law scaling application. The performed investigations have shown that the use of power-law scaling in the evolutionary path planning method preserves the diversity of solutions by a larger number of generations in the exploration phase. Results were also compared with a previous research that was performed using linear scaling.","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":"124663100","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.2011.6031309
Radosław Rudek, Agnieszka Rudek, T. Czyz
In this paper, we analyse the total cost minimization scheduling problem on a single machine, where jobs can have different release dates and the cost of a job is expressed as the increasing power function dependent on its completion time. We prove that this problem is at least NP-hard even if the cost weight of each job is equal to its processing time and release dates of all jobs are the same. Therefore, to solve the problem we implement parallel algorithms that are based on NEH, tabu search and simulated annealing. Numerical analysis shows the algorithms not only find solutions that are close to optimum, but the decreasing ratio of their running times (parallel tabu search and simulated annealing) is close to the number of threads, thereby multi-core CPU are efficiently utilized by these algorithms.
{"title":"Parallel computation approach to solve total cost minimization scheduling problem","authors":"Radosław Rudek, Agnieszka Rudek, T. Czyz","doi":"10.1109/MMAR.2011.6031309","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031309","url":null,"abstract":"In this paper, we analyse the total cost minimization scheduling problem on a single machine, where jobs can have different release dates and the cost of a job is expressed as the increasing power function dependent on its completion time. We prove that this problem is at least NP-hard even if the cost weight of each job is equal to its processing time and release dates of all jobs are the same. Therefore, to solve the problem we implement parallel algorithms that are based on NEH, tabu search and simulated annealing. Numerical analysis shows the algorithms not only find solutions that are close to optimum, but the decreasing ratio of their running times (parallel tabu search and simulated annealing) is close to the number of threads, thereby multi-core CPU are efficiently utilized by these algorithms.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"18 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":"127490958","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.2011.6031303
Z. Emirsajlow
I would like to invite you to Międzyzdroje, Poland for the 16th International Conference on Methods and Models in Automation and Robotics. Almost 100 draft papers have been submitted, from which the International Program Committee, chaired by Professor Tadeusz Kaczorek, has selected 79 papers for presentation. As before also this year's Conference is organized under the auspices of the IEEE Robotics & Automation Society, the IEEE Control Systems Society. And as usual it is co-sponsored by the Committee of Automation and Robotics of the Polish Academy of Sciences and Polish Society for Measurement, Automatic Control and Robotics.
{"title":"Welcome from the MMAR 2011 organizing committee","authors":"Z. Emirsajlow","doi":"10.1109/MMAR.2011.6031303","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031303","url":null,"abstract":"I would like to invite you to Międzyzdroje, Poland for the 16th International Conference on Methods and Models in Automation and Robotics. Almost 100 draft papers have been submitted, from which the International Program Committee, chaired by Professor Tadeusz Kaczorek, has selected 79 papers for presentation. As before also this year's Conference is organized under the auspices of the IEEE Robotics & Automation Society, the IEEE Control Systems Society. And as usual it is co-sponsored by the Committee of Automation and Robotics of the Polish Academy of Sciences and Polish Society for Measurement, Automatic Control and Robotics.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"273 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":"122113090","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.2011.6031370
I. Jung, Sun Lim
In this paper, we propose an EtherCAT based control system for human-robot cooperation. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of HRCMC(Human-Robot Cooperation Master Controller) and HRESC(Human-Robot EtherCAT Slave Controller). For human-robot cooperation, real-time force interaction is essential to apply for various applications (ex. direct robot teaching, etc.). For the real time control, HRCMC is designed using RTOS and EtherCAT network and HRESC has the capability to collect and transfer to HRCMC all sensor information of robot including force sensors. It is proven by experimental results that the proposed system has real time controllability for force interaction based Human-Robot cooperation system.
{"title":"An EtherCAT based control system for human-robot cooperation","authors":"I. Jung, Sun Lim","doi":"10.1109/MMAR.2011.6031370","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031370","url":null,"abstract":"In this paper, we propose an EtherCAT based control system for human-robot cooperation. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of HRCMC(Human-Robot Cooperation Master Controller) and HRESC(Human-Robot EtherCAT Slave Controller). For human-robot cooperation, real-time force interaction is essential to apply for various applications (ex. direct robot teaching, etc.). For the real time control, HRCMC is designed using RTOS and EtherCAT network and HRESC has the capability to collect and transfer to HRCMC all sensor information of robot including force sensors. It is proven by experimental results that the proposed system has real time controllability for force interaction based Human-Robot cooperation system.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"14 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":"126751784","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.2011.6031341
A. Gmerek
This paper touches upon the issue of dexterous control of rehabilitation robots. There have been proposed a high-level control system and algorithms used for training patients. Emphasis was made especially on the gravitation compensation algorithm, because of the low velocity and acceleration of movement parameters during rehabilitation. The direction of movements was estimated based on the model of surface electromyographic (sEMG) signal, which renders muscle activity very well. The model of manipulator is stable, behaves in a predictable way and, according to the EMG interpretation block, satisfyingly deduces the intention of motion and controls the model.
{"title":"High-level controller for an arm rehabilitation robot - positioning algorithms with respect to EMG data","authors":"A. Gmerek","doi":"10.1109/MMAR.2011.6031341","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031341","url":null,"abstract":"This paper touches upon the issue of dexterous control of rehabilitation robots. There have been proposed a high-level control system and algorithms used for training patients. Emphasis was made especially on the gravitation compensation algorithm, because of the low velocity and acceleration of movement parameters during rehabilitation. The direction of movements was estimated based on the model of surface electromyographic (sEMG) signal, which renders muscle activity very well. The model of manipulator is stable, behaves in a predictable way and, according to the EMG interpretation block, satisfyingly deduces the intention of motion and controls the model.","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":"117184670","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.2011.6031379
G. Sklyar, G. Szkibiel
While studying vibrations of non-homogeneous strings or chains a trigonometric non-Fourier moment problems arise. The existence of solutions of such problems is still researched by many authors. In current note, a particular solution, called optimal, i.e. the one with the least L2-norm is searched for. Proposed is an algorithm that allows to change an infinite system of equations into the linear one with only a finite number of equations. The mentioned algorithm is based on the fact, that in the case of a Fourier moment problem, the optimal solution is periodic and easy to construct. The optimal solution of a non-Fourier moment problem close to a Fourier one is approximated by a sequence of solutions with periodicity disturbed in a finite number of equations. It is proved that this sequence of approximations converges to the solution sought for. The note is concluded with the application of proposed algorithm.
{"title":"Optimal control of non-homogeneous wave equation","authors":"G. Sklyar, G. Szkibiel","doi":"10.1109/MMAR.2011.6031379","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031379","url":null,"abstract":"While studying vibrations of non-homogeneous strings or chains a trigonometric non-Fourier moment problems arise. The existence of solutions of such problems is still researched by many authors. In current note, a particular solution, called optimal, i.e. the one with the least L2-norm is searched for. Proposed is an algorithm that allows to change an infinite system of equations into the linear one with only a finite number of equations. The mentioned algorithm is based on the fact, that in the case of a Fourier moment problem, the optimal solution is periodic and easy to construct. The optimal solution of a non-Fourier moment problem close to a Fourier one is approximated by a sequence of solutions with periodicity disturbed in a finite number of equations. It is proved that this sequence of approximations converges to the solution sought for. The note is concluded with the application of proposed algorithm.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"48 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":"124567492","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.2011.6031346
J. Sokołowski, A. Zochowski
Formulae for the first order expansions of the Steklov-Poincaré operators in the case of the Laplace operator and of the elasticity boundary value problems in singularly perturbed domains in ℝ3 are presented. Such expansions are required for the evaluation of topological derivatives of the energy shape functionals.
{"title":"Topological derivatives for contact problems in ℝ3","authors":"J. Sokołowski, A. Zochowski","doi":"10.1109/MMAR.2011.6031346","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031346","url":null,"abstract":"Formulae for the first order expansions of the Steklov-Poincaré operators in the case of the Laplace operator and of the elasticity boundary value problems in singularly perturbed domains in ℝ3 are presented. Such expansions are required for the evaluation of topological derivatives of the energy shape functionals.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"14 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":"133397534","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.2011.6031367
Shilong Xue
The traditional clustering algorithms and the basic idea were studied, and the algorithm of the c- maximum clustering and the fuzzy c- maximum clustering were presented. A set of programs development with computer for the whole theory have been worked out which makes it possible to achieve the goal of diagnosis on-line fault.
{"title":"Study on fuzzy clustering algorithm","authors":"Shilong Xue","doi":"10.1109/MMAR.2011.6031367","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031367","url":null,"abstract":"The traditional clustering algorithms and the basic idea were studied, and the algorithm of the c- maximum clustering and the fuzzy c- maximum clustering were presented. A set of programs development with computer for the whole theory have been worked out which makes it possible to achieve the goal of diagnosis on-line fault.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"23 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":"125170281","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.2011.6031311
Michael Frey, S. Bechmann, A. Rund, H. J. Pesch
We transfer ideas known since the 1960ies from the theory of state-constrained optimal control problems for ordinary differential equations to optimal control problems for elliptic partial differential equations with distributed controls. Replacing the state constraint by equivalent terms leads to new kinds of topology-shape optimal control problems, which gives access to new necessary conditions for elliptic optimal control problems. These new necessary conditions reveal some striking advantages: Higher regularity of the multiplier associated with the state constraint and, in consequence, the ability to apply numerical solvers which do not need any regularization in order to deal with the multipliers. Moreover, the numerical solution can be splited between active and inactive set which improves the efficiency. Since the new necessary conditions can be regarded as a free boundary problem for the unknown interface in-between active and inactive sets, we use Shape-Calculus to formulate a Shape-Newton Scheme in function space in order to solve the optimality system. A finite element discretized version of this scheme shows encouraging results like a low number of iterations and high accuracy in detection of the active sets. Moreover, the numerical results indicate grid independency of this method and the method seems to be able to handle also changes of the topology of the active set.
{"title":"Transfer of the bryson-denham-dreyfus approach for state-constrained ODE optimal control problems to elliptic optimal control problems","authors":"Michael Frey, S. Bechmann, A. Rund, H. J. Pesch","doi":"10.1109/MMAR.2011.6031311","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031311","url":null,"abstract":"We transfer ideas known since the 1960ies from the theory of state-constrained optimal control problems for ordinary differential equations to optimal control problems for elliptic partial differential equations with distributed controls. Replacing the state constraint by equivalent terms leads to new kinds of topology-shape optimal control problems, which gives access to new necessary conditions for elliptic optimal control problems. These new necessary conditions reveal some striking advantages: Higher regularity of the multiplier associated with the state constraint and, in consequence, the ability to apply numerical solvers which do not need any regularization in order to deal with the multipliers. Moreover, the numerical solution can be splited between active and inactive set which improves the efficiency. Since the new necessary conditions can be regarded as a free boundary problem for the unknown interface in-between active and inactive sets, we use Shape-Calculus to formulate a Shape-Newton Scheme in function space in order to solve the optimality system. A finite element discretized version of this scheme shows encouraging results like a low number of iterations and high accuracy in detection of the active sets. Moreover, the numerical results indicate grid independency of this method and the method seems to be able to handle also changes of the topology of the active set.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"203 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":"115902259","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.2011.6031345
M. Luzar, M. Mrugalski, M. Witczak, J. Korbicz
This paper presents an identification method of dynamic systems based on the Group Method of Data Handing. In particular, a new structure of the dynamic neuron in pole representation is proposed. Moreover, a new training algorithm based on the Unscented Kalman Filter is presented. The final part of this work contains an illustrative example regarding the application of the proposed approach to an identification of the tunnel furnace.
{"title":"An unscented Kalman filter approach to designing GMDH neural networks: Application to the tunnel furnace","authors":"M. Luzar, M. Mrugalski, M. Witczak, J. Korbicz","doi":"10.1109/MMAR.2011.6031345","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031345","url":null,"abstract":"This paper presents an identification method of dynamic systems based on the Group Method of Data Handing. In particular, a new structure of the dynamic neuron in pole representation is proposed. Moreover, a new training algorithm based on the Unscented Kalman Filter is presented. The final part of this work contains an illustrative example regarding the application of the proposed approach to an identification of the tunnel furnace.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"27 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":"114877694","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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