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.2011.6031374
B. Kreczmer
In this paper an approach to gesture recognition is presented. It is based on application of simple ultrasonic range-finders. A set of five gestures is described which can be distinguish in this way. The described method has been implemented for a mobile robot PeopleBot.
{"title":"Gestures recognition by using ultrasonic range-finders","authors":"B. Kreczmer","doi":"10.1109/MMAR.2011.6031374","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031374","url":null,"abstract":"In this paper an approach to gesture recognition is presented. It is based on application of simple ultrasonic range-finders. A set of five gestures is described which can be distinguish in this way. The described method has been implemented for a mobile robot PeopleBot.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"22 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":"123970390","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.2011.6031322
A. Kowalewski
Various optimization problems for linear parabolic systems with multiple constant time delays are considered. In this paper, we consider an optimal distributed control problem for a linear infinite order parabolic system in which multiple constant time delays appear in the state equation. Sufficient conditions for the existence of a unique solution of the infinite order parabolic time delay equation with the Dirichlet boundary condition are proved. The time horizon T is fixed. Making use of the Lions scheme [6], necessary and sufficient conditions of optimality for the Dirichlet problem with the quadratic performance functional with pointwise observation of the state and constrained control are derived.
{"title":"Optimal control of a time delay infinite order parabolic system with pointwise observation of the state","authors":"A. Kowalewski","doi":"10.1109/MMAR.2011.6031322","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031322","url":null,"abstract":"Various optimization problems for linear parabolic systems with multiple constant time delays are considered. In this paper, we consider an optimal distributed control problem for a linear infinite order parabolic system in which multiple constant time delays appear in the state equation. Sufficient conditions for the existence of a unique solution of the infinite order parabolic time delay equation with the Dirichlet boundary condition are proved. The time horizon T is fixed. Making use of the Lions scheme [6], necessary and sufficient conditions of optimality for the Dirichlet problem with the quadratic performance functional with pointwise observation of the state and constrained control are derived.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"77 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":"122956667","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.2011.6031370
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.2011.6031346
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.2011.6031331
W. Krajewski, U. Viaro
This paper is concerned with the finite-dimensional approximation of a fractional-order system represented in state-space form. To this purpose, resort is made to the Oustaloup method for approximating a fractional-order integrator by a rational filter. By applying this method to the RHS of the state equation of the fractional-order system, a matrix differential equation is obtained. This equation is then realized in a state-space form whose state matrix exhibits a (sparse) block-companion structure. To reduce the dimension of this integer-order model, an efficient method for L2 approximation can profitably be applied. Numerical simulations show that the suggested approach compares favourably with alternative techniques recently presented in the literature to the same purpose.
{"title":"On the rational approximation of fractional order systems","authors":"W. Krajewski, U. Viaro","doi":"10.1109/MMAR.2011.6031331","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031331","url":null,"abstract":"This paper is concerned with the finite-dimensional approximation of a fractional-order system represented in state-space form. To this purpose, resort is made to the Oustaloup method for approximating a fractional-order integrator by a rational filter. By applying this method to the RHS of the state equation of the fractional-order system, a matrix differential equation is obtained. This equation is then realized in a state-space form whose state matrix exhibits a (sparse) block-companion structure. To reduce the dimension of this integer-order model, an efficient method for L2 approximation can profitably be applied. Numerical simulations show that the suggested approach compares favourably with alternative techniques recently presented in the literature to the same purpose.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"115 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":"128987039","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.2011.6031307
M. Stachura, K. Janiszowski
The paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.
{"title":"A methodology of estimating hybrid black-box - prior knowledge models of an industrial processes","authors":"M. Stachura, K. Janiszowski","doi":"10.1109/MMAR.2011.6031307","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031307","url":null,"abstract":"The paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"49 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":"114801658","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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