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.2011.6031381
R. Cimochowski
The positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roesser models for any switching are established. The considerations are illustrated by numerical examples.
{"title":"Asymptotic stability of the positive switched 2D linear systems described by the Roesser models","authors":"R. Cimochowski","doi":"10.1109/MMAR.2011.6031381","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031381","url":null,"abstract":"The positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roesser models for any switching are established. The considerations are illustrated by numerical examples.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"39 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":"129891126","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}
Pub Date : 2011-09-29DOI: 10.1109/MMAR.2011.6031313
A. Bernoussi
In this work, we present some concepts recently introduced in the analysis and control of Distributed Parameter Systems: Spreadability, vulnerability, regional viability and protector control. These concepts permit to describe many biogeographical phenomena, as those of pollution, desertification or epidemics, which are characterized by a spatio-temporal evolution. We give some connection between such concepts. To illustrate these concepts an example is presented
{"title":"Spreadability, vulnerability, regional viability and protector control","authors":"A. Bernoussi","doi":"10.1109/MMAR.2011.6031313","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031313","url":null,"abstract":"In this work, we present some concepts recently introduced in the analysis and control of Distributed Parameter Systems: Spreadability, vulnerability, regional viability and protector control. These concepts permit to describe many biogeographical phenomena, as those of pollution, desertification or epidemics, which are characterized by a spatio-temporal evolution. We give some connection between such concepts. To illustrate these concepts an example is presented","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"32 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":"124978951","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.2011.6031334
D. Sierociuk, I. Petráš
This paper deals with a discrete fractional-order neural network and its application for modeling of a heat transfer process. Proposed neural network is implemented in Matlab/Simulink and applied to the heater which is a part of the equipment Armfield PCT40. Results obtained from experiments presented in the article show that the fractional-order neural network properly modeled the unknown dynamics.
{"title":"Modeling of heat transfer process by using discrete fractional-order neural networks","authors":"D. Sierociuk, I. Petráš","doi":"10.1109/MMAR.2011.6031334","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031334","url":null,"abstract":"This paper deals with a discrete fractional-order neural network and its application for modeling of a heat transfer process. Proposed neural network is implemented in Matlab/Simulink and applied to the heater which is a part of the equipment Armfield PCT40. Results obtained from experiments presented in the article show that the fractional-order neural network properly modeled the unknown dynamics.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"112 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":"117263126","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.2011.6031318
J. Sasiadek, M. Walker, A. Krzyżak
The research presented in this paper ultimately aims at accurate Unmanned Aerial Vehicle (UAV) navigation using camera(s) to augment inertial navigation unit data while flying through an urban environment. Accurate position and depth determination requires precise image feature location and matching. This paper investigates accurate feature matching enabling determination of image depth. The paper offers two unique contributions to the field. First, it is shown how to improve feature matching accuracy when a good position estimate is available. Secondly, it is shown how to increase the number of matched features. In this way, there is more data and it may be possible, in future research, to identify the depth plane a feature belongs to and so increase the accuracy of position determination. Preliminary results are reported.
{"title":"Accurate feature matching for autonomous vehicle navigation in urban environments","authors":"J. Sasiadek, M. Walker, A. Krzyżak","doi":"10.1109/MMAR.2011.6031318","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031318","url":null,"abstract":"The research presented in this paper ultimately aims at accurate Unmanned Aerial Vehicle (UAV) navigation using camera(s) to augment inertial navigation unit data while flying through an urban environment. Accurate position and depth determination requires precise image feature location and matching. This paper investigates accurate feature matching enabling determination of image depth. The paper offers two unique contributions to the field. First, it is shown how to improve feature matching accuracy when a good position estimate is available. Secondly, it is shown how to increase the number of matched features. In this way, there is more data and it may be possible, in future research, to identify the depth plane a feature belongs to and so increase the accuracy of position determination. Preliminary results are reported.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"50 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":"130313288","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.2011.6031306
A. Rauh, Thomas Dötschel, H. Aschemann
The design of robust control techniques is the prerequisite to guarantee maximum efficiency and lifetime for high-temperature fuel cells with constant and varying electrical load. For the design of such control laws as well as for the development of model-based observer approaches, it is essential to derive low-dimensional mathematical models which can be evaluated in real-time. These models have to represent the dominant dynamics of fuel cell systems including fluidic, thermodynamic, and electrochemical subprocesses. In this paper, a control-oriented mathematical model is described which focuses on the above-mentioned subprocesses. On the basis of experimental data, the parameters for the thermodynamic subprocess are identified. A comparison of the mathematical model, parameterized with the help of the experimental data, and numeric simulation results conclude this paper.
{"title":"Experimental parameter identification for a control-oriented model of the thermal behavior of high-temperature fuel cells","authors":"A. Rauh, Thomas Dötschel, H. Aschemann","doi":"10.1109/MMAR.2011.6031306","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031306","url":null,"abstract":"The design of robust control techniques is the prerequisite to guarantee maximum efficiency and lifetime for high-temperature fuel cells with constant and varying electrical load. For the design of such control laws as well as for the development of model-based observer approaches, it is essential to derive low-dimensional mathematical models which can be evaluated in real-time. These models have to represent the dominant dynamics of fuel cell systems including fluidic, thermodynamic, and electrochemical subprocesses. In this paper, a control-oriented mathematical model is described which focuses on the above-mentioned subprocesses. On the basis of experimental data, the parameters for the thermodynamic subprocess are identified. A comparison of the mathematical model, parameterized with the help of the experimental data, and numeric simulation results conclude this paper.","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":"130709335","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.2011.6031376
V. Azizi, A. Haghighat
In this paper a new model free approach is being presented to make walking humanoid robot faster and more stable. This approach presents a controller that is composed of nonlinear and linear neurons. We have used Matsuoka Neural oscillator, for nonlinear neurons, to generate rhythmic signal to control walking of robot. This controller gets feedback from output signal that helps to correct and generate better signals to improve stability of walking. In this approach the role of hands is considered to make walking of robot smooth and robustness. Also, this method controls the role of inertia to improve the speed and robustness of bipedal walking by refining signals and reducing the role of inertia. In this regard, a new population-based search algorithm that called harmony search is used to optimize the signals that are produced by the controller which control joints angel and other parameters. This method is implemented in simulated NAO robot and simulation result shows getting feedback from controller and considering the role of hands and inertia make walking more stable and faster.
{"title":"Fast and robust biped walking involving arm swing and control of inertia based on Neural network with harmony search optimizer","authors":"V. Azizi, A. Haghighat","doi":"10.1109/MMAR.2011.6031376","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031376","url":null,"abstract":"In this paper a new model free approach is being presented to make walking humanoid robot faster and more stable. This approach presents a controller that is composed of nonlinear and linear neurons. We have used Matsuoka Neural oscillator, for nonlinear neurons, to generate rhythmic signal to control walking of robot. This controller gets feedback from output signal that helps to correct and generate better signals to improve stability of walking. In this approach the role of hands is considered to make walking of robot smooth and robustness. Also, this method controls the role of inertia to improve the speed and robustness of bipedal walking by refining signals and reducing the role of inertia. In this regard, a new population-based search algorithm that called harmony search is used to optimize the signals that are produced by the controller which control joints angel and other parameters. This method is implemented in simulated NAO robot and simulation result shows getting feedback from controller and considering the role of hands and inertia make walking more stable and faster.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"62 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114116351","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.2011.6031358
Joanna Zietkiewicz
In this paper a method of an predictive controller design for the control of constrained MIMO levitation system is presented. The proposed control strategy is based on combining feedback linearization and LQ method with modifying reference signal allowing to keep variables inside constrained region.
{"title":"Constrained predictive control of a levitation system","authors":"Joanna Zietkiewicz","doi":"10.1109/MMAR.2011.6031358","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031358","url":null,"abstract":"In this paper a method of an predictive controller design for the control of constrained MIMO levitation system is presented. The proposed control strategy is based on combining feedback linearization and LQ method with modifying reference signal allowing to keep variables inside constrained region.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"35 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":"116168132","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.2011.6031333
R. Stanisławski, W. Hunek, K. Latawiec
This paper presents new results in finite-memory modeling of a discrete-time fractional derivative. The introduced normalized finite fractional derivative is shown to properly approximate its fractional derivative original, in particular in terms of the steady-state properties. A stability analysis is also presented as well as a recursive computation algorithm is offered for finite fractional derivatives.
{"title":"Finite approximations of a discrete-time fractional derivative","authors":"R. Stanisławski, W. Hunek, K. Latawiec","doi":"10.1109/MMAR.2011.6031333","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031333","url":null,"abstract":"This paper presents new results in finite-memory modeling of a discrete-time fractional derivative. The introduced normalized finite fractional derivative is shown to properly approximate its fractional derivative original, in particular in terms of the steady-state properties. A stability analysis is also presented as well as a recursive computation algorithm is offered for finite fractional derivatives.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"65 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":"122201275","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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