Pub Date : 2011-09-29DOI: 10.1109/MMAR.2011.6031343
Gilberto Gonzalez-A, Noe Barrera-G
A bond graph model in a integral causality assignment (BGI) for a singularly perturbed system is presented. This system is characterized by fast and slow dynamics. When the singular perturbation method is applied, the fast dynamic differential equation degenerate to an algebraic equation, the real roots of this equation by using a proposed bond graph, called Singularly Perturbed Bond Graph (SPBG) can be obtained. This SPBG has the property that the storage elements of the fast state and slow state have a derivative and integral causality assignment, respectively. Hence, a quasi steady state model by using SPBG is obtained. A Lemma to determine the junction structure from SPBG is proposed. Finally, the proposed methodology to a classical example of a DC motor and RC network is applied.
{"title":"Quasy steady state model determination using bond graph for a singularly perturbed LTI system","authors":"Gilberto Gonzalez-A, Noe Barrera-G","doi":"10.1109/MMAR.2011.6031343","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031343","url":null,"abstract":"A bond graph model in a integral causality assignment (BGI) for a singularly perturbed system is presented. This system is characterized by fast and slow dynamics. When the singular perturbation method is applied, the fast dynamic differential equation degenerate to an algebraic equation, the real roots of this equation by using a proposed bond graph, called Singularly Perturbed Bond Graph (SPBG) can be obtained. This SPBG has the property that the storage elements of the fast state and slow state have a derivative and integral causality assignment, respectively. Hence, a quasi steady state model by using SPBG is obtained. A Lemma to determine the junction structure from SPBG is proposed. Finally, the proposed methodology to a classical example of a DC motor and RC network is applied.","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":"121035382","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.2011.6031378
M. Ruchaj, R. Stanisławski
This paper presents a comparison of five algorithms used to control acyclic traffic lights at intersections of roads in an urban road network. The following algorithms are selected: Most Cars characterized by low computational complexity, the author's algorithm called In-and-Outbound Lane Control, which is an efficient modification of the Most Cars, Local Hill-Climbing algorithm (LHC), the reinforcement learning RL 1 Bucket 2.0 algorithm and the neural network GenNeural algorithm.
本文介绍了城市道路网络中用于控制道路交叉口无环交通灯的五种算法的比较。选择以下算法:计算复杂度低的Most Cars，作者的In-and-Outbound Lane Control算法，这是Most Cars的有效改进，Local hill - climb algorithm (LHC)，强化学习RL 1 Bucket 2.0算法和神经网络GenNeural算法。
{"title":"Approaches to control acyclic traffic lights in an exemplary urban road network","authors":"M. Ruchaj, R. Stanisławski","doi":"10.1109/MMAR.2011.6031378","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031378","url":null,"abstract":"This paper presents a comparison of five algorithms used to control acyclic traffic lights at intersections of roads in an urban road network. The following algorithms are selected: Most Cars characterized by low computational complexity, the author's algorithm called In-and-Outbound Lane Control, which is an efficient modification of the Most Cars, Local Hill-Climbing algorithm (LHC), the reinforcement learning RL 1 Bucket 2.0 algorithm and the neural network GenNeural algorithm.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"298 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":"132654159","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.2011.6031329
M. Zasuwa, J. Narkiewicz, J. Bartoszek
The paper presents innovative, reconfigurable simulator of mobile robots included in anti-crisis operations system. The simulator development is a part of the PROTEUS project. Along the whole anti-crisis system is developed, the simulator of mobile robots is constructed. Majority of the simulators developed worldwide are intended for specific vehicles and used for various applications of particular robots. This approach does not satisfy developers from Poland because the anti-crisis operations system has an open architecture and allows to introduce different mobile robots into action. In the paper the requirements and architecture of the simulator are described. Its integration with training system of all parts of anti-crisis operations is discussed. The paper shows the novelty of the solution (both in hardware and software).
{"title":"Innovative, reconfigurable simulator of mobile robots to support anti-crisis operations","authors":"M. Zasuwa, J. Narkiewicz, J. Bartoszek","doi":"10.1109/MMAR.2011.6031329","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031329","url":null,"abstract":"The paper presents innovative, reconfigurable simulator of mobile robots included in anti-crisis operations system. The simulator development is a part of the PROTEUS project. Along the whole anti-crisis system is developed, the simulator of mobile robots is constructed. Majority of the simulators developed worldwide are intended for specific vehicles and used for various applications of particular robots. This approach does not satisfy developers from Poland because the anti-crisis operations system has an open architecture and allows to introduce different mobile robots into action. In the paper the requirements and architecture of the simulator are described. Its integration with training system of all parts of anti-crisis operations is discussed. The paper shows the novelty of the solution (both in hardware and software).","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":"122495291","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.2011.6031315
Joanna Karpinska, K. Tchoń
This paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1-parameter family of control functions. This family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. The approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.
{"title":"Continuation method approach to trajectory planning in robotic systems","authors":"Joanna Karpinska, K. Tchoń","doi":"10.1109/MMAR.2011.6031315","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031315","url":null,"abstract":"This paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1-parameter family of control functions. This family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. The approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.","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":"124710224","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.2011.6031319
A. Kowalewski
Optimal boundary control problems for linear parabolic-hyperbolic systems with the Neumann boundary conditions involving integral time delays are considered. Sufficient conditions for the existence of a unique solution for such parabolic-hyperbolic systems are proved. Necessary and sufficient conditions of optimality are derived for the Neumann problem. The problem of determining of the optimal control is discussed.
{"title":"Boundary control of parabolic-hyperbolic systems with integral time delays appearing in the boundary conditions","authors":"A. Kowalewski","doi":"10.1109/MMAR.2011.6031319","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031319","url":null,"abstract":"Optimal boundary control problems for linear parabolic-hyperbolic systems with the Neumann boundary conditions involving integral time delays are considered. Sufficient conditions for the existence of a unique solution for such parabolic-hyperbolic systems are proved. Necessary and sufficient conditions of optimality are derived for the Neumann problem. The problem of determining of the optimal control is discussed.","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":"123145081","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.2011.6031321
Eileen Kammann, F. Tröltzsch
We consider the following problem of error estimation for the optimal control of nonlinear parabolic partial differential equations: Let an arbitrary control function be given. How far is it from the next locally optimal control? Under natural assumptions including a second order sufficient optimality condition for the (unknown) locally optimal control, we are able to estimate the distance between the two controls. To do this, we need some information on the lowest eigenvalue of the reduced Hessian. We apply this technique to a model reduced optimal control problem obtained by proper orthogonal decomposition (POD). The distance between a (suboptimal) local solution of the reduced problem to a local solution of the original problem is estimated.
{"title":"A posteriori error estimation for nonlinear parabolic boundary control","authors":"Eileen Kammann, F. Tröltzsch","doi":"10.1109/MMAR.2011.6031321","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031321","url":null,"abstract":"We consider the following problem of error estimation for the optimal control of nonlinear parabolic partial differential equations: Let an arbitrary control function be given. How far is it from the next locally optimal control? Under natural assumptions including a second order sufficient optimality condition for the (unknown) locally optimal control, we are able to estimate the distance between the two controls. To do this, we need some information on the lowest eigenvalue of the reduced Hessian. We apply this technique to a model reduced optimal control problem obtained by proper orthogonal decomposition (POD). The distance between a (suboptimal) local solution of the reduced problem to a local solution of the original problem is estimated.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"2017 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":"128999998","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.2011.6031371
J. Grochowalski, Jiri Lettl, J. Pavelka
The problem of diminishing the pulsating torques in high power induction motor drives are investigated. This paper describes analysis and numerical results of MMF in three and six phase AC machines supplying by sinusoidal and nonsinusoidal currents. Analysis of six phase machines are for different angle between three phase stator windings and different time angles between currents in both three phase systems.
{"title":"MMF of six phase induction motors for rectangular current supply","authors":"J. Grochowalski, Jiri Lettl, J. Pavelka","doi":"10.1109/MMAR.2011.6031371","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031371","url":null,"abstract":"The problem of diminishing the pulsating torques in high power induction motor drives are investigated. This paper describes analysis and numerical results of MMF in three and six phase AC machines supplying by sinusoidal and nonsinusoidal currents. Analysis of six phase machines are for different angle between three phase stator windings and different time angles between currents in both three phase systems.","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":"129099397","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.2011.6031351
René Schuh, H. Aschemann
This paper aims at demonstrating the possible improvement of currently used control concepts for steam turbines. A model-based control is designed for a condensation turbine with steam extraction, which is used to drive a compressor on the chemical process side. The turbine is part of a sophisticated steam system of a chemical high-duty plant. Modeling of the steam system with the turbine leads to a system of two nonlinear differential equations. Taking advantage of the flatness property of the given nonlinear system model, a flatness-based control approach involving nonlinear feedforward and feedback control is employed. Remaining model uncertainties as well as nonlinear friction can be counteracted by an observer-based disturbance compensation. Simulation results show an excellent control performance with small control errors.
{"title":"Nonlinear control of a condensation turbine with steam extraction","authors":"René Schuh, H. Aschemann","doi":"10.1109/MMAR.2011.6031351","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031351","url":null,"abstract":"This paper aims at demonstrating the possible improvement of currently used control concepts for steam turbines. A model-based control is designed for a condensation turbine with steam extraction, which is used to drive a compressor on the chemical process side. The turbine is part of a sophisticated steam system of a chemical high-duty plant. Modeling of the steam system with the turbine leads to a system of two nonlinear differential equations. Taking advantage of the flatness property of the given nonlinear system model, a flatness-based control approach involving nonlinear feedforward and feedback control is employed. Remaining model uncertainties as well as nonlinear friction can be counteracted by an observer-based disturbance compensation. Simulation results show an excellent control performance with small control errors.","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":"129916875","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 : 1900-01-01DOI: 10.1109/mmar.2011.6031385
Expand the bookmarks and navigate to the desired Letter of the kKeyword. Scroll to the word and select a Blue page number link to open a paper. After viewing the paper, use the bookmarks to return to the Keyword Index or another section.
{"title":"MMAR 2011 keyword index","authors":"","doi":"10.1109/mmar.2011.6031385","DOIUrl":"https://doi.org/10.1109/mmar.2011.6031385","url":null,"abstract":"Expand the bookmarks and navigate to the desired Letter of the kKeyword. Scroll to the word and select a Blue page number link to open a paper. After viewing the paper, use the bookmarks to return to the Keyword Index or another section.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115282012","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 : 1900-01-01DOI: 10.1109/mmar.2011.6031304
Radosław Rudek, Agnieszka Rudek, P. Skworcow, T. Czyz
Expand the bookmarks and navigate to the desired Date and/or Session Name. Scroll to the desired paper and select a Blue title link to open the paper. After viewing, use the bookmarks to return to the the Table of Contents or another section.
{"title":"MMAR 2011 table of contents","authors":"Radosław Rudek, Agnieszka Rudek, P. Skworcow, T. Czyz","doi":"10.1109/mmar.2011.6031304","DOIUrl":"https://doi.org/10.1109/mmar.2011.6031304","url":null,"abstract":"Expand the bookmarks and navigate to the desired Date and/or Session Name. Scroll to the desired paper and select a Blue title link to open the paper. After viewing, use the bookmarks to return to the the Table of Contents or another section.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126671007","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：