Authors: Gonzalez, A. Gilberto; Galindo, René

Abstract: A direct procedure to obtain a bond graph model from a state space description is presented. This procedure is based on a proposed junction structure and an R -field. The junction structure allows interactions only between the state variables and the dissipation field and inputs, between the dissipation field and the co-energy variables, and the output variables are only function of the co-energy variables and the inputs. In order to get a physical meaning of the proposed bond graph model, the R-field of this bond graph is changed by 1-ports resistors, transformers and gyrators.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00070

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Bielinska, Ewa; Malinski, Łukasz

Abstract: The paper is concerned with a computer system for signal analysis, identification, and prediction. The system offers a possibility of signal modeling with the use of Box-Jenkins methodology, neural networks, bilinear and hybrid linear-bilinear models. The system makes possible signal forecasting on the basis of linear, neural, bilinear and hybrid linear-bilinear predictors. The aim of the paper is to present the system as well as the results obtained for signals coming from biological, economic, and technical processes.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00069

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Meglouli, H.; Naoui, Y.; Hocine, F. Ait

Abstract: Dependability is one of the control systems properties that characterizes their reliabilities and possesses in addition the following advantages: it characterizes sufficiently the reliability of the system, its variations with respect to time, it models the reliability of the system, its variations with respect to time, it determines the efficiency, the implementation and exploitation costs of the control systems. The nowadays methods applied to improve the control systems dependability ca be used during the conception and production phases. In this paper, we propose a theoretical approach for estimation that shows the contribution of an adaptive principle to improve the reliability of the control systems. Moreover we will prove how the certainty of the computed results of the good functioning probability of such control systems will depend on the fact that if we consider or not the adaptive control algorithms according to the state of the system and its prediction results.

Keywords: adaptative control,nonlinear,safety,reliability,system functioning quality

Identifier: 10.3182/20090819-3-PL-3002.00095

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Tingting, Yang; Deliang, Zeng; Taihua, Chang; Zhigang, Zhang; Jizhen, Liu

Abstract: A rule extraction method for thermal power unit operation optimization which based on data mining technology is proposed in this paper. Data mining technology is employed to analyze history data stored in real-time/history database of the unit. Stability index, economic index, environmental index and synthetic index are constructed to evaluate the performance of current operating condition. Through comparison analysis on similar operating condition, the best operating parameters and operating mode can be found out at the current condition. Accompanying with data accumulation proceeding in database, nonlinear static model between the unit operation performance index and controllable parameters is drawn over all operating conditions. Effectiveness of this method is illustrated by a practical operation optimization project, in which the realization scheme of operation guidance is also given out.

Keywords: data mining,operation optimization,analysis of operation condition,multi-objective optimization

Identifier: 10.3182/20090819-3-PL-3002.00118

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: de Anda, Miguel Ángel Gutiérrez; Dector, Isabelo Meza; García, Juan Carlos Sánchez; Kaszynski, Roman; Piskorowski, Jacek

Abstract: In this article, a first-order parameter-varying filter based on dynamic translinear techniques is presented. The proposed filter has a reduced time response which is a consequence of the strategy considered for the variation of its 3 dB cutoff frequency. Computer simulations confirm the correct operation of the filter.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00059

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Tiliouine, Hocine

Abstract: In this paper two types of neural networks for generator voltage control are presented: a neural network with a single set of weights and another one with two sets. The selection of the appropriate set is depending on the nature of generator load: inductive or capacitive. Moreover, it has been demonstrated that the range of the values for the weights has a significant importance for the stability margin and voltage control performance. The performances of the proposed neural controller are compared with that of conventional controller.

Keywords: neural network,voltage controller,synchronous generator,stability

Identifier: 10.3182/20090819-3-PL-3002.00019

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Hunek, Wojciech P.

Abstract: In this paper, a new class of inverses of nonsquare polynomial matrices involved in the minimum variance control (MVC) problem is presented. The new right/left inverses are based on the celebrated Smith-factorization approach. The inverses can be applied in both pole-free and stable-pole designs of robust MVC, also in case when (stable) transmission zeros are present in the nonsquare LTI MIMO system. A simulation example in the Matlab environment confirms the potential of the new inverses.

Keywords: inverse of polynomial matrix,nonsquare systems,control zeros

Identifier: 10.3182/20090819-3-PL-3002.00065

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Tchon, Krzysztof; Jakubiak, Janusz; Malek, Lukasz

Abstract: From a general form of the Jacobian right inverse for nonholonomic mobile robots we derive a specific Jacobian inverse kinematics algorithm. By design, this algorithm does not involve the mobility matrix, what makes it computationally less demanding than the most often used Jacobian pseudoinverse algorithm. The algorithm has been applied to the unicycle-type mobile robot. It has been shown that the algorithm performs efficiently unless the unicycle moves along a straight line trajectory. Performance of the new algorithm has been illustrated by computer simulations of the unicycle whose controls are synthesized in accordance with either the finite element or the finite difference method.

Keywords: Jacobian algorithm,nonholonomic system,mobile robot,endogenous configuration

Identifier: 10.3182/20090819-3-PL-3002.00112

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Zerikat, M.; Chrifi-Alaoui, L.; Chekroun, S.

Abstract: The subject of the paper is the implementation of fuzzy sliding mode control conception for robust accurate tracking of induction motor drive operating in a high-performance drives environment. The introducing of fuzzy sliding mode in the control system helps to achieve a good dynamic response, disturbance rejection and low to plant parameter variations of the A.C drive. The fuzzy sliding mode controller combines the advantages of both fuzzy controllers and sliding mode controllers. By combining variable structure systems theory and fuzzy logic concept, a new algorithm is developed. The proposed control scheme can drive the dynamics of controlled system into a designed sliding surface in finite time and guarantee the property of asymptotical stability. The synthesis of sliding mode control and the control laws for the controls of speed are described. In order to verify the performances of the proposed observers and control algorithms and to test behaviour of the controlled system, numerical and real experiments are achieved.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00120

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Herman, Przemyslaw

Abstract: A nonlinear controller for rigid manipulators is proposed in this paper. The controller is based on equations of motion arising from decomposition of the manipulator mass matrix and contains a vector of generalized velocity components (GVC). It is shown that dynamics description in terms of the GVC gives an further insight into the system dynamics which is also available if the presented controller is used. The theoretical considerations are illustrated by simulation on a 3 d.o.f. spatial manipulator.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00105

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Blanchini, Franco; Krajewski, Wiesław; Miani, Stefano; Viaro, Umberto

Abstract: A Sliding Mode Control (SMC) strategy for Active Queue Management (AQM) routers supporting Transmission Control Protocol (TCP) data transfer is suggested. It is based on the input-delayed model of TCP behaviour developed in Misra et al. [2000], which is reduced to a delay-free model by means of Artstein's transformation Artstein [1982]. The suggested feedback-control scheme is proved to be stable under the adopted variable structure strategy and ensures robustness against disturbances and unmodelled dynamics. The performance of the new AQM algorithm compares favourably with that afforded by alternative AQM techniques.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00123

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Waligóra, Grzegorz

Abstract: In this work discrete-continuous project scheduling problems with discounted cash flows are considered. These problems are characterized by the fact that activities of a project simultaneously require for their execution discrete and continuous resources. A class of these problems is considered, where the number of discrete resources is arbitrary, and there is one continuous, limited, renewable resource. Activities are non-preemptable, and the processing rate of an activity is a continuous, increasing, and convex function of the amount of the continuous resource allotted to the activity at a time. A positive cash flow is associated with each activity. The objective is to maximize the net present value. It is shown that sequential schedules are optimal for the considered class of problems. Four payment models are considered: lump-sum payment at the completion of the project, payments at activity completion times, payments at equal time intervals, and progress payments. Some rules of optimal activity sequencing are proved for the payment models.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00016

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Klopot, W.; Klopot, T.; Metzger, M.

Abstract: Conical tanks are widely used in food process industries, hydrometallurgical industries and also in the water treatment industry. Moreover, liquid level control of a conical tank is still challenging for typical process control because of occurred nonlinearities. This paper presents comparison between Adaptive and Non-Adaptive version of popular predictive Dynamic Matrix Control.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00094

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Kunusch, Cristian; Puleston, Paul F.; Mayosky, Miguel A.; Serra, Maria

Abstract: A second order sliding mode strategy to control the air supply and oxygen stoichiometry of a fuel cell based generation system is presented. The control design is accomplished from a complete model of a experimental plant that was previously developed by the authors and specially suited for nonlinear control issues. The resulting controller endows the system with enhanced dynamic characteristics and robustness to model uncertainties and external disturbances. Simulations and experimental results are provided, showing the feasibility and reliability of the approach.

Keywords: fuel cell systems,nonlinear control,second order sliding modes,experimental results

Identifier: 10.3182/20090819-3-PL-3002.00122

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Abdessemed, F.; Monacelli, E.

Abstract: This paper presents an approach for desired joint trajectory generation for motion control of a mobile manipulator. The objective is to allow the end-effector tracks a given operational trajectory in a fixed world frame. In this paper, each of the arm and the mobile platform is treated separately. This mode of operation is well suited in simple manipulation tasks like pick and place. We also present the hardware architecture, which makes use of a PC as the host. It is configured in such a way that it performs all the input-output interface operations. On the other hand, we have implemented a low level layer that includes the required hardware for each of the sub-systems making the mobile manipulator. The results presented have tested and showed the effectiveness of the method for tasks like pick and plac.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00091

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Chou, Yo-Shing; Liu, Jing-Sin

Abstract: In order to mimic human behavior in a maze-like environment, we present an efficient and practical path planning method that combines a random-sampling system with a fuzzy system. The fuzzy rule is applied to obstacles to derive the necessary information that will allow a robot to follow a path without colliding with nearby obstacles. Then the random sampling system chooses the forward moving direction based on the information provided by the fuzzy system and checks if the goal is reachable until the goal is reached. Our algorithm remedies the weakness of using RRT or the fuzzy system alone in planning a path through a map with narrow passages or dead ends. Experiments performed in different environments show that the prepared method is efficient and practical in a variety of difficult situations, including narrow passages and dead ends in maze-like maps.

Keywords: path planning,sampling-based,fuzzy system

Identifier: 10.3182/20090819-3-PL-3002.00017

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Pozdyaev, Vladimir

Abstract: Systems of Lyapunov inequalities of arbitrary order are considered. A way to analytically find solutions of dual linear matrix inequality systems is presented. Some particular cases are considered in detail, providing sufficient conditions of original Lyapunov inequality systems' infeasibility.

Keywords: algebraic approaches,Lyapunov equation,mathematical models,matrix algebra

Identifier: 10.3182/20090819-3-PL-3002.00081

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Kociszewski, R.; Kaczorek, T.

Abstract: The problem of finding a gain matrix of the state-feedback of 2D linear system such that the closed-loop system is positive and asymptotically stable is formulated and solved by the use of LMI method. Necessary and sufficient conditions for the solvability of the problem are given. The proposed approach is illustrated by numerical example.

Keywords: linear 2D systems,general model,positivity,stabilization,state-feedback,LMI

Identifier: 10.3182/20090819-3-PL-3002.00046

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Zawadzki, Tomasz

Abstract: The traditional project management tools and methodologies are based on the assumption that dividing project on several stages, which could be better understood (than a whole project), is the way to tackle large projects. General rule is that more detailed model is, the more accurate schedule can be prepared. Whereas, there has been even a tendency to build sophisticated network-based models, experience and surveys reveals that more than 50% (some sources even says about 100%) of large technological development projects fails to meet their cost and schedule targets. An alternative view of a project is offered by system dynamics which concentrate on the whole project. That new approach focuses mainly on relationships between particular project elements. So far, system dynamics has been mainly applied in a industry projects, providing many useful lessons for managers. This paper describes the way how, system dynamics could be applied to IT (Information Technology) project management.

Keywords: project management,system dynamics,dynamic modeling

Identifier: 10.3182/20090819-3-PL-3002.00027

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Metzger, Mieczyslaw; Klopot, Witold

Abstract: There are few examples of process benchmarking in the literature nowadays which allow to determine quality of tested control algorithms unequivocally. It is believed that exothermic CSTR process (with Arrhenius-type reaction), CSTB process (with Monod-type or Contoise-type reaction) and pH process fulfill such a function. However, most commonly used settings for CSTR and CSTB processes display nonlinearities which for control algorithms are not really challenging. An additional inconvenience is introduced by the high cost of a real laboratory installation and its maintenance - even when it is just a pilot plant. Tanks with variable surface area presented in this article seem to be a strong challenge for the process control. They seem to be the good alternative for the mentioned processes due to the fact that the cost of developing and maintaining such an installation is relatively low.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00036

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Rosól, Maciej; Kolek, Krzysztof

Abstract: In the paper the System-On-the-Chip (SOC) based on a FPGA circuit is presented to collect input data, perform conditioning and to generate the control signals for the cable system equipped with the MR damper. The FPGA configuration and SOC programming techniques are shown. Experimental results of a semi-active vibration control system controlled by the SOC module are considered. A research is conducted how to mitigate or reduce vibrations by control algorithms.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00025

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Baczynski, Janusz; Baczynski, Michal

Abstract: The simple and low cost laboratory manipulator system for neutron activation analysis laboratories is presented. The system is specially dedicated to use it in nuclear research laboratories where the neutron activation is used for determining chemical composition of substances and materials. However it can be employed successfully in all research laboratories where preparation or processing of radioisotopes samples or other handling with hazardous materials takes place. The cable-pulley manipulator is controlled by a simple PC set-up.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00097

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Rauh, Andreas; Minisini, Johanna; Aschemann, Harald

Abstract: In this paper, techniques based on Carleman linearization are presented which are applicable to the design of controllers and state estimators for nonlinear dynamical systems. Originally, Carleman linearization has been developed to transform sets of polynomial ordinary differential equations into infinite dimensional linear system representations. After choosing suitable finite orders for truncation of Carleman linearization, finite dimensional linear and bilinear system representations are obtained for which the design of controllers and state estimators can be performed in a straight forward way. To visualize the practical applicability of the presented procedures, state as well as disturbance estimation for a linear axis driven by pneumatic muscle actuators is studied.

Keywords: Carleman linearization,state and disturbance estimation,nonlinear control systems

Identifier: 10.3182/20090819-3-PL-3002.00079

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Chettouh, M.; Boudoua, S.; Belhocine, M.; Hamerlain, M.

Abstract: Pneumatic artificial rubber muscles (Parms) are similar to biological muscles as both act as springs. Stiffness varies with pressure for the Parm and with neural impulse for the biological muscle. As a Parm system is highly non linear, its classical control does not reveal to be totally indicated. Robust control techniques such as variable structure controls generating sliding modes are quite indicated. However, sliding mode control although robust generates chattering as the control switches across the sliding manifold. In this work, two controls are applied onto a robot driven by Parms in order to reduce this undesirable chatter. The first law is a generalised variable structure algorithm while the second one is a 2-sliding law, the "twisting" algorithm. Experimental results are presented and discussed.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00107

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009

Authors: Grega, Wojciech

Abstract: The performance of a digital control system, besides the sampling period, depends on many variables, such as the control loop execution time, jitter and communication parameters. Traditionally, digital control algorithms are designed without the consideration of their real-time implementation details and the constraints of the communication links. For distributed control systems variable queuing delays, transmission delays and lost of data, leads to the deterioration of the quality of control. The timing requirements derived from the assumptions of discrete-time control theory are not realistic for computer implementations. In the paper some control techniques improving the temporal robustness are proposed. The general conclusion is that, in the computer implementation of distributed control systems, real-time algorithms, data transmission models and digital control methods can not be developed separately.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00115

Conference: 14th International Conference on Methods and Models in Automation and Robotics(2009)

Location: , Poland

Start Date: Wed Aug 19 2009 - End Date: Fri Aug 21 2009