Authors: Emirsajlow, Zbigniew; Kowalewski, Adam; Krakowiak, Anna; Sokolowski, Jan

Abstract: In the paper the first order sensitivity analysis is performed for a class of optimal control problems for time delay hyperbolic equations. A singular perturbation of geometrical domain of integration is introduced in the form of a circular hole. The Steklov-Poincaré operator on a circle is defined in order to reduce the problem to regular perturbations in the truncated domain. The optimality system is differentiated with respect to the small parameter and the directional derivative of the optimal control is obtained as a solution to an auxiliary optimal control problem.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00003

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: Sokolowski, Jan; Kowalewski, Adam; Krakowiak, Anna

Abstract: In the paper the first order sensitivity analysis is performed for a class of optimal control problems for infinite order parabolic equations. A singular perturbation of geometrical domain of integration is introduced in the form of a circular hole. The Steklov-Poincaré operator on a circle is defined in order to reduce the problem to regular perturbations in the truncated domain. The optimality system is differentiated with respect to the small parameter and the directional derivative of the optimal control is obtained as a solution to an auxiliary optimal control problem.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00009

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: Ramos-Arreguin, Juan Manuel; Pedraza-Ortega, Jesus Carlos; Gamiño-Galindo, Maricela; Gorrostieta-Hurtado, Efren; de Jesus Romero-Troncoso, Rene; Aceves-Fernandez, Marco Antonio; Hernandez-Valerio, Juan Salvador

Abstract: This paper presents a simulation methodology proposal, applying a multilanguage technique to simulate a mechatronic system. Firstly, a way to interact between two programming languages is presented, by taking advantage of each language to facilitate the development of a complex simulation tool. Later, the mechanical structure is obtained in VRML format. Next, special software is used to compute the mathematical model for kinematics and dynamic behavior. The results are showed by graphical simulation with Graphic Libraries support. Finally, the methodology is applied to flexible manipulator with one degree of freedom as study case, and the graphical simulation is presented.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00071

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: Garrido, I.; Garrido, A. J.; Sevillano, G.; Alberdi, M.; Amundarain, M.; Barambones, O.

Abstract: Nuclear fusion has the potential to produce unlimited, clean energy, which presents itself as a reliable energy supply but it also helps to stop the threat of climate change that faces the world nowadays. However, to sustain the pulse duration long enough to produce the necessary energy, new controls have to be developed, composing a new application area of Control Engineering, with new and interesting challenges for the control community. In this sense, this paper deals with the modeling of tokamak nuclear fusion reactors. In order to control the creation of unstable modes in fusion processes, it is necessary to derive numerical models suitable for control strategies. The model presented in this paper addresses flux and energy conservation issues, discussing the mechanisms behind the creation of uncontrollable modes. The dynamics of the system is given by means of the energy functions which are solved for the currents in the structure, plasma current and plasma position. Thus, the equations for the state variables are derived based on the Hamiltonian equation of motion. In order to solve this system numerically, this model is linearized around an operation point by taking a Newton-Raphson step. Besides, the system output is completed by considering the equations for the flux and the poloidal field. Finally, the resulting low-order linear model is modified so as to obtain the corresponding state-space model which is verified by means of numerical experiments.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00075

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: N'doye, Ibrahima; Zasadzinski, Michel; Darouach, Mohamed; Radhy, Nour-Eddine

Abstract: This paper deals with the asymptotical stabilization of nonlinear affine fractional-order systems. Two static control laws are considered : state and output feedbacks. The asymptotic stability is proven using a proposed generalization of the Bellman-Gronwall lemma.

Keywords: affine fractional-order systems,generalization of Bellman-Gronwall lemma,static state feedback,static output feedback,asymptotic stabilization

Identifier: 10.3182/20090819-3-PL-3002.00083

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: Pakshin, P. V.; Peaucelle, D.; Zhilina, T. Ye.

Abstract: The purpose of this paper is a parametrization (parametric description) of static output feedback stabililizing controllers for linear continuous-time systems with state-dependent noise. Applications of this result to robust stabilization and passification problems are considered. Algorithms for computing stabilizing gains are produced. The approach presents parametrization in terms of linear matrix equation and quadratic matrix inequalitity which depend on parameter matrices similar to weight matrices in LQR theory. To avoid implementation problems a convex approximation technique is used and LMI based algorithms are obtained for computing stabilizing gains. These algorithms are non-iterative and rely on computationally efficient LMI resolution. Yet, they are conservative but rely on a well known to use LQR methodology to choose a priori design matrices. As a result of this work a new unified approach to design of static output feedback stabilizing control is developed. Application of the obtained results to the problem of robust stabilization and passification for uncertain linear system is given.

Keywords: stabilization,output feedback,stochastic systems,uncertain systems

Identifier: 10.3182/20090819-3-PL-3002.00063

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: Gonzalez, A. Gilberto; Padilla, G. Aaron

Abstract: A bond graph model for a class of nonlinear system is presented. This class of nonlinear systems is characterized by states product. The steady state of this class of nonlinear systems based on bond graph models is proposed. The bond graph approach using the derivative causality assignment allows to determine the steady state of the nonlinear system in a simple and direct manner. Finally, the proposed methodology to a classical example of a DC motor is applied. However, the steady state of a more complex example represented by a manipulator with a link in a bond graph model is obtained.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00084

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: Filatova, Darya V.; Grzywaczewski, Marek; Krawczyk, Krzysztof

Abstract: The paper presents the new parameter estimation method for stochastic differential equations. This method gives effective estimates of parameters and can be used for friction phenomenon in kinematic pairs modeling as far as the results of experiments are usually presented by panel data.

Keywords: stochastic modeling,mathematical models,identification algorithms,friction,kinematics

Identifier: 10.3182/20090819-3-PL-3002.00113

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, Foudil; Bazi, Yakoub

Abstract: Because of the strong need of finding easy and robust methods to control robots, many solutions has been proposed in the literature. The computed torque method is a well established robot control technique which takes account of the dynamic coupling between the robot links. However, its main disadvantage lies on the assumption of an exactly known dynamic model which is not realizable in practice. To overcome this issue, we propose in this paper to estimate the dynamics model of the nonlinear system with a machine learning regression method, namely support vector regressor. Then the output of this regressor is thereafter in conjunction with a PD controller to achieve the tracking trajectory task of a robot manipulator.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00103

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: None

Abstract:

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.90002

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: Pilat, Adam

Abstract: The aim of this paper is to present an experiment realized with the support of magnetic levitation system equipped with additional electromagnet. This extra unit allows to realize more experiments including identification and control, diagnose the performance of the closed loop system and design controllers for single axis of the active magnetic bearing. The test rig consists of two electromagnets, distance and current sensors and ferromagnetic object. The system is controlled by the personal computer or embedded system. The MATLAB/Simulink software allows to perform identification, signal analysis, controller design and real-time code generation for the selected target. The experimental controllers reliability test under external pulse excitation is presented.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00029

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, Michal; Baczynski, Janusz

Abstract: The simple and relatively low cost teleoperation system with cable-driven robotic manipulator is presented. The system is dedicated to employ it in different laboratories with hazardous materials as a teleoperator assistant. The 9-DOF remote control manipulator has been constructed to freely maneuver within the laboratory spaces among various obstacles. The common 6-DOF inverted Stewart platform is used as the cable manipulator. The construction has been developed by applied mobile pulley mechanisms to obtain extra three redundant DOF.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00098

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: Nycz, Andrzej; Hamel, William R.

Abstract: This paper presents the goals, issues and approach used in designing the Tracking Fluoroscope System (TFS). The TFS is a mobile platform equipped with an on-board fluoroscope system to perform real-time imaging of human joints in motion: ankles, knees and hips. In order to record the natural and uninterrupted joint motion, the person walks freely while being followed by the robot. It requires independent tracking of the position and orientation of the body with respect to the platform, as well as the position of the joints with respect to the trunk of the body. This paper presents the platform design results with respect to feasibility, performance and safety.

Keywords: mobile robots,biomedical systems,tracking systems

Identifier: 10.3182/20090819-3-PL-3002.00030

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: Gorczyca, Mateusz; Janiak, Adam; Janiak, W. A.

Abstract: The problems of scheduling of tasks described with dynamic models appear in the real-world situations, where management of the processes described with differential equations is needed. Possible applications contains e.g: refuelling of the fleet of the boats in the given critical time, scheduling of tasks in the multiple computer systems and the forging process in the steel plants. The solution for such problems consists of two parts: continuous one (the allocation of the continuously divisible resource) and the discrete one (sequence of task subsets). The research has been done mostly for the former part so far, where the latter one was neglected. In the paper we recollect properties of the discrete part of the solution space and we prove some new properties. These new properties can be used to construct more efficient algorithms for the scheduling problems with the dynamic models of tasks.

Keywords: scheduling algorithms,convex optimization,resource allocation,sequences,sets

Identifier: 10.3182/20090819-3-PL-3002.00043

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: Kolek, Krzysztof; Rosól, Maciej; Hajduk, Krystyn

Abstract: Electrical Discharge Machining (EDM) is very accurate manufacturing process able to trim any desired shapes in various materials. The proposed measurement and control system comprises a standalone FPGA controller, EDM machine and data acquisition system (DAQ) based on standard PC. The stand-alone FPGA controller can operate in an open loop and feedback structures. It enables the interaction with a high-speed A/D converters, differential analog D/A converters and digital, differential incremental encoders inputs. In order to demonstrate the performance of a simple controller an experiments in the closed-loop of EDM system were conducted. The real-time control algorithm runs on the autonomous FPGA system which is equipped with a Spartan II chip [7]. The experimental results are shown and discussed. The unique feature of the investigated FPGA-based controller is reaction time which can be shorter than 1 microsecond.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00022

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: Hussain, Z.; Tokhi, M. O.; Jailani, R.

Abstract: This paper describes a new technique in assisting indoor rowing exercise for paraplegics. It combines functional electrical stimulation with an energy storage element. A spring is introduced as an energy storage element that stores energy during the driving phase and transfers energy during recovery phase of rowing stroke. The technique is implemented with a dynamic simulation model. Fuzzy logic control is used to control the knee and elbow trajectories for smooth rowing manoeuvre. The generated level of electrical stimulation for activation of quadriceps and hamstrings muscles are recorded and analysed. In view of good results obtained, it is concluded that the new technique of rowing exercise for paraplegics using spring orthosis with proper rowing manoeuvre significantly contributes to assisting paraplegic indoor rowing exercise.

Keywords: biomechanics,spring orthosis,FES,indoor rowing machine,fuzzy logic control

Identifier: 10.3182/20090819-3-PL-3002.00074

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: Gierlak, Piotr; Zylski, Wiesław

Abstract: In this paper a neural-net (NN) controller for tracking control of a manipulator is used. A manipulator is a nonlinear object which usually has unknown and changeable parameters. Dynamics equations of a rigid manipulator are presented. A NN controller is used for compensating manipulator's nonlinearities. The controller is realized in a form of a linear NN in the weights. The NN is learned by using backpropagation tuning. The presented control law and tuning algorithm are derived from the Lyapunov direct method. In this paper results of simulation and experiment are presented.

Keywords: compensating feedback,control applications,Lyapunov stability,neural control,nonlinear control systems,robotic manipulators

Identifier: 10.3182/20090819-3-PL-3002.00108

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: Nowacka-Leverton, Aleksandra; Bartoszewicz, Andrzej

Abstract: In this paper the design of a time-varying switching plane for the sliding mode control of the third order system subject to velocity and input signal constraints is presented. Initially, the introduced plane passes through the system representative point in the error state space and then it moves with a constant velocity and a constant angle of inclination to the origin of the space. Having reached the origin the plane stops moving and remains fixed. The plane parameters (determining angles of inclination and the velocity of its motion) are selected to ensure the minimum integral of the time multiplied by the absolute error (ITAE) without violating velocity and input signal constraints. The switching plane is chosen in such a way that the reaching phase is eliminated and insensitivity of the system with reference to the external disturbances and the model uncertainty is guaranteed from the very beginning of the proposed control action. Furthermore, fast and monotonic error convergence to zero is achieved.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00119

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: Czubasiewicz, Rafał; Czeczot, Jacek

Abstract: This paper deals with the problem of the modeling accuracy of the balance-based model, which is a basis for the B-BAC (Balance-Based Adaptive Control) methodology. This model has the nonstationary form because all the modeling inaccuracies and uncertainties are represented by the only one time-varying parameter that must be estimated on-line. Thus, the estimation procedure is a very important part of the B-BAC methodology and it influences the modeling accuracy and, consequently, the control quality. Tuning of this estimation procedure requires the choice of the values of two parameters and in the practice, this choice must be made without the knowledge about the true process. In this paper, we suggest the optimal choice of the tuning parameters by simulation on the basis of the comparison with the true system. The experiments have been carried out for both the noiseless and the noisy cases and the results allow formulating the suggestions for tuning of the estimation procedure in the practice.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00023

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; Kozlowski, Krzysztof

Abstract: In this paper a tracking controller expressed in terms of the quasi-velocities for rigid manipulators described by the Poincaré equations in a matrix form is proposed. The quasi-velocities introduced by Hurtado (2004) are based on Cholesky decomposition of the system inertia matrix. Using the proposed, exponentially convergent, controller it is possible to recognize some dynamic features of the system and at the same time to ensure the velocity control. It is shown that the presented approach can be helpful for reduction of nonlinearities existing in the manipulator in its design phase. The control strategy was tested in simulation on a 3 d.o.f. spatial manipulator.

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.00104

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: Zasuwa, Maciej; Glebocki, Robert; Swieton, Grzegorz

Abstract: An idea of autonomous mobile platform for land mines detection and destruction is introduced. A visual navigation system with a simple pattern matching algorithm was proposed. A CCD camera is the system main sensor for image acquisition. A Scene Matching Area Correlation (SMAC) method based on a cross correlation technique is implemented for image processing. The system was tested both in off-line simulations and on-board of a land vehicle. The efficiency of the signal processing algorithm during the field tests confirmed efficiency of the methods developed for determination of vehicle position and velocity. A visual navigation system based on simple image processing techniques may be applied on board mobile vehicles in an autonomous way or as a component of integrated navigation system.

Keywords: visual navigation,autonomous mobile platform,land mine detection

Identifier: 10.3182/20090819-3-PL-3002.00028

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: Bogdan, Lucyna; Petriczek, Grazyna

Abstract: In the paper the main problems of wastewater network computing algorithms are presented. Using the known Saint--Venant equations system and Manning formula the new relation describing the dependence of fulfilling height on the other canal variables and on the previous section fulfilling height value is derived. The mathematical formulae describing the filling height and hydraulic radius as a functions of geometrical parameters of the canal are done. These values are used in the algorithm for the calculation of wastewater network

Keywords: Saint-Venant equations,manning formula,a fulfilling height,a hydraulic radius,wastewater network

Identifier: 10.3182/20090819-3-PL-3002.00072

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: None

Abstract:

Keywords:

Identifier: 10.3182/20090819-3-PL-3002.90001

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