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AN INTERPOLATION APPROACH TO thE INTEGER-ORDER APPROXIMATION OF FRACTIONAL-ORDER SYSTEMS

AN INTERPOLATION APPROACH TO THE INTEGER-ORDER APPROXIMATION...

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international conference on methods and models in automation and robotics (MMAR)

作者： Daniele Casagrande Wiesław Krajewski Umberto Viaro Polytechnic Dept. of Eng. and Arch. University of Udine Udine Italy Systems Research Institute Polish Academy of Sciences Warsaw Poland

A state-space integer-order approximation of a commensurate-order systems is obtained using a data-driven interpolation approach based on Loewner matrices. Precisely, given the values of the original fractional-order transfer function at a number of generalised frequencies, a descriptor-form state-space model matching these frequency response values is constructed from a suitable Loewner matrix pencil, as already suggested for the reduction of high-dimensional integer-order systems. Even if the stability of the resulting integer-order system cannot be guaranteed, such an approach is particularly suitable for approximating (infinite-dimensional) fractional-order systems because: (i) the order of the approximation is bounded by half the number of interpolation points, (ii) the procedure is more robust and simple than alternative approximation methods, and (iii) the procedure is fairly flexible and often leads to satisfactory results, as shown by a pair of examples taken from the literature. Clearly, the approximation depends on the location, spacing and number of the generalised interpolation frequencies but there is no particular reason to choose the interpolation frequencies on the imaginary axis, which is a natural choice in integer-order model reduction, since this axis does not correspond to the stability boundary of the original fractional-order system.

关键词： Interpolation Transfer functions Numerical models Computational modeling Data models Stability analysis Numerical stability

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Multicriteria Coordination of Flood Control in Water Reservoir Systems

Multicriteria Coordination of Flood Control in Water Reservo...

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international conference on methods and models in automation and robotics (MMAR)

作者： Andrzej M.J. Skulimowski Department of Automatic Control and Robotics Decision Sciences Laboratory Kraków Poland

this paper presents an application of the reference multifunction method to design decision support systems dedicated to selecting optimal reservoir control strategies in case of a flood emergency. We assume that in the region endangered by the flood, there are several water reservoirs, each with a separate direction, economical goals, and protection subregion. Reservoirs on the same river may form subsystems with common goals. We investigate a frequent case where all reservoirs are situated on feeders while the flood wave on the recipient between and beneath the feeder mouths can be controlled by a coordinated release of water from the reservoirs. the reservoirs' own protection regions do not include the recipient's valley. Flood damage is minimized by a suitable dynamic multicriteria coordination with the environmental, financial and human life protection-related criteria. the coordinating decision center assures that the values of the individual reservoir criteria are non-dominated and belong to a given reference set. the latter can be interpreted as acceptable values of criteria on a certain subinterval of the control period. We provide an approach to finding a non-dominated trajectory of the overall reservoir system that fulfils the above coordinator's demands. We also describe the architecture of the decision support system capable of solving the coordination problem in real-time. A real-life example of finding a flood-control strategy for the reservoir system in the Upper Vistula basin in Poland will be presented.

关键词： Reservoirs Floods Rivers Decision support systems Trajectory Real-time systems

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System Identification and model comparison of a Tension Leg Platform for Floating Offshore Wind Turbines

System Identification and model comparison of a Tension Leg ...

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international conference on methods and models in automation and robotics (MMAR)

作者： thomas Hansen Maria A. B. Jørgensen Van Roy Tran Kasper Jessen Mohsen N. Soltani Department of Energy Technology Aalborg University Esbjerg Denmark

this paper will focus on using system identification on experimental data for building a mathematical model for the platform of a floating offshore wind turbine and analyzing the behavior of the structure. the floating offshore wind turbine examined in this paper uses a scaled tension leg platform as its foundation and the wind turbine is a 1:35 scaled model of the 5 MW NREL offshore wind turbine. the mathematical model of the platform will describe the displacement of the TLP in surge when affected by an irregular wave series generated from a scaled Pierson-Moskowitz wave spectrum. To obtain such a mathematical model, an examination of the displacement of the platform due to the hydrodynamic loads will be conducted on the foundation of the floating offshore wind turbine. the height of the waves and the displacement of the floating offshore wind turbines will be measured by resistive wave gauges and OptiTrack cameras, respectively, at the offshore laboratory at Aalborg University Esbjerg. System identification is used on the data obtained from the experiments, to build multiple mathematical models with different model structures, in order to find the most appropriate model structure. It is concluded from the analysis of the different mathematical models, that the Autoregressive Moving Average and Extra input model structure is the most accurate model at describing the dynamics of the platform of a floating offshore wind turbine. the model is valid for a specific operating range of Pierson-Moskowitz waves generated with a wind speed corresponding to 2 meters per seconds.

关键词： Mathematical model Wind turbines Autoregressive processes Analytical models Data models Parametric statistics Surges

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A Review on Short-Term Electricity Price Forecasting Techniques for Energy Markets 15

A Review on Short-Term Electricity Price Forecasting Techniq...

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15th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Jiang, LianLian Hu, Guoqiang ASTAR Inst Infocomm Res Singapore 138632 Singapore Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

ISBN: (纸本)9781538695821

the electricity price forecasting (EPF) is essential for decision-making mechanisms of market participants to survive in the deregulated and competing commercial environment. Due to special features of the electricity such as seasonality, the constant balance between production and consumption required by the system, and environmental dependencies, electricity prices generally shows extreme volatility and price spikes with the heteroscedasticity. this paper provides a survey of main EPF methodologies and the ultimate goal of this survey is to provide readers insights and guidelines for choosing different EPF techniques for day-ahead electricity markets. For each type of method, we briefly introduce its principle and then describe how it is applied in EPF. Many new EPF techniques developed recently are also discussed, especially the artificial intelligence forecasting methods. the pros and cons of each type of method are provided in a final table so that users can pay attention to when choosing them. In the final section, several promising methods and potential directions for further exploration are presented.

关键词： Electricity price forecasting (EPF) deep learning artificial intelligence energy market time series models

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Reasonable Grasping based on Hierarchical Decomposition models of Unknown Objects 15

Reasonable Grasping based on Hierarchical Decomposition Mode...

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15th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Xia, Chongkun Zhang, Yunzhou Shang, Yanli Liu, Tongbo Northeastern Univ Coll Informat Sci & Engn Shenyang Liaoning Peoples R China Northeastern Univ Fac Robot Sci & Engn Shenyang Liaoning Peoples R China Univ Sci & Technol Beijing Sch Comp & Commun Engn Beijing Peoples R China

ISBN: (纸本)9781538695821

Reasonable grasping for unknown objects is an interesting and important problem for autonomous robots in unstructured environment. Current grasping methods for unknown objects mostly focus on precision and stability. Until now there are few specific studies or reports describing reasonable grasp of unknown objects for service robots such as home service robots and nursing robots. In the paper we proposed a reasonable grasping method for unknown objects based on hierarchical decomposition point cloud models using a vision sensor. As a complex task, vision-based grasp is composed of a series solution of a mixture of subproblems. therefore, we adopt an improved superquadrics fitting algorithm with the improved cuckoo search strategy (S-ICS) to achieve restoration and segmentation of incomplete point cloud data of unknown objects in a single visual angle. then a reasonable region decision method based on hierarchical decomposition models is proposed to evaluate the reasonableness of grasped positions of unknown objects. Finally, we use a simulation to verify the effectiveness of the proposed method. Moreover, we also perform an extensive real-world grasping experiment on a set of unknown objects in daily use. the results also verify the effectiveness of our approach.

关键词： Optimization

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the idea of Virtual Teach-In in the field of industrial robotics 14

The idea of Virtual Teach-In in the field of industrial robo...

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14th IEEE international conference on Control and automation (ICCA)

作者： Ehmann, Daniel Wittenberg, Carsten Heilbronn Univ Appl Sci Robot & Automat Dept DE-74081 Heilbronn Germany

ISBN: (纸本)9781538660898

this paper describes the idea to support the engineering process in the automation domain - especially in the field of industrial robots - via methods from virtual reality. Due to the technical progress like the industrial internet of things (IIOT) or the Industry 4.0 the complexity of automated production system increases. As a consequence, the engineering effort also increases. this paper focuses the task related to the programming of industrial robots via the common Teach-In method. A virtual reality environment known from the gaming domain is used for the virtual presentation of the production system including the robot. An interactive prototype is developed and evaluated with almost 25 users.

关键词： Robot kinematics Service robots Virtual reality Production systems Planning Virtual manufacturing"

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Using Simulation and Domain Adaptation to Improve Efficiency of Deep Robotic Grasping

Using Simulation and Domain Adaptation to Improve Efficiency...

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IEEE international conference on robotics and automation (ICRA)

作者： Bousmalis, Konstantinos Irpan, Alex Wohlhart, Paul Bai, Yunfei Kelcey, Matthew Kalakrishnan, Mrinal Downs, Laura Ibarz, Julian Pastor, Peter Konolige, Kurt Levine, Sergey Vanhoucke, Vincent Google Brain Mountain View CA 94043 USA

ISBN: (纸本)9781538630815

Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data for which ground-truth annotations are generated automatically. Unfortunately, models trained purely on simulated data often fail to generalize to the real world. We study how randomized simulated environments and domain adaptation methods can be extended to train a grasping system to grasp novel objects from raw monocular RGB images. We extensively evaluate our approaches with a total of more than 25,000 physical test grasps, studying a range of simulation conditions and domain adaptation methods, including a novel extension of pixel-level domain adaptation that we term the GraspGAN. We show that, by using synthetic data and domain adaptation, we are able to reduce the number of real-world samples needed to achieve a given level of performance by up to 50 times, using only randomly generated simulated objects. We also show that by using only unlabeled real-world data and our GraspGAN methodology, we obtain real-world grasping performance without any real-world labels that is similar to that achieved with 939,777 labeled real-world samples.

关键词： Grasping Robots Training Feature extraction Adaptation models Cameras Task analysis"

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Push Recovery methods Based on Admittance Control Strategies for a NAO-H25 Humanoid 6

Push Recovery Methods Based on Admittance Control Strategies...

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6th RSI international conference on robotics and Mechatronics (IcRoM)

作者： Mousavi, Fatemeh Sadat Masouleh, Mehdi Tale Kalhor, Ahmad Ghassemi, Payam Univ Tehran Sch Elect & Comp Engn Human & Robot Interact Lab Tehran Iran Univ Tehran Fac New Sci & Technol Tehran Iran

ISBN: (纸本)9781728101279

this paper discusses two main investigations regarding push recovery of a NAO humanoid robot. the first part indicates the simulation results of different strategies retrieved from human behaviors, namely: Ankle, Hip, and Hipankle strategies. these methods are separately assessed and their efficiencies are discussed. To the end of converting torque parameter to robot's movement with a reasonable approximation in the aforementioned strategies' obtained models, a new approach, the so-called Virtual leg model, is introduced. the second discussion assesses the admittance control strategy, which relies on disturbances' energy absorption. Individual control algorithms are introduced for each disturbances' categories based on NAO's real conditions. this paper proposes a new strategy, which investigates the influence of admittance control coefficients against external disturbances, by considering a virtual interaction between robot's feet and the ground, and introducing a Kalmanfilter- based estimator. All proposed methods are simulated in NAO-H25' s simulation environment.

关键词： NAO H-25 Push recovery Hip strategy Ankle strategy Hip-ankle strategy Virtual leg model Admittance control

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Performance analysis of the image fusion methods of the proposed 2D acoustic camera 23

Performance analysis of the image fusion methods of the prop...

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23rd international conference on methods and models in automation and robotics (MMAR)

作者： Rzepecki, Jaroslaw Budzan, Sebastian Wrona, Stanislaw Pawelczyk, Marek Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781538643259

In this paper the fundamental acoustic camera issues have been presented. First, design and construction of the 2D microphone array with a vision camera have been described. Finally, acoustic camera has been improved by the fusion of the sound map and digital image from the vision camera. the authors describe in details some fundamental issues related to the acoustic camera construction. Experiments have been performed with NI cDAQ acquisition system equipped with 4x4 microphone array including 2D vision camera. the experiments have been concentrated on the evaluation of different image fusion algorithms performance. In result, for the specific purposes, especially for noisy spaces, some alternative method of the image fusion might be more efficient than standard algorithm.

关键词： Acoustics Cameras Microphone arrays Array signal processing Two dimensional displays Image fusion

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Deep learning methods for Fake News detection

Deep learning methods for Fake News detection

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international Symposium on Computational Intelligence and Informatics

作者： Viera Maslej Krešňáková Martin Sarnovský Peter Butka Technical university of Košice Košice Slovakia

ISBN: (数字)9781728156255

ISBN: (纸本)9781728156262

Spreading of misinformation on the web nowadays represents a serious issue, as their influence on peoples opinions may be significant. Fake news represents a specific type of misinformation. While its detection was mostly being performed manually in the past, automated methods using machine learning and related fields became more critical. On the other hand, deep learning methods became very popular and frequently used methods in the field of data analysis in recent years. the study presented in this paper deals with the detection of fake news from the textual data using deep learning techniques. Our main idea was to train different types of neural network models using both entire texts from the articles and to use just the title text. the models were trained and evaluated on the Fake News dataset obtained from the Kaggle competition.

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