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International Conference on Complex, Intelligent and Software Intensive Systems, CISIS

作者： Vlad Ciobanu Decebal Popescu Adrian Petrescu Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Bucharest Romania

One of the most important human capabilities is the tactile sensing that allows advanced in hand manipulation for several objects or tasks. In the robot world, object manipulation without tactile sensing is relying only on visual detection, thus introducing large error margins. This paper presents several solutions for point of contact detection and normal force estimation by using a biomimetical tactile sensor mounted on a robot hand. Even if this paper focuses on the data generated by using a specific sensor, the results and implemented methods can be applied to a wide range of tactile sensors.

关键词： Electrodes Equations Support vector machines Tactile sensors Biosensors

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Automotive MR damper modeling for semi-active vibration control

Automotive MR damper modeling for semi-active vibration cont...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Jerzy Kasprzyk Janusz Wyrwał Piotr Krauze Institute of Automatic Control Silesian University of Technology Gliwice Poland Faculty of Automatic Control Electronics and Computer Science Gliwice Poland

The magnetorheological (MR) damper is a semi-active device in which varying electric current flow in coils mounted in the piston leads to changes of its dynamical properties. Development of an accurate mathematical model of the MR damper plays a key role in a successful implementation of semi-active vibration attenuation. This paper concerns with the problem of building a model of the MR damper used in a vehicle suspension. This is not a trivial task as the MR damper reveals highly nonlinear, bi-viscous and hysteretic behavior. Furthermore, the model has to be suitable for synthesis of a control algorithm. This means that using the inverse model it should be possible to calculate the input current for a given damping force. The so-called black-box modeling has been proposed with the relative structural simplicity comparing with the phenomenological models. The model structure is not based on a physical description of the MR damper but on the input-output relation that makes the digital controller implementation feasible. This nonlinear model is based on a heuristic approach and is convenient for application in a semi-active suspension system. Parameters of the model were adapted for data obtained during a specially designed experiment performed for the automotive MR damper mounted in the experimental vehicle.

关键词： Shock absorbers Mathematical model Force Data models Pistons Magnetic hysteresis Magnetomechanical effects

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FxLMS algorithm with preview for vibration control of a half-car model with magnetorheological dampers

FxLMS algorithm with preview for vibration control of a half...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Piotr Krauze Jerzy Kasprzyk Faculty of Automatic Control Electronics and Computer Science Gliwice Poland Institute of Automatic Control Silesian University of Technology Gliwice Poland

The paper presents a novel approach to the vehicle vibration control using magnetorheological (MR) dampers. Simulation experiments were carried out based on a half-car suspension model including the Bouc-Wen model of the MR damper. It is also assumed that information about the road excitation is available in advance as a preview signal. The tanh-based model of the MR damper was identified according to the Bouc-Wen model response and used to obtain the inverse model that is necessary in the control scheme. The adaptive feedforward LMS (Least Mean Squares) algorithm with a filtered preview signal was modified in order to control the semi-active elements. Because the MR damper can only dissipate energy, it was proposed to decompose the velocity-force characteristics of the damper into a nonlinear passive damper curve and a symmetrical control range of a pseudo active suspension actuator. Such assumption assures that the algorithm can converge to appropriate parameters of the adaptive filter. Deviation of an error signal assumed as kinematic energy of the vehicle body heave vibrations is minimized by the algorithm. control force generated by the MR dampers and expected by the algorithm is achieved indirectly by the inverse model of the damper. The suspension model was subjected to the road-induced stimulation in the form of series of bumps within the frequency range 0.5-15 Hz. Simulation results obtained for the FxLMS (Filtered-x LMS) and Skyhook algorithms demonstrate an advantage of the modified FxLMS due to its ability to adapt to changing conditions.

关键词： Shock absorbers Vehicles Adaptation models Vibration control Wheels Roads

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Enhanced intrusion detection system based on bat algorithm-support vector machine

Enhanced intrusion detection system based on bat algorithm-s...

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International Conference on Security and Cryptography (SECRYPT)

作者： Adriana-Cristina Enache Valentin Sgârciu Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Bucharest Romania

As new security intrusions arise so does the demand for viable intrusion detection systems These solutions must deal with huge data volumes, high speed network traffics and countervail new and various types of security threats. In this paper we combine existing technologies to construct an Anomaly based Intrusion Detection System. Our approach improves the Support Vector Machine classifier by exploiting the advantages of a new swarm intelligence algorithm inspired by the environment of microbats (Bat Algorithm). The main contribution of our paper is the novel feature selection model based on Binary Bat Algorithm with Levy flights. To test our model we use the NSL-KDD data set and empirically prove that Levy flights can upgrade the exploration of standard Binary Bat Algorithm. Furthermore, our approach succeeds to enhance the default SVM classifier and we obtain good performance measures in terms of accuracy (90.06%), attack detection rate (95.05%) and false alarm rate (4.4%) for unknown attacks.

关键词： Support vector machines Intrusion detection Kernel Particle swarm optimization Algorithm design and analysis Mathematical model

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On practical solutions of AQM queues with large buffers

On practical solutions of AQM queues with large buffers

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Proceedings of the International Convention MIPRO

作者： Pawel Mrozowski Andrzej Chydzinski Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland

In a router equipped with the active queue management (AQM), the arriving packets may be rejected even if the buffer is not full. This is supposed to reduce the queue size, while maintaining a high link utilization. The simplest approach to AQM is rejecting arriving packets with the probability that is a function of the queue length. The recently developed mathematical models of such systems present numerical difficulties that are not trivial to overcome, especially in systems of large sizes. In this paper we first overview the analytical solutions of these models, which contain both Markovian (Poisson) and non-Markovian (general renewal) traffic models. Then we discuss the computational techniques that enable solving and designing of such AQM queues with buffers for thousands of packets. Finally, we demonstrate computational examples with such buffers.

关键词： Computational modeling Numerical models Analytical models Laplace equations Steady-state Internet Queueing analysis

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Vibration control for a half-car model with adaptation of the magnetorheological damper model

Vibration control for a half-car model with adaptation of th...

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International Conference on Modelling, Identification and control (ICMIC)

作者： Jerzy Kasprzyk Piotr Krauze Jerzy Kasprzyk is with the Institute of Automatic Control Silesian University of Technology Gliwice Poland Faculty of Automatic Control Electronics and Computer Science Gliwice Poland

The paper presents vehicle vibration control using magnetorheological (MR) dampers. Typical algorithms to control this semi-active suspension need the inverse model of the damper. Modelling of the damper is not a trivial task because of its highly non-linear behaviour. Also, effectiveness of damping vibrations caused by the road depends significantly on the quality of the model. Therefore, an identification algorithm based on iterative estimation of immeasurable signals is proposed. Two control algorithms are tested - Skyhook and FxLMS (Filtered-x LMS). Simulation experiments for a half-car model excited by road bumps show usefulness of this approach. It was also observed that the FxLMS is not very sensitive to modelling errors as it includes an internal mechanism of adaptation. On the other hand, the Skyhook fails if the model is inaccurate, so it should be used together with the identification of the MR damper.

关键词： Shock absorbers Adaptation models Vehicles Vibration control Roads Vibrations

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Intrusions detection based on Support Vector Machine optimized with swarm intelligence

Intrusions detection based on Support Vector Machine optimiz...

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International Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： Adriana-Cristina Enache Victor Valeriu Patriciu Faculty of Automatic Control and Computer Science Politehnica University Bucharest Romania Computer Science Military Technical Academy Bucharest Romania

Intrusion Detection Systems(IDS) have become a necessary component of almost every security infrastructure. Recently, Support Vector Machines (SVM) has been employed to provide potential solutions for IDS. With its many variants for classification SVM is a state-of-the-art machine learning algorithm. However, the performance of SVM depends on selection of the appropriate parameters. In this paper we propose an IDS model based on Information Gain for feature selection combined with the SVM classifier. The parameters for SVM will be selected by a swarm intelligence algorithm (Particle Swarm Optimization or Artificial Bee Colony). We use the NSL-KDD data set and show that our model can achieve higher detection rate and lower false alarm rate than regular SVM.

关键词： Support vector machines Intrusion detection Particle swarm optimization Accuracy Optimization Kernel Training

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Spam host classification using swarm intelligence

Spam host classification using swarm intelligence

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International Conference on Communications (COMM)

作者： Adriana-Cristina Enache Victor Valeriu Patriciu Faculty of Automatic Control and Computer Science Politehnica University Bucharest Romania Military Technical Academy Computer Science Bucharest Romania

Web Spam, or Spamdexing, is a form of Search Engine Optimization(SEO) spamming that hinders the efficiency of search engines. These types of exploits use unethical methods in order to place a web page into the first rank. Sabotaging the quality of the results retrieved by search engines can lead users to mistrust the search engine provider. Moreover, spam websites can be a starting point for phishing or malware attacks. Over the last decade Web Spamming has become an important problem. This paper shows a spam host detection approach that uses swarm intelligence. We test our model on two datasets (WEBSPAM-UK2011 and WEBSPAM-UK2007) and show that it can obtain a good accuracy. Moreover, we compared our approach with other popular classifiers (C4.5, SVM and Logistic Regression ) and empirically demonstrated that it can outperform them in some cases.

关键词： Unsolicited electronic mail Particle swarm optimization Training Accuracy Support vector machines Data mining Feature extraction

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On the Set of Perron Exponents of Discrete Linear Systems

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IFAC Proceedings Volumes 2014年第3期47卷 11740-11742页

作者： Adam Czornik Jerzy Klamka Michał Niezabitowski Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 St. 44-101 Gliwice

The Lyapunov, Bohl and Perron exponents belong to the most important numerical characteristics of dynamical systems used in control theory. Properties of the first two characteristics are well described in the literature. Properties of the Perron exponents are much less investigated. In this paper we show an example of two-dimensional discrete-time linear system with bounded coefficients for which the set of Perron exponents constitutes an interval.

关键词： Perron exponent stability time-varying systems Cantor-type set

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ONSIDE: Socially-aware and Interest-based dissemination in opportunistic networks

ONSIDE: Socially-aware and Interest-based dissemination in o...

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IEEE Symposium on Network Operations and Management

作者： Radu-Ioan Ciobanu Radu-Corneliu Marin Ciprian Dobre Valentin Cristea Constandinos X. Mavromoustakis Computer Science Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Department of Computer Science University of Nicosia Nicosia Cyprus

ISBN: (纸本)9781479909117

Data dissemination in opportunistic networks poses a series of challenges, since there is no central entity aware of all the nodes' subscriptions. Each individual node is only aware of its own interests and those of a node that it is contact with, if any. Thus, dissemination is generally performed using epidemic algorithms that flood the network, but they have the disadvantage that the network overhead and congestion are very high. In this paper, we propose ONSIDE, an algorithm that leverages a node's online social connections (i.e. friends on social networks such as Facebook or Google+), its interests and the history of contacts, in order to decrease congestion and required bandwidth, while not affecting the overall network's hit rate and the delivery latency. We present the results of testing our algorithm using an opportunistic network emulator and three mobility traces taken in different environments.

关键词： Social network services Algorithm design and analysis Measurement History Routing Bandwidth Mobile handsets

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