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International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： A. Hošovský P. Michal M. Tóthová O. Biroš Department of Mathematics Informatics and Cybernetics Faculty of Manufacturing Technologies Prešov Slovakia Department of Automation Control and Human Machine Interaction Faculty of Mechanical Engineering Košice Slovakia

Pneumatic artificial muscles - based robotic systems usually necessitate the use various nonlinear control techniques in order to improve their performance. Moreover, their robustness to parameter variation, which is generally hardly predictable, should also be tested. Here a fast hybrid adaptive control is proposed, where a conventional PD controller is placed into the feedforward branch and a fuzzy controller is placed into the adaptation branch. The fuzzy controller compensates for the actions of PD controller under conditions of inertia moment variation. The design of fuzzy controller is based on the results of optimization using simulated annealing algorithm. The results confirm fast action of the control scheme as well as its robustness to changes in inertia moment variation.

关键词： Muscles Actuators Adaptation models PD control Adaptive control Simulated annealing

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Economical nonlinear model predictive control for building climate control

Economical nonlinear model predictive control for building c...

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2014 American control Conference, ACC 2014

作者： Pcolka, Matej Žáčeková, Eva Robinett, Rush Čelikovsky, Sergej Šebek, Michael Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 166 27 Praha 6 Czech Republic Department of Mechanical Engineering-Engineering Mechanics Michigan Technological University 1400 Townsend Drive Houghton MI United States Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Praha 8 Czech Republic

ISBN: (纸本)9781479932726

In this paper, two alternatives approaches to model predictive control (MPC) are compared and contrasted for the role of zone temperature controller - the commonly used linear formulation (LMPC) and rather unconventional nonlinear formulation (NMPC). The economical focus is reflected by the performance criterion being a combination of the comfort requirements and the monetary cost penalties (price of the consumed hot water and the electricity needed to deliver the water to the building) of the controlled inputs. With this formulation, the optimal controller drives toward minimization of the real price rather than minimization of abstract quantities. It turns out that the NMPC is able to attack the cost minimization directly while retaining a compact optimization formulation as opposed to the suboptimal linear alternative. A considerable part of the superiority of the NMPC can be owed also to the use of a nonlinear model that captures the nonlinear building dynamics much more accurately than the linear models. Thanks to an enhanced search step choice introduced in this paper, the NMPC outperforms both the LMPC and the conventional controller significantly even under severe computational restrictions which demonstrates its strong practical applicability. © 2014 American Automatic control Council.

关键词： Nonlinear systems

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MEMS Sensors in Evaluation of Human Biomechanical Parameters

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Procedia engineering 2014年 96卷 209-214页

作者： Ján Karchňák Dušan Šimšík Boris Jobbágy Alena Galajdová Daniela Onofrejová Department of Automation Control and Human-Machine Interactions Faculty of Mechanical Engineering Technical University of Košice Letná 9 042 00 Košice Slovakia Department of Industrial Engineering and Management Faculty of Mechanical Engineering Technical University of Košice Nemcovej 32 042 00 Košice Slovakia

Human biomechanical parameters such as range of motion can serve for evaluation of rehabilitation process, detecting disease or assessing training activities of the individual. MEMS sensors are today one of the most important innovation tools and are used in all kinds of applications, including measurements of human biomechanical parameters. Proposed article deals with validation of use of MEMS sensors for purposes of stroke patients’ rehabilitation and related measurements such as range of motion and provides description of the most common mistakes that may occur when such measurements would be include in a tele-rehabilitation application.

关键词： MEMS rehabilitation Range of Motion

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Robotic Arm with Artificial Muscles in Rehabilitation

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Procedia engineering 2014年 96卷 195-202页

作者： Boris Jobbágy Dušan Šimšík Ján Karchňák Daniela Onofrejová Department of Automation Control and Human-Machine Interactions Faculty of Mechanical Engineering Technical University of Košice Letná 9 042 00 Košice Slovakia Department of Industrial Engineering and Management Faculty of Mechanical Engineering Technical University of Košice Nemcovej 32 042 00 Košice Slovakia

Proposed paper deals with rehabilitation robotic devices. First part, introduction, introduces an aplication of robotics in rehabilitation process. Second part deals with robot - assisted rehabilitation of the upper limb where is also described an architecture of robotic rehabilitation and its main functions. In the third section there is described a design of robotic arm with artificial muscles for rehabilitation of the upper limb. Fourth part is about wearable sensors used by authors in rehabilitation.

关键词： Robotics Biomechanics Artificial muscle

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Evaluation of Seniors Gait Training with Mechatronic Device

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Procedia engineering 2014年 96卷 444-453页

作者： Lenka Szerdiová Dušan Šimšík Alena Galajdová Daniela Onofrejová Department of Automation Control and Human-Machine Interactions Faculty of Mechanical Engineering Technical University of Košice Letná 9 042 00 Košice Slovakia Department of Industrial Engineering and Management Faculty of Mechanical Engineering Technical University of Košice Nemcovej 32 042 00 Košice Slovakia

Authors present some results from research work on human movement analysis and its use in clinical practice. The aim of this research was to evaluate the effect of the new rehabilitation method for the prevention of falls in the elderly. The basis of new rehabilitation training is walking disturbed by perturbations embedded in shoes. Perturbations are generated with the original mechatronic device developed within project SMILING - S elf M obility I mprovement of e L derly by counteract ING falls, no. 215493 granted by the 7th framework program–ICT2007.7.1 „ICT and Ageing“. The SMILING system is a complete system for the training of gait [1]. SMILING shoe is a complex mechatronic system, which requires interaction through data obtained from the sensors of mechanical components, as well as data on user's activities. The SMILING shoes are able to change their configuration during the swing phase of gait to propose a different “ground” when the foot touches the floor. According to the basic idea, the SMILING system is not a medical device but a training device. This means that its use is envisaged also in non-protected environments such as fitness centers and/or private homes. The aim of the pilot study was to assess the impact of unconventional rehabilitation system SMILING on gait pattern. Seventeen patients participated in the study (elderly aged 65 and over) provided in Slovakia in cooperation with the Highly Specialized Geriatric Institute of St. Lukas Košice. Gait pattern has been defined through selected temporal-spatial parameters, obtained by measuring walking self-paced by opto-electrical system SMART in laboratory conditions. The results of the three measurements were compared by paired t-test for significance α=0,05. Data showed that after completing the second stage of training exercises walking speed and the length stride have increased and gait cycle was decreased. However, for approval of efficiency of the new rehabilitation method further clinical test

关键词： Seniosr Fall Neural plasticity Gait pattern System SMILING System SMART

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Genetic Algorithm based Neural Network for the Displacement of Landslide Forecasting

Genetic Algorithm based Neural Network for the Displacement ...

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第三十三届中国控制会议

作者： Jiejie Chen Zhigang Zeng Ping Jiang Huiming Tang The School of Automation Huazhong University of Science and Technology Key Laboratory of Image Information Processing and Intelligent Control Ministry Education Faculty of Engineering China University of Geosciences

This paper proposes two hybrid prediction models using for predicting the displacement of landslide, Genetic Algorithm-Radial Basis Function Neural Network (GA-RBFN) and Genetic Algorithm- Back Propagation Neural Network (GA-BPNN). A case study of Yuhuangge landslide in the Three Gorges reservoir in China is used to illustrate the capability and merit of our schemes. In addition, the result shows that GP-BPNN get better accuracy than GA-RBFN in the same measurements.

关键词： Terrain factors Genetic algorithms Neural networks Forecasting Training Transfer functions Educational institutions

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A data-driven maintenance support system for wind energy conversion systems 19

A data-driven maintenance support system for wind energy con...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Krueger, Minjia Haghani, Adel Ding, Steven X. Jeinsch, Torsten Engel, Peter Institute for Automatic Control and Complex System Faculty of Engineering University Duisburg-Essen Bismarckstr. 81 BB Duisburg47057 Germany Institute of Automation University Rostock Richard Wagner Str. 31 Rostock18119 Germany PC-Soft GmbH A.-Hennecke-Str. 37 Senftenberg01968 Germany

ISBN: (纸本)9783902823625

With the rapid growth of wind energy installed capacity, optimized maintenance has gained increasingly attentions from both researchers and wind farm owners. Condition-based maintenance (CBM) has been introduced to the wind energy industry in order to ensure the availability and safety of the wind energy conversion (WEC) system, while minimize the operating and maintenance (O&M) costs. In this paper a maintenance decision support system is introduced. By combining the information delivered by the data-driven WEC condition monitoring system and the economical benefits of each possible corrective maintenance action, the decision support system provides the operators with a choice of the most proper maintenance action for the current situation. The performance of the decision support system is tested with data collected from different WECs in a wind farm. © IFAC.

关键词： Decision support systems

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Longitudinal control of vehicle platoons for stop-and-go waves mitigation

Longitudinal control of vehicle platoons for stop-and-go wav...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Constantin F. Caruntu Cosmin Copot Corneliu Lazar Robin De Keyser Faculty of Automatic Control and Computer Engineering Gheorghe Asachi Technical University of Iasi Iasi Romania Department of Electrical energy Systems and Automation Ghent University Ghent Belgium

The increased traffic flow on both existing highways and city roads leads to the appearance of stop-and-go waves which have many disadvantages, e.g., increased risk of accidents, higher fuel consumption, increased pollution, increased wear of vehicle mechanical parts, driving stress and passenger discomfort. The platooning of vehicles could be the solution to this problem by enforcing them to follow each other and to maintain a safe distance between them. The advantages brought by this solution depend on ensuring the string stability of the vehicle platoon. In this paper the leader-follower system is employed to illustrate the stop-and-go waves mitigation. Several controllers (P, PI) were designed based on the conditions that have to be met in order to ensure the string stability of the vehicle platoon and comparisons were made with a controller based on the driver behavior.

关键词： Vehicles Mobile robots Accidents Stability criteria Transfer functions

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Model of Production Environment controlled With Intelligent Systems

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Procedia engineering 2014年 96卷 330-337页

作者： Daniela Onofrejová Peter Onofrej Dušan Šimšík Technical University of Kosice Faculty of Mechanical Engineering Department of Industrial Engineering and Management B.Nemcovej 32 042 00 Kosice Slovakia PONTECH s.r.o. Kisdyho 19 040 01 Kosice Slovakia Technical University of Kosice Faculty of Mechanical Engineering Department of Automation Control and Human Machine Interaction Letna 9 042 00 Kosice Slovakia

For safe, reliable and convenient facility operation, it is eligible to install a control system with ambient intelligence. Building automation with its functions as keeping building climate within a specified range, lighting rooms based on an occupancy schedule, monitoring performance and device failures in all systems, providing malfunction alarms (usually via email and/or sms text notifications) to building engineering/maintenance staff, has become more affordable and simple through smartphone, tablet connectivity, evolved touch control panels. Building automation systems reduce operation energy and maintenance costs comparing to non-controlled building systems; advantage embodies pre-emptive maintenance and quick detection of break-downs. The paper deals with new features in designing ambient intelligence in monitoring and control processes for tangible manufacturing operations.

关键词： building automation model of production environment intelligent system

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High gain observer for embedded Acrobot

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IFAC Proceedings Volumes 2014年第3期47卷 2818-2823页

作者： Milan Anderle Sergej Čelikovský Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic

Underactuated mechanical systems are systems with less actuators than degrees of freedom. Therefore, it is complicated to measure all states, i.e. angular positions or angular velocities, of the mechanical system. Alternative solution consists in an observer design such that unmeasurable states are estimated. For this purpose, a high gain observer for an Acrobot was introduced. By virtue of an Acrobot embedding into a 4-link model, the high gain observer was simply extended and applied to the 4-link model. The main aim of this paper consists in a coupling of a method of the Acrobot embedding into the 4-link model and the high gain observer design for the Acrobot. The coupling results in an observer for the 4-link model with the same structure as the already developed high gain observer for the Acrobot model. The control of the 4-link model using the embedding method is based on a definition of constraining functions for knees control whereas the remaining angle in the hip is controlled in the same way as it would be an Acrobot's angle. The ability of feedback tracking of the walking-like trajectory of the 4-link with observed geometry during a swing phase of a single step is demonstrated in simulations.

关键词： Underactuated mechanical systems Embedding High gain observer

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