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International Conference on Cybernetics and informatics

作者： Lubomir Capucha Boris Rohal-Ilkiv Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava

ISBN: (纸本)9781509018352

This article deals with a problem of creating and managing medium to large scale software projects aimed at promoting research activities in the field of autonomous mobile robotic systems. We will demonstrate on an example of such systems how we identified critical parts of the project and how can be created simple but powerful software architecture suitable for complex management of all subsystems of the considered robot. A case study is carried out on a specific type of middle-size omni-directional autonomous robotic vehicle with Mecanum wheels and equipped with 5 DOF robotic arm.

关键词： Software architecture Mobile robotic system Autonomous Mecanum

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Response to ‘Burden of proof: A comprehensive review of the feasibility of 100% renewable-electricity systems’

arXiv

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arXiv 2017年

作者： Brown, T.W. Bischof-Niemz, T. Blok, K. Breyer, C. Lund, H. Mathieseng, B.V. Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Eggenstein-Leopoldshafen76344 Germany Frankfurt Institute for Advanced Studies Ruth-Moufang-Straße 1 Frankfurt am Main60438 Germany Energy Centre Council for Scientific and Industrial Research Meiring Naude Road Pretoria South Africa Delft University of Technology Chair of Energy Systems Analysis Faculty Technology Policy and Management Jaffalaan 5 Delft2628 BX Netherlands Lappeenranta University of Technology School of Energy Systems Skinnarilankatu 34 Lappeenranta53850 Finland Department of Development and Planning Aalborg University Rendsburggade 14 Aalborg9000 Denmark Department of Development and Planning Aalborg University A.C. Meyers Vænge 15 Copenhagen SV2450 Denmark

A recent article ‘Burden of proof: A comprehensive review of the feasibility of 100% renewable-electricity systems’ claims that many studies of 100% renewable electricity systems do not demonstrate sufficient technical feasibility, according to the criteria of the article’s authors (henceforth ‘the authors’). Here we analyse the authors’ methodology and find it problematic. The feasibility criteria chosen by the authors are important, but are also easily addressed at low economic cost, while not affecting the main conclusions of the reviewed studies and certainly not affecting their technical feasibility. A more thorough review reveals that all of the issues have already been addressed in the engineering and modelling literature. Nuclear power, which the authors have evaluated positively elsewhere, faces other, genuine feasibility problems, such as the finiteness of uranium resources and a reliance on unproven technologies in the medium- to long-term. Energy systems based on renewables, on the other hand, are not only feasible, but already economically viable and decreasing in cost every year. Copyright © 2017, The Authors. All rights reserved.

关键词： Wind power

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Trends in Simulation and Planning of Manufacturing Companies

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Procedia Engineering 2016年 149卷 571-575页

作者： Branislav Bako Pavol Božek Slovak University of Technology Faculty of Materials Science and Technology Institute of Applied Informatics Automation and Mechatronics J. Bottu 25 Trnava 91724 Slovakia

Increasing the efficiency of production planning is a very hot topic from the perspective of introducing lean production into manufacturing. Simulation study dealing with simulation application for production planning support is a fundament for enhancing production systems and reduction of bottleneck occurrences. The article describes the possibilities of using computer simulation during production scheduling. A developed simulation model is adapted for dynamic loading of production plans for a given time period. Based on the simulation output, it is possible to verify production process and conduct additional simulation experiments. Changes in simulation model inputs result in changes on simulation (production) outputs, these can be easily compared with outputs of the original versions of production plans due to their archiving. The aim was to develop a simulation model which, after consequent adapting, will be used for creation of production plans in the future. The created model is ready for swift loading of incoming data and their consecutive evaluation through simulations with subsequent imaging diagram and output statistics. The developed simulation model can be fully controlled via a GUI (Graphical User Interface) which is fully opened for implementation of further optimization and scheduling algorithm with the aim of future enhancement of the simulation model. The simulation was created in collaboration with INNOV8 Ltd. via Plants Simulation software.

关键词： simulation optimization production scheduling Plant Simulation.

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Advanced configuration system for cost-effective integration of distributed energy systems

Advanced configuration system for cost-effective integration...

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IEEE Innovative Smart Grid Technologies - Asia (ISGT Asia)

作者： Jan Müller Christian Gitte Martin Winter Johan van der Geest Institute of Applied Informatics and Formal Description Methods (AIFB) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany CT Research and Technology Center Siemens AG Munich Germany Netherlands Organisation for Applied Scientific Research (TNO) Groningen The Netherlands

The transition from the classical energy grid to a smart grid implies the introduction of information and communication technologies. In recent years, research and industry worked on enabling smart grids by developing solutions to connect and integrate distributed energy systems. Even though these efforts have made significant progress, a main issue relates to the costs of additional technical solutions needed in a smart grid. In this work, we present a gateway which enables the connection and integration of distributed energy systems into a control system. The gateway hardware is based on a market ready industrial controller by Siemens. The main contribution of this work is a sophisticated software application which supports the integration phase of the gateway. Since the integration is one of the main cost drivers of distributed energy systems, our solution reduces the integration costs significantly and enables new business models.

关键词： User interfaces Logic gates Smart grids Software Programming Hardware Energy resources

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Construction of convex liftings based on halfspace representation

Construction of convex liftings based on halfspace represent...

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American Control Conference

作者： N. A. Nguyen S. Olaru P. Rodriguez-Ayerbe M. Gulan the Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria the Laboratory of Signals and Systems (L2S UMR CNRS 8506) CentraleSupélec-CNRS-Université Paris Sud 3 rue Joliot Curie Plateau de Moulon 91192 Gif-sur-Yvette France. Sorin. Olaru the Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9781509045839

This paper presents a new algorithm to construct convex lifting for a given polyhedral partition whenever it exists. This algorithm exclusively relies on the halfspace representation of the regions in the respective partition. Also, this algorithm is applicable for the general polyhedral partitions of polyhedra, and thus overcomes the limitation on the polytopic partitions of the existing algorithm based on the vertex representation. Finally, the importance of the proposed algorithm is clarified via some numerical examples, in particular in implementation of piecewise affine controllers. Accordingly, the convex lifting concept is shown to be useful to both avoid storing the state-space partition and to facilitate the online evaluation.

关键词： whenever exists algorithm

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Real-time MHE-based nonlinear MPC of a Pendubot system

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IFAC-PapersOnLine 2015年第23期48卷 422-427页

作者： Gulan, M. Salaj, M. Abdollahpouri, M. Rohal-Ilkiv, B. Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

This paper addresses the real-time optimal control of a Pendubot using nonlinear model predictive control (NMPC) combined with nonlinear moving horizon estimation (MHE). This fast, under-actuated nonlinear mechatronic system apparently poses a challenging benchmark problem that may benefit from a nonlinear optimization scheme. To overcome the related computational difficulties we make use of the ACADO Code Generation tool allowing to export a highly efficient Gauss-Newton real-time iteration algorithm tailored to the nonlinear optimal control and estimation problem while respecting the imposed *** show experimental results illustrating the overall closed-loop control performance, as well as the advantages of the nonlinear MHE-based NMPC scheme. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nonlinear analysis Computational efficiency Iterative methods Model predictive control Nonlinear programming Optimal systems Predictive control systems Real time control Robots Closed loop control performance fast NMPC Moving horizon estimation Non linear optimal control Non linear optimization Nonlinear model predictive control Pendubots Under actuated systems

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Optimizing Management of the Measurement System of the Technological Process

Manufacturing Technology

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Manufacturing technology 2016年第1期16卷 32-32页

作者： Jenčuráková, Dana Palenčár, Rudolf Institute of automation measurement and applied informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Námestie Slobody 17 Bratislava812 31 Slovakia

The present contribution represents the analysis and optimizing management of the measurement system of the technological process of pressing. It has been chosen the combination of appropriate methods for achieving the objective to minimize the cost of quality assurance of the measurement process by means its management. The quality of the measurement process has been verified by the reference standard (etalon). The optimization of evaluation measurement has been searched by utilizing QFD method (Quality Function Deployment). The subsequent optimization has been implemented by the taking into account the results of the use of the control charts and the deployment of QFD method and Kalman filter. Copyright © 2016. Published by Manufacturing technology. All rights reserved.

关键词： Control charts

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Isolated RS485 communication interface for the metal working fluids monitoring system

Isolated RS485 communication interface for the metal working...

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2016年材料科学、能源技术和环境工程国际学术会议

作者： T.kulavík K.Gerulová Faculty of Materials Science and Technology in Trnava Institute of Applied InformaticsAutomation and MechatronicsSlovak Technical University in Bratislava Faculty of Materials Science and Technology in Trnava Institute of Integrated SafetySlovak Technical University in Bratislava

This paper deals with the proposal of the communication interface of the Real Time Monitoring and Control System(RMACS) for metalworking *** RMACS will be a complex decentralized system,of which some components will be mounted in different sections of the 5 axis *** user interface of the RMACS will be located at the greater *** industrial environment and the greater distances between the components have an important role during the design of the communication interface and the network topology.

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New method for calculation of the harmonics in the residual earth fault current in isolated and compensated networks

New method for calculation of the harmonics in the residual ...

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Power Quality and Supply Reliability Conference, PQ

作者： Uwe Schmidt Karla Frowein Gernot Druml Peter Schegner University of applied sciences Institute of Electrical engineering and Informatics Zittau Goerlitz Germany University of Technology Institute of Electrical Power Systems and High Voltage Engineering Dresden Germany Sprecher Automation GmbH Linz Austria

In European distribution networks the resonant-ground system dominates. The advantages of the resonance neutral earthing are based mainly on the very low single-pole fault current, the residual earth fault current IRES. The growing use of both, cables and power electronics, increases the residual earth fault current IRES. In the case of a single-pole earth fault, harmonic components in residual earth fault current IRES can reach values, which can violate the limits defined by standards. Up to now, the estimation of the residual earth fault current IRES is usually done with measurements in the field by solid grounding of one phase at the bus bar in the substation. However, these measurements do not correspond to the real fault conditions. Ground faults occur anywhere in the network with relatively high fault resistances. In this paper a new method is presented to enable an accurate estimation of the residual earth fault current IRES during the earth fault by using the harmonics measurement of the voltages during the healthy state of the network, the network configuration and the expected impedance at the fault location. The results of the new method were verified in real field tests and will be also presented in this paper.

关键词： Earth Harmonic analysis Fault currents Impedance Circuit faults Grounding Frequency dependence

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Using Bee Algorithm in the Problem of Mapping

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Procedia Engineering 2016年 149卷 305-312页

作者： Timur Mazitov Pavol Božek Andrey Abramov Yuri Nikitin Ivan Abramov Kalashnikov Izhevsk State Technical University Department of Mechatronic Systems Studencheskaya 42 Izhevsk 426069 Russia Slovak University of Technology Faculty of Materials Science and Technology Institute of Applied Informatics Automation and Mechatronics J. Bottu 25 Trnava 91724 Slovakia

Innovative algorithm for solving simultaneous location and mapping problem in unknown environment is considered. The algorithm is based on the comparison of point clouds with bee swarm algorithm. The algorithm obtained was experimentally tested. The algorithm increases the number of calculations in several times as compared to standard methods of minimization (algorithm of gradient descent and others), but the function calculations in random points are similar operations and it enables the efficient application of parallel computations, thus resulting in increased performance.

关键词： SLAM ICP swarm algoritms bee algorithm location mapping.

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