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International Conference on Process Control (PC)

作者： Martin Gulan Peter Minarčík Jakub Kulhánek Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Bratislava Slovakia

This article presents a control framework to swing up and stabilize the inverted pendulum-cart system in its unstable equilibrium and maintain this configuration while changing the reference position of the cart. The swing-up problem is solved by an energy-based approach that respects physical constraints of the system. Stabilization and subsequent cart position tracking is addressed by means of an implicit model predictive controller with guaranteed stability imposed via a terminal set constraint. Viability of the proposed framework is practically demonstrated on a laboratory inverted pendulum system, the states of which were estimated by a continuous-discrete extended Kalman filter.

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Real-time Stabilizing MPC of a 2DOF Helicopter

Real-time Stabilizing MPC of a 2DOF Helicopter

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International Conference on Process Control (PC)

作者： Martin Gulan Peter Minarčík Martin Lizúch Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Bratislava Slovakia

This paper presents real-time control of a laboratory helicopter model with two degrees of freedom. To accomplish this goal we propose to employ a numerically robust approach to the synthesis of stabilizing model predictive control based on model prestabilization before the prediction phase. The underlying optimal control algorithm involves integral action, input constraints imposed by actuators, and guarantees closed-loop stability and recursive feasibility via a low-complexity terminal set constraint. Performance of the controller is practically demonstrated in the task of tracking a state reference corresponding to a predefined flight trajectory, and compared with linear quadratic control.

关键词： Helicopters Numerical models Predictive models Mathematical model Rotors Computational modeling Propellers

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Modeling and synthesis of control the process of casting 17

Modeling and synthesis of control the process of casting

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17th Conference on applied Mathematics, APLIMAT 2018

作者： Palenčár, Jakub Kubis, Milan Institute of automation measurement and applied informatics Slovak University of Technology in Nám. slobody 17 Bratislava812 31 Slovakia

ISBN: (纸本)9788022747653

This article is focused on modeling and design of thermal control of distributed parameter systems. Partial differential equations describe the dynamics of these systems. Currently, to solve these equations using numerical methods, concrete the finite elements method. The numerical model was created based on the finite elements method using software COMSOL Multiphysics, which is adequate for modeling the process of casting. This software was linked with MATLAB & Simulink environment, where control of temperature fields in casting mold was simulated. Linked software provides for foundry practice to include the possibility of controlling the process at the very beginning of the design and by the can reduce the cost of casting production. © 2018 Slovak University of Technology in Bratislava. All Rights Reserved.

关键词： Simulink

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Quality comparison between hybrid regularized exponential forgetting algorithm with alternative covariance matrix and selected standard long-run on-line identification methods of industrial systems 17

Quality comparison between hybrid regularized exponential fo...

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17th Conference on applied Mathematics, APLIMAT 2018

作者： Vachálek, Ján Melicher, Markus Vašek, Pavol Šišmišová, Dana Volenský, Tomáš Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Nám. slobody 17 Bratislava812 31 Slovakia

ISBN: (纸本)9788022747653

This paper compares the quality of standardly used ON-LINE identification algorithms like directional forgetting and regularized exponential forgetting with the hybrid algorithm of exponential forgetting with an alternative covariance matrix. It points also to the behavior of selected algorithms in different deployment conditions and different run times. Particularly interesting is the long-run deployment, which correlates with use in industry. Based on the results obtained, decisions will be taken about the suitability of the hybrid regularized exponential forgetting algorithm with an alternative covariance matrix for selected industrial deployment scenarios. © 2018 Slovak University of Technology in Bratislava. All rights reserved.

关键词： Adaptive control Forgetting method Long-run on-line identification Recursive algorithm Time varying parameters

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Identification and modeling of a nonlinear vibrating beam for real-time control and estimation 25

Identification and modeling of a nonlinear vibrating beam fo...

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25th International Congress on Sound and Vibration 2018: Hiroshima Calling, ICSV 2018

作者： Mikuláš, Erik Takács, Gergely Gulan, Martin Abdollahpouri, Mohammad Rohal'-Ilkiv, Boris Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia Systems and Control Electrical Engineering Chalmers University of Technology Gothenburg Sweden

ISBN: (纸本)9781510868458

The real-time implementation of control and estimation algorithms on microcontrollers with limited memory and computational power requires a model that describes the dynamics of the vibrating system in sufficient detail, yet makes real-time deployment on sampled systems feasible. While extracting a model from finite element analysis is always possible, this approach yields models that are too complex to be evaluated in sample timing that is typical for vibration phenomena. In case of nonlinear vibrations, this is even more critical as state-of-the-art optimal control and estimation algorithms will have to evaluate a non-convex objective function. This paper introduces the modeling and system identification procedure of a nonlinear vibrating beam that results a real-time feasible mathematical model. Position and velocity measurements are made on a slender vibrating beam mounted equipped with a tip mass on a linear excitation stage using non-contact laser Doppler vibrometry. The measurement results are then fitted to two model candidates by using genetic algorithms to identify unknown parameters. Models are verified in simulation and their outputs are compared to experimental measurements. © 25th International Congress on Sound and Vibration 2018, ICSV 2018: Hiroshima Calling. All rights reserved.

关键词： Genetic algorithms

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Application Aspects of Active-set Quadratic Programming in Real-time Embedded Model Predictive Vibration Control

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IFAC-PapersOnLine 2017年第1期50卷 11625-11631页

作者： Batista G. Takács G. Rohal’-Ilkiv B. Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Slovakia

This paper presents a study on the practical utilization of various microcontroller units (MCU) for model predictive vibration control, using an online active-set quadratic programming solver. The implementation properties of various 32bit MCUs are assessed in experiment. An analysis of memory requirements is made on all investigated MCUs, along with evaluating timing requirements for a simple vibration control problem. These tests show execution time limits, memory footprint, and convergence under different circumstances. The experiments investigate the effects of hot-starting, numerical precision and the use of the floating-point unit (FPU) of the MCU. The results presented in this paper show that the hot-starting technique used with double precision data format is preferable, since computation using single precision numeric format fails to converge on many instances. Although it is tempting to reduce numerical precision to extend the maximal horizon stored in the volatile and nonvolatile memories and to cut execution times, the numerical stability of the investigated online active-set quadratic programming solver is heavily affected. Moreover, it has been found that a built-in FPU does not have significant impact on performance; the presence of this hardware feature does not significantly aid the implementation of model predictive control for the case study presented here. © 2017

关键词： embedded systems microcontroller unit model predictive control online active-set strategy quadratic programming vibration control

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Benchmarking the CoW with the TopCoW Challenge: Topology-Aware Anatomical Segmentation of the Circle of Willis for CTA and MRA

arXiv

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arXiv 2023年

作者： Yang, Kaiyuan Musio, Fabio Ma, Yihui Juchler, Norman Paetzold, Johannes C. Al-Maskari, Rami Höher, Luciano Li, Hongwei Bran Hamamci, Ibrahim Ethem Sekuboyina, Anjany Shit, Suprosanna Huang, Houjing Prabhakar, Chinmay de la Rosa, Ezequiel Waldmannstetter, Diana Kofler, Florian Navarro, Fernando Menten, Martin Ezhov, Ivan Rueckert, Daniel Vos, Iris Ruigrok, Ynte Velthuis, Birgitta Kuijf, Hugo Hämmerli, Julien Wurster, Catherine Bijlenga, Philippe Westphal, Laura Bisschop, Jeroen Colombo, Elisa Baazaoui, Hakim Makmur, Andrew Hallinan, James Wiestler, Bene Kirschke, Jan S. Wiest, Roland Montagnon, Emmanuel Letourneau-Guillon, Laurent Galdran, Adrian Galati, Francesco Falcetta, Daniele Zuluaga, Maria A. Lin, Chaolong Zhao, Haoran Zhang, Zehan Ra, Sinyoung Hwang, Jongyun Park, Hyunjin Chen, Junqiang Wodzinski, Marek Müller, Henning Shi, Pengcheng Liu, Wei Ma, Ting Yalçin, Cansu Hamadache, Rachika E. Salvi, Joaquim Llado, Xavier Estrada, Uma Maria Lal-Trehan Abramova, Valeriia Giancardo, Luca Oliver, Arnau Liu, Jialu Huang, Haibin Cui, Yue Lin, Zehang Liu, Yusheng Zhu, Shunzhi Patel, Tatsat R. Tutino, Vincent M. Orouskhani, Maysam Wang, Huayu Mossa-Basha, Mahmud Zhu, Chengcheng Rokuss, Maximilian R. Kirchhoff, Yannick Disch, Nico Holzschuh, Julius Isensee, Fabian Maier-Hein, Klaus Sato, Yuki Hirsch, Sven Wegener, Susanne Menze, Bjoern Department of Quantitative Biomedicine University of Zurich Zurich Switzerland Center for Computational Health Zurich University of Applied Sciences Zurich Switzerland Department of Neuroradiology University Hospital of Zurich Zurich Switzerland Department of Neurosurgery Zhongnan Hospital of Wuhan University Wuhan China Department of Computing Imperial College London London United Kingdom Helmholtz Center Munich Germany Athinoula A. Martinos Center for Biomedical Imaging Harvard Medical School Boston United States School of Medicine Technical University of Munich Munich Germany Department of Informatics Technical University of Munich Munich Germany Helmholtz AI Helmholtz Munich Munich Germany Image Sciences Institute UMC Utrecht Utrecht Netherlands Department of Neurology UMC Utrecht Utrecht Netherlands Department of Radiology UMC Utrecht Utrecht Netherlands Department of Clinical Neurosciences Division of Neurosurgery Geneva University Hospitals Geneva Switzerland Department of Neurology University Hospital of Zurich Zurich Switzerland Department of Physiology University of Toronto Toronto Canada Department of Neurosurgery University Hospital of Zurich Zurich Switzerland Department of Diagnostic Imaging National University Hospital Singapore Department of Diagnostic and Interventional Neuroradiology University Hospital Berne University of Berne Berne Switzerland Montreal Canada Universitat Pompeu Fabra Barcelona Spain EURECOM Biot France Institute of Medical Technology Peking University Health Science Center Beijing China Hangzhou Genlight Medtech Co. Ltd. Hangzhou China Department of Artificial Intelligence Sungkyunkwan University Seoul Korea Republic of Department of Electrical and Computer Engineering Sungkyunkwan University Seoul Korea Republic of Shanghai MediWorks Precision Instruments Co. Ltd. Shanghai China Institute of Informatics HES-SO Valais-Wallis Switzerland Department of Measurement and Electronics AGH University

The Circle of Willis (CoW) is an important network of arteries connecting major circulations of the brain. Its vascular architecture is believed to affect the risk, severity, and clinical outcome of serious neuro-vascular diseases. However, characterizing the highly variable CoW anatomy is still a manual and time-consuming expert task. The CoW is usually imaged by two angiographic imaging modalities, magnetic resonance angiography (MRA) and computed tomography angiography (CTA), but there exist limited public datasets with annotations on CoW anatomy, especially for CTA. Therefore we organized the TopCoW Challenge in 2023 with the release of an annotated CoW dataset. The TopCoW dataset was the first public dataset with voxel-level annotations for thirteen possible CoW vessel components, enabled by virtual-reality (VR) technology. It was also the first large dataset with paired MRA and CTA from the same patients. TopCoW challenge formalized the CoW characterization problem as a multiclass anatomical segmentation task with an emphasis on topological metrics. We invited submissions worldwide for the CoW segmentation task, which attracted over 140 registered participants from four continents. The top performing teams managed to segment many CoW components to Dice scores around 90%, but with lower scores for communicating arteries and rare variants. There were also topological mistakes for predictions with high Dice scores. Additional topological analysis revealed further areas for improvement in detecting certain CoW components and matching CoW variant topology accurately. TopCoW represented a first attempt at benchmarking the CoW anatomical segmentation task for MRA and CTA, both morphologically and topologically. © 2023, CC BY-NC-ND.

关键词： Large datasets

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Evaluation of Human Postural System Dynamical Behavior via Developed Statokinesigram Trajectory

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IFAC-PapersOnLine 2017年第1期50卷 15062-15067页

作者： Barbolyas, B. Suttova, K. Vachalek, J. Belavy, C. Hucko, B. Dedik, L. Institute of automation measurement and applied informatics Faculty of Mechanical Engineering STU in Bratislava Nam. slobody 17 Bratislava812 31 Slovakia Laboratory of motor control Institute of Normal and Pathological Physiology Slovak Academy of Sciences Sienkiewiczova 1 Bratislava813 71 Slovakia Institute of applied mechanics and mechatronics Faculty of Mechanical Engineering STU in Bratislava Nam. Slobody 17 Bratislava812 31 Slovakia

Presented study deals with the formulation of a model of the postural system behavior in the form of transfer function derived from Development Statokinesigram Trajectory (DST). As compared with statokinesigram, a DST shows a minimal signs of chaotic behavior while it takes anteroposterior and mediolateral postural sway direction into account together. Proposed method provides an alternative approach to established methodology based on the Center of Pressure (CoP) in evaluating the autoregulation control process in humans. For demonstration of DST application, CoP signals of young and healthy participants without and with bilateral vibration stimulus located on Achilles tendons were registered. Data analysis involves DST construction and numerical parameter estimation of the proposed model. Quadratic criterion showed that there is a disproportion between actual and mean DST time profile that was proposed as a sensitive parameter of posture control quality in all tested subjects in quiet stance condition. © 2017

关键词： Quality control Tendons Biomedical systems Biosignals Center of pressure interpretation Model formulation Postural system

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PLC control of casting die preheating process as distributed parameter system

PLC control of casting die preheating process as distributed...

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International Conference on Process Control (PC)

作者： Lukáš Bartalský Cyril Belavý Michal Bartko Gabriel Hulkó Milan Kubiš Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Measurement and Applied Informatics Slovak University of Technology in Bratislava

ISBN: (纸本)9781538640128

In the paper a problem of casting die preheating control is solved. Concept of the control is designed based on distributed parameters systems. The design of the control structures are created within simulation studies, afterwards are connected into co-simulation regime network to tune the control parameters and then applied to control of preheating using PLC.

关键词： Casting Temperature Steady-state Heating systems Mathematical model Temperature measurement

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A low-cost non-invasive slag detection system for continuous casting

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IFAC-PapersOnLine 2017年第1期50卷 438-445页

作者： Takács G. Ondrejkovič K. Hulkó G. Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Nám. slobody 17 Bratislava 812 31 Slovakia ŽP Research and Development Centre Kolkáreň 35 Podbrezová 976 81 Slovakia

The majority of steel produced today is made by the technology known in the steel making industry as continuous casting. Deciding when to stop the flow of molten steel from the ladle is not trivial, since terminating the process too early affects yield negatively, while closing the outflow valve too late lets slag enter the casting process. There is a variety of automatic slag detection systems available now, but numerous casting operations still rely on the decision of a human operator. In this paper, we propose a cost-effective non-invasive slag detection system that is based on the vibration signal measured during the casting procedure. In this method, the vibration acceleration data is analyzed by a cumulative sum (CUSUM) control chart in real time, providing a violation signal that can be used to close the ladle outflow valve. The proposed algorithm is implemented in an embedded microcontroller unit and is verified through a simulation study and laboratory experiments. These trials suggest that the technique may perform similarly to the human operator, however, just as in the case of the human operator, the disadvantage is that it only identifies the change when a small amount of slag already enters the tundish. Its advantage lies in its simplicity, low-cost, portable and non-invasive nature; possibly aiding the decision of the operator or, it may be used to create a completely automated ladle outflow valve closing system. © 2017

关键词： continuous casting cumulative sum ladle outflow signal processing slag detection system statistical analysis steel industry steel manufacture time series analysis vibration measurement

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