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Federated Conference on computer Science and Information Systems (FedCSIS)

作者： Paweł Drąg Marlena Kwiatkowska Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In the article a new approach for solving complex and highly nonlinear differential-algebraic equations (DAEs) was presented. An important kind of applications of DAE systems is modeling of biotechnological processes, which can have a very different course. An efficient solving of equations describing biotechnological industrial inlets results in better optimization of the processes and has a positive impact on the environment. Some of the mentioned processes were characterized by a highly nonlinear dynamics. To obtain the trajectories of the state numerically, the backward differentiation formula was used in the presented method. As a result, a large-scale system of nonlinear algebraic equations was obtained. To solve a such system, the inexact Newton matrix-free approach was proposed. The new algorithm was tested on a mathematical model of a fed-batch fermentor for penicillin production. The numerical simulations were executed in MATLAB using Wroclaw Center for Networking and Supercomputing.

关键词： Mathematical model Jacobian matrices Equations Newton method Optimization Vectors Production

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Necessary optimality conditions for optimal control of the multistage differential-algebraic systems

Necessary optimality conditions for optimal control of the m...

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International Carpathian control Conference (ICCC)

作者： Paweł Drąg Krystyn Styczeń Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In the article a new approach for optimal control of the multistage differential-algebraic systems was presented. A merit function based on Fletcher's augmented Lagrangian was used. The necessary optimality conditions for the optimal control of multistage index-1 DAE systems were stated and locally optimal solution was obtained using the inexact Newton method. The only constraints for decision variables are lower and upper bounds. The piecewise-linear projection of the constraints on control variables and both differential and algebraic variables onto the feasible box were used. The numerical simulations on a catalyst mixing problem were executed in Matlab environment using Wroclaw Centre for Networking and Supercomputing.

关键词： Newton method Mathematical model Equations Optimal control Optimization Vectors Trajectory

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Cyclic scheduling of multimodal concurrently flowing processes

Cyclic scheduling of multimodal concurrently flowing process...

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International Conference on Systems Science, ICSS 2013

作者： Bocewicz, Grzegorz Wójcik, Robert Banaszak, Zbigniew Koszalin University of Technology Dept. of Computer Science and Management ul. Sniadeckich 2 Koszalin75-453 Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Warsaw University of Technology Dept. of Business Informatics Warsaw Poland

ISBN: (纸本)9783319018560

The problem of cyclic scheduling of multimodal concurrent processes (MCPs) is considered. Processes composed of sub-sequences of local cyclic processes (LCPs) are treated as multimodal processes, e.g. in case local processes encompass the subway lines network the relevant multimodal processes can be seen as passengers traveling itineraries this network. Since LCPs network implies a MCPs behavior, the following fundamental questions arise: Does the given LCPs network guarantee an assumed cyclic schedule of the MCPs at hand? Does there exist the LCPs network such that an assumed cyclic schedule of MCPs can be achieved? In that context our contribution is to propose a declarative framework allowing one to take into account both direct and reverse problems formulation. © Springer International Publishing Switzerland 2014.

关键词： Scheduling

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Hardware microprocessor thermal emulation using synthetic heat sources and temperature sensors in FPGA

Hardware microprocessor thermal emulation using synthetic he...

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International Workshop on Thermal Investigation of ICs and Systems (THERMINIC)

作者： Bartosz Wojciechowski Maciej Nikodem Paweł Weber Maciej Zagrabski Krzysztof Kępa Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Bradley Department of Electrical and Computer Engineering Virginia Tech Blacksburg VA USA

This work presents an early evaluation of FPGA-based hardware thermal emulation methodology based on artificial heat sources and temperature sensors that can be used in real-time thermal simulation infrastructure. Main functional blocks of a microprocessor are emulated as controllable heaters - blocks with resources configured for artificially high power dissipation. Based on power inputs from an architecture-level simulator the power dissipated by the heaters is adjusted and their temperature is measured by embedded thermal sensors based on ring oscillators (RO). This allows for real-time thermal emulation of future multi-core microprocessor systems considering long time constants of whole cooling packages and also effects such as thermal coupling between the cores.

关键词： Heating Temperature sensors Microprocessors Temperature measurement Field programmable gate arrays

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Auxiliar experimentorum – An innovative approach for creating and deploying scientific applications

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8500卷 211-225页

作者： Mikolajczyk, Mikolaj M. UchroŃski, Mariusz MowiŃski, Kamil Lubimow, Marcin Bijak, Sebastian Teodorczyk, Marcin Hruszowiec, Mariusz Szkoda, Sebastian Majster, Bartosz Banach, Grzegorz Tykierko, Mateusz Wroclaw Centre for Networking and Supercomputing Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 Wroclaw50-370 Poland Department of Physical Chemistry Wroclaw Medical University ul. Borowska 211 Wroclaw50-556 Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeże Wyspiańskiego 27 Wroclaw50-370 Poland

One of the primary assumption in the PLGrid Plus project proposal was expanding support for complex in-silico experiments. However, detailed analysis of scientific dataworkflows clearly shows that a data management solution for in-vivo or in-silico experiments may have major impact on the quality of research, laboratory administration and collaboration. The AuxEx (lat. Auxiliar Experimentorum) web application was developed in order to address experimentation requirements. It is a mixture of an electronic laboratory notebook, a knowledge base creator and a laboratory information management system, tailored for specific researchers. This article presents the authors’ observations and experience gained during development of AuxEx for nanotechnology groups. © Springer International Publishing Switzerland 2014.

关键词： Knowledge based systems

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Configurable heat generators for FPGAs

Configurable heat generators for FPGAs

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International Workshop on Thermal Investigation of ICs and Systems (THERMINIC)

作者： Pawel Weber Maciej Zagrabski Przemysław Musz Krzysztof Kępa Maciej Nikodem Bartosz Wojciechowski Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Virginia Polytechnic Institute and State University Blacksburg VA US

This work describes methodology for implementation of high-performance synthetic heat generators within the FPGA fabric. The proposed design flow is compatible with vendor tools and the generated synthetic heat generators can be seamlessly integrated with existing designs. Various architectures of synchronous and asynchronous heaters are evaluated in terms of their efficacy and dynamic range. We provide temperature and power measurements of the heaters implemented in Virtex5 FPGA. Measuring power consumption allows to validate heater performance and the extent to which its power dissipation can be controlled.

关键词： Heating Temperature measurement Field programmable gate arrays Power measurement Temperature sensors Generators Power demand

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Cyclic Hybrid Flow-shop Scheduling Problem with Machine Setups

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Procedia computer Science 2014年 29卷 2127-2136页

作者： Wojciech Bożejko Łukasz Gniewkowski Jarosław Pempera Mieczysław Wodecki Institute of Computer Engineering Control and Robotics Wrocław University of Technology Janiszewskiego 11-17 50-372 Wrocław Poland Institute of Computer Science University of Wrocław Joliot-Curie 15 50-383 Wrocław Poland

In this paper we consider an NP - hard hybrid flow shop problem with machine setups and cycle-time minimization. The above issue is an important generalization of a flow-shop problem with minimization of a cycle time, and it stays in a direct relationship with a flexible job shop problem. In the hybrid problem task operations are performed by machines arranged in slots, i.e., a set of machines with the same functional properties. In this work we presented a graph model, properties of the problem and methods of determining approximate value of the optimal cycle duration. The above mentioned concepts have been used in the construction of tabu search algorithm. Computational experiments were conducted on well-known in literature examples, which confirmed high efficiency of the algorithm.

关键词： discrete optimization metaheuristics cyclic scheduling.

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Application of contract-based verification techniques for hybrid automata to surgical robotic systems

Application of contract-based verification techniques for hy...

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European control Conference (ECC)

作者： Luzie Schreiter Davide Bresolin Marta Capiluppi Joerg Raczkowsky Paolo Fiorini Heinz Woern Institute of Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Department of Computer Science and Engineering University of Bologna Bologna Italy Department of Computer Science University of Verona Verona Italy

ISBN: (纸本)9781479947287

Surgical robotic systems have to deliver a high quality of safety, since they deal with human lives. Their safety specifications must ensure the absence of risks for the patient and the operating room staff. To respect the modular nature of a surgical system, we propose a contract based verification approach for safety. We introduce a case study based on a typical surgical robotic operation scenario and model its components by using hybrid automata. We exploit the theory of parallel composition of contracts to verify properties on each component and prove that the property of the overall system can be obtained by composition.

关键词： Contracts Automata Safety Robot kinematics Manipulators Target tracking

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Long-term tracking method on ground moving target of UAV

Long-term tracking method on ground moving target of UAV

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2014中国制导、导航与控制学术会议

作者： Qingji Gao Zheng chao Zeng Dandan Hu Computer Science and Technology Robotics InstituteCivil Aviation University of ChinaTianjin 300300China School of navigation guidance and control on aviation institute of automationCivil aviation university of ChinaTianjin300300 China Control Theory and Control EngineeringRobotics InstituteCivil Aviation University of ChinaTianjin 300300China

ISBN: (纸本)9781479946983

The 7th IARC (international aerial robot competition) focus on a long-term and real-time tracking of ground moving target for UAV (unmanned aerial vehicle).This paper proposes a tracking method using Camshift algorithm with color and edge features fusion,which will apply a Phash target detection algorithm basing on perceptual hash *** targets are severely obscured or disappear from view,which will lead tracking failure,whereas targets can be detected and obtained again using the *** results demonstrate that this method can provide a long-term and real-time tracking of ground moving target,which processes both robustness and computational efficiency.

关键词： UAV Target tracking Camshift Perceptual hash algorithm

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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