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Empirical recovery of input nonlinearity in distributed element models

IFAC Proceedings Volumes 2013年第11期46卷 617-622页

作者： Przemysław śliwiński Krzysztof Berezowski Paweł Wachel Gilles Sicard Laurent Fesquet Institute of Computer Engineering Control and Robotics Wrocław University of Technology Poland Laboratoire TIMA Grenoble France

Two algorithms recovering an input nonlinearity in a nonlinear distributed element modeled as a Hammerstein system are proposed. The first is based on the empirical distribution function while the other on the empiric... 详细信息

关键词： Distributed element model Hammerstein system nonparametric estimation empirical distribution empirical orthogonal series Haar bases

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Declarative approach to AGVS modeling and cyclic scheduling

Declarative approach to AGVS modeling and cyclic scheduling

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4th International Conference on Information Technology for Manufacturing Systems, ITMS 2013

作者： Grzegorz, Bocewicz Wojciech, Muszyński Zbigniew, Banaszak Dept. of Electronics and Computer Science Koszalin University of Technology Koszalin Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Dept. of Business informatics Warsaw University of Technology Warsaw Poland

ISBN: (纸本)9783037858783

The paper presents constraint satisfaction problem driven approach to analytical solution of the cyclic scheduling problem in the Flexible Manufacturing System (FMS) producing multi-type parts where for material handling are used the Automated Guide Vehicles Systems (AGVS). Finding the conditions guaranteeing the AGVs deadlock-free and collision-free movement policy is the aim of our researches. The AGVs co-sharing the common parts of the transportation route while executing repetitive processes, i.e. being assigned to AGVs passing along machines in a cyclic way, can be modeled in terms of Cyclic Concurrent Process Systems (CCPS). Schedulability analysis for a given CCPS answers the question whether a cyclic schedule exists or not. The paper suggests approach for schedulability analysis of multimodal processes representing real manufacturing employing the declarative modeling. © (2013) Trans Tech Publications, Switzerland.

关键词： Decision support systems

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Modelling intrusion detection in security systems

Modelling intrusion detection in security systems

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3rd International Defense and Homeland Security Simulation Workshop, DHSS 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Chaczko, Zenon Klempous, Ryszard Chiu, Chris Faculty of Engineering and Information Technology University of Technology 15 Broadway Sydney Ultimo NSW Australia Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 11/17 Janiszewskiego Street 50-372 Wroclaw Poland

ISBN: (纸本)9781629934860

With the ever increasing wireless connectivity and complexity of infrastructure-oriented systems, security is a very important issue for all network-based infrastructures in a modern enterprise environment. There are many examples of intruders and attackers who made successful attempts to seriously affect assets of high-profile organisations and companies. In some cases, the entire infrastructure of a company was brought down, resulting in a prolonged disablement of business, provided services, loss of money and reputation. Many methods, techniques and tools have been developed to secure the assets, network infrastructure and communication of various organisations. Intrusion detection is a relatively new addition to such methods, hence the tools that use advanced intrusion detection techniques started to appear only recently. Using intrusion detection methods, we are able to collect and use information from known types of attacks and find out if someone is trying or even attempting to penetrate our infrastructure or attack our assets. The information collected and accumulated in this way can then be used to harden the infrastructure/network security of the organisation/enterprise and possibly can be used for legal cases. This paper aims to present various issues related to security services, describes methods, techniques used in intrusion detection that can be useful when building and designing effective security systems. Copyright© (2013) by CAL-TEK S.r.l.

关键词： Decision support systems

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Modeling autonomic monitoring and control for iot systems

Modeling autonomic monitoring and control for iot systems

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25th European Modeling and Simulation Symposium, EMSS 2013

作者： Chaczko, Zenon Klempous, Ryszard Nikodem, Jan Faculty of Engineering and Information Technology University of Technology 15 Broadway Ultimo NSW 2007 Australia Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 11/17 Janiszewskiego Street 50-372 Wroclaw Poland

ISBN: (纸本)9788897999225

This paper introduces a bio-inspired approach for development of collective intelligence based computational models. These models are suitable for autonomous sensing, monitoring and control strategies for ambient systems based on Internet of Things technologies. Authors discuss issues and challenges related to modelling, design and implementation of a large scale, Internet of Things based smart system infrastructure such as smart office building, airport, public transport, etc. Additionally, various autonomous management strategies that anticipate variable levels of resource usage in Internet of Things systems are being presented. © 2013 DIME UNIVERSITÀ DI GENOVA.

关键词： Internet of things

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Application of stochastic counterpart optimization to contrast-detection autofocusing

Application of stochastic counterpart optimization to contra...

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International Conference on Advances in Computing, Communications and Informatics (ICACCI)

作者： Przemysław Śliwiński Paweł Wachel Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

A simple model for the contrast-detection autofocusing problem is considered. The variance of the image is examined as a focus function. We prove that the standard convergence rate of the variance estimate (empirical focus function) of order O(T -1 ), where T is a (relative) sensor size, allows direct application of the golden-section search algorithm to the empirical focus function.

关键词： Reactive power Lenses Stochastic processes Correlation Approximation algorithms Splines (mathematics) Optimization

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Relations between classification criteria of objects recognizable by ultrasonic systems

Relations between classification criteria of objects recogni...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Bogdan Kreczmer Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wrocław Poland

The paper presents connections between criteria which make three types of objects possible to recognize, namely: edges, planes and corners. These criteria can be applied while a binaural sonar system is used. It is shown that the criteria are specific forms of a general equation. The form of the equation depends on a single coefficient. In the paper the meaning of this coefficient is discussed. The constructions of the objects arrangements are presented which are bound with other values of the coefficient.

关键词： Equations Acoustics Image edge detection Sonar measurements Transient analysis Ultrasonic variables measurement

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Solving Multi-criteria Vehicle Routing Problem by Parallel Tabu Search on GPU

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Procedia computer Science 2013年 18卷 2529-2532页

作者： Jagiełło Szymon Żelazny Dominik Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Janiszewskiego 11-17 50-372 Wroclaw Poland

Transportation plays a crucial role in both production and service industry. In modern times, the importance of supplying the goods on time to warehouses, production units and finally to the customers is not lost on logistic companies. Vehicle Routing Problems (VRP) models evolved to be more advanced, which led to the growth of computational complexity. Optimizing transportation routes for companies means performing complex computations and doing so in the shortest possible amounts of time. Graphics Processing Units (GPUs) provide massive computation when the needed operations are properly parallelized. nVidia GPUs are equipped with Compute Unified Device Architecture (CUDA), so applying parallel algorithms is not lim- ited to complex workstations or specialized computers. This work emphasizes the value of using parallel Tabu Search (TS) algorithm over sequential TS algorithm and its application to multicriteria discrete optimization of Distance-constrained VRP.

关键词： Multi-criteria Parallel Tabu Search Distance-constrained VRP OpenCL

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Optimizing Bicriteria Flow Shop Scheduling Problem by Simulated Annealing Algorithm

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Procedia computer Science 2013年 18卷 936-945页

作者： Pempera Jarosław Smutnicki Czesław Żelazny Dominik Institute of Computer Engineering Control and Robotics Wrocław University of Technology Janiszewskiego 11-17 50-372 Wrocław Poland

We consider the flow shop scheduling problem with minimizing two criteria simultaneously: the total completion time (makespan) and the sum of tardiness of jobs. The problem is strongly NP-hard, since for each separate criteria the problem is strongly NP-hard. There is a number of heuristic algorithms to solve the flow shop problem with various single objectives, but usage of those heuristics to multi-criteria flow shop problems is rather limited. In this paper we propose a new idea of the use of simulated annealing method to solve certain multi-criteria problem. Especially, we define a new acceptance rules and the mechanism of moving the search in different regions of solution space by using so called drift . To illustrate quality of the proposed approach, we present results of the computational experiment provided on well known benchmarks.

关键词： flowshop simulated annealing bicriteria optimization

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Compliance force control for Polish cardiosurgical manipulator RobIn Heart

Compliance force control for Polish cardiosurgical manipulat...

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Workshop on Robot Motion and control

作者： Alicja Mazur Leszek Podsedkowski Adrian Szymanski Marcin Zawierucha Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Institute of Machine Tools and Production Engineering Lodz University of Technology

ISBN: (纸本)9781467355094

In the paper hybrid control for Polish cardio-surgical robot RobIn Heart 3 has been presented. Classical position-force control with modification introduced by Fisher and Mujtaba has been simulated with dynamics model of this robot. It has been conducted extensive simulation study, which should give an answer to the question, if selected motion patterns, so-called "motion primitives", could be prepared to support human reactions. Such patterns could give surgeon possibility to make a process of cutting or needling more precisely and with precise force of pressure. Simulation research has confirmed correctness of assumed control solution. It is a point of departure to practical implementation of such control scheme in robot RobIn Heart.

关键词： Robin Force control human reactions Robot Martes pennanti Polish Polish Heart Answer pressure simulation Cuttings Debris Cutting patterning of movement

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Model Selection of Hammerstein System Nonlinearity under Heavy Noise

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IFAC Proceedings Volumes 2013年第11期46卷 378-383页

作者： Zygmunt Hasiewicz Grzegorz Mzyk Przemysław śliwiński Paweł Wachel Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wybrzeże Wyspiańskiego 27 50-370 Wrocław Poland

The paper deals with the problem of automatic model selection of the nonlinear characteristic in a block-oriented dynamic system. We look for the parametric model of Hammerstein system nonlinearity. From the finite set of candidate classes of parametric models we select the best one on the basis of the input-output measurement data, using the concept of nearest neighbour borrowed from pattern recognitions techniques. The algorithm uses the pattern of the true characteristic generated by its nonparametric estimates on the grid of fixed (e.g. equidistant) points. Each class generates parametrized learning sequence through the values on the same grid of points. Next, for each class, the optimal parameters are computed by the least squares method. Finally, the nearest neighbour approach is applied for the selection of the best model in the mean square sense. The idea is presented on the exemplary competition between polynomial, exponential and piece-wise linear models of the same complexity (i.e. number of parameters needed to be stored in memory). For all classes, the upper bounds of the integrated approximation errors of the true characteristic are computed and compared.

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