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Advances in Intelligent Systems and Computing 2015年 323卷

作者： Kasprzak, Wlodzimierz Pietruch, Rafal Bojar, Konrad Wilkowski, Artur Kornuta, Tomasz Institute of Control and Computation Engineering Warsaw University of Technology Nowowiejska 15/19 Warsaw00-665 Poland Industrial Research Institute for Automation and Measurements Al. Jerozolimskie 202 Warsaw02-486 Poland

There is a growing use of RGB-D sensors in vision-based robot perception. A reliable 3D object recognition requires the integration of image-driven and model-based analysis. Only then the low-level image-like representation can be successfully transformed into a symbolic description with equivalent semantics, considered by the ontology-level representation of an autonomous robot system. An RGB-D image analysis approach is proposed that consists of a data-driven hypothesis generation step and a generic model-based object recognition step. Initially point clusters are created assuming to represent 3D object hypotheses. In parallel, 3D surface patches are estimated, 2D image textures and shapes are classified, building multi-modal image segmentation data. In the model-driven step, a built-in knowledge about basic solids, shapes and textures is used to verify the point clusters in terms of meaningful volume-like aggregates, and to create (or to recognize) generic 3D object models. © Springer International Publishing Switzerland 2015.

关键词： Image texture

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On choice of the sampling period and the horizons in Generalized Predictive control

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2014年 267卷 329-339页

作者： Wysocki, Antoni Lawryńczuk, Maciej Institute of Control and Computation Engineering Warsaw University of Technology ul Nowowiejska 15/19 Warsaw00-665 Poland

This paper describes an efficient tuning procedure of the Generalized Predictive control (GPC) algorithm. It consists of two stages: at first the sampling period is chosen and next the prediction and control horizons are selected which result in the best control quality. Tuning of the GPC algorithm applied to a simulated multi-input multi-output depropaniser distillation column is considered. © Springer International Publishing Switzerland 2014.

关键词： Model predictive control

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Cross-layer analysis of malware datasets for malicious campaigns identification

Cross-layer analysis of malware datasets for malicious campa...

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International Conference on Military Communications and Information Systems (ICMCIS)

作者： Michał Kruczkowski Ewa Niewiadomska-Szynkiewicz Adam Kozakiewicz Institute of Computer Science Poish Academy of Sciences Warsaw Poland Research and Academic Computer Network (NASK) Warsaw Poland Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

In this paper, we investigate the problem of detecting correlations among datasets containing malicious data concerned with various types of network attacks and related events of the infections taken from a numerous sources and organizations. We propose a graph based technique to depict relationships between malicious data based on values of attributes related both to attackers and victims, and referred to different layers of the OSI model. The presented model can be used to fast, automatic identification of malware campaigns. The case study described in the paper demonstrates the performance of our method.

关键词： Malware IP networks Servers Correlation Databases Software Uniform resource locators

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Efficient mechanism of output constraint handling for analytical predictive controllers based on Hammerstein models

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2014年 267卷 137-146页

作者： Marusak, Piotr M. Institute of Control and Computation Engineering Warsaw University of Technology ul. Nowowiejska 15/19 Warszawa00–665 Poland

The proposed mechanism of output constraint handling uses a method of output prediction generation, which originates from Model Predictive control (MPC) algorithms and is based on Hammerstein models. Therefore the mechanism can give very good results in control systems of nonlinear plants. It is relatively easy to use and, at the same time, very efficient, because in the output constraint handling the influence of the control action many sampling instants ahead can be taken into consideration. Moreover, the proposed method is flexible – it is possible to choose how many future predicted output values are constrained. © Springer International Publishing Switzerland 2014.

关键词： Constraint handling

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Methods of Prediction Improvement in Efficient MPC Algorithms Based on Fuzzy Hammerstein Models

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 8615卷 158-179页

作者： Marusak, Piotr M. Institute of Control and Computation Engineering Warsaw University of Technology ul. Nowowiejska 15/19 Warszawa00-665 Poland

Two methods of prediction improvement in Model Predictive control (MPC) algorithms utilizing fuzzy Hammerstein models are proposed in the paper. The first one consists in iterative adjustment of the prediction, the second one – in utilization of disturbance measurement. Though the methods can significantly improve control system operation, they modify the prediction in such a way that it is described by relatively simple analytical formulas. Thus, the prediction has such a form that the MPC algorithms using it are formulated as numerically efficient quadratic optimization problems. Efficiency of the MPC algorithms based on the prediction utilizing the proposed methods of improvement is demonstrated in the example control system of a nonlinear control plant with significant time delay. © 2014 Springer-Verlag Berlin Heidelberg.

关键词： Model predictive control

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Guaranteed cost iterative learning control — An application to control of Permanent Magnet Synchronous Motors

Guaranteed cost iterative learning control — An application...

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International Workshop on Multidimensional (nD) Systems

作者： Slawomir Mandra Krzysztof Galkowski Harald Aschemann Andreas Rauh Institute of Physics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Torun Poland Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland University of Rostock Rostock Germany

This paper addresses the design of iterative learning control laws (ILC) for both trial-to-trial error convergence and along-the-trial performance. It is shown how these control laws can be designed using the theory of discrete linear repetitive processes in combination with a guaranteed cost control approach. The parameterization of the controllers is performed by the solution of linear matrix inequalities (LMIs). The paper is concluded with experimental results for the position control of a Permanent Magnet Synchronous Motor (PMSM).

关键词： Yttrium Process control Cost function Iterative learning control Lyapunov methods Symmetric matrices Physics

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Dissipativity of Nonlinear 2D Systems

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IFAC-PapersOnLine 2015年第11 11期48卷 784-789页

作者： Emelianova, Julia Emelianov, Mikhail Pakshin, Pavel Galkowski, Krzysztof Rogers, Eric Arzamas Polytechnic Institute of R.E. Alekseev Nizhny Novgorod State Technical University 19 Kalinina Street Arzamas607227 Russia Arzamas Polytechnic Institute of R.E. Alekseev Nizhny Novgorod State Technical University 19 Kalinina Street Arzamas607227 Russia Lobachevsky State University of Nizhny Novgorod Prospekt Gagarina 23 Nizhny Novgorod603950 Russia Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 Zielona Góra65-246 Poland Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom

The paper considers nonlinear 2D continuous-time systems described by a statespace model of the Roesser form and nonlinear differential repetitive process. The property of exponential dissipativity is introduced and then a particular case of this property, termed exponential G passivity is used, together with a vector storage function, to develop a new method for output feedback based control law design. © 2015

关键词： Continuous time systems Asymptotic stability Stabilization 2 D systems Dissipativity Output feedback passivity Repetitive process State space modeling Storage function

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Database of iris images acquired in the presence of ocular pathologies and assessment of iris recognition reliability for disease-affected eyes

Database of iris images acquired in the presence of ocular p...

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IEEE International Conference on Cybernetics

作者： Mateusz Trokielewicz Adam Czajka Piotr Maciejewicz Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland Biometrics Laboratory Research and Academic Computer Network (NASK) Warsaw Poland Department of Ophthalmology Medical University of Warsaw Warsaw Poland

This paper presents a database of iris images collected from disease affected eyes and an analysis related to the influence of ocular diseases on iris recognition reliability. For that purpose we have collected a database of iris images acquired for 91 different eyes during routine ophthalmology visits. This collection gathers samples for healthy eyes as well as those with various eye pathologies, including cataract, acute glaucoma, posterior and anterior synechiae, retinal detachment, rubeosis iridis, corneal vascularization, corneal grafting, iris damage and atrophy and corneal ulcers, haze or opacities. To our best knowledge this is the first database of such kind that will be made publicly available. In the analysis the data were divided into five groups of samples presenting similar anticipated impact on iris recognition: 1) healthy (no impact), 2) unaffected, clear iris (although the illness was detected), 3) geometrically distorted irides, 4) distorted iris tissue and 5) obstructed iris tissue. Three different iris recognition methods (MIRLIN, VeriEye and OSIRIS) were then used to find differences in average genuine and impostor comparison scores calculated for healthy eyes and those impacted by a disease. Specifically, we obtained significantly worse genuine comparison scores for all iris matchers and all disease-affected eyes when compared to a group of healthy eyes, what have a high potential of impacting false non-match rate.

关键词： Iris recognition Geometry Databases Diseases Pathology Lenses Biomedical imaging

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Linear regression analysis of template aging in iris biometrics

Linear regression analysis of template aging in iris biometr...

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International Workshop on Biometrics and Forensics (IWBF)

作者： Mateusz Trokielewicz Biometrics Laboratory Research and Academic Computer Network (NASK) Wawozowa 18 Warsaw Poland 2Institute of Control and Computation Engineering Warsaw University of Technology Nowowiejska 15/19 Warsaw Poland

The aim of this work is to determine how vulnerable different iris coding methods are in relation to biometric template aging phenomenon. This is considered to be particularly important when the time lapse between gallery and probe samples extends significantly, to more than a few years. Our experiments employ iris aging analysis conducted using three different iris recognition algorithms and a database of 583 samples from 58 irises collected up to nine years apart. To determine the degradation rates of similarity scores with extending time lapse and also in relation to multiple image quality and geometrical factors of sample images, a linear regression analysis was performed. 29 regression models have been tested with both the time parameter and geometrical factors being statistically significant in every model. Quality measures that showed statistically significant influence on the predicted variable were, depending on the method, image sharpness and local contrast or their mutual relations. To our best knowledge, this is the first paper describing aging analysis using multiple regression models with data covering such a wide time period. Results presented suggest that template aging effect occurs in iris biometrics to a statistically significant extent. Image quality and geometrical factors may contribute to the degradation of similarity score. However, the estimate of time parameter showed statistical significance and similar value in each of the tested models. This reveals that the aging phenomenon may as well be unrelated to quality and geometrical measures of the image.

关键词： Iris recognition Biological system modeling Iris Aging Analytical models

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Comparison of two efficient control strategies for two-wheeled balancing robot

Comparison of two efficient control strategies for two-wheel...

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International Conference on Methods and Models in Automation and Robotics

作者： Michal Majczak Pawel Wawrzyński Institute of Control and Computation Engineering Warsaw University of Technology 00-665 Warsaw Poland

The subject of this paper is a two-wheeled balancing robot with the center of mass above its wheels. Two control strategies for this robot are analyzed. The first one combines a kinematic model of the robot and a PI c... 详细信息

ISBN: (纸本)9781479987023

关键词： mobile robots inverted pendulum cost-effective robots

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