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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Czajkowski, Andrzej Institute of Control and Computation Engineering University of Zielona Gora ul. Podgorna 50 Zielona Gora65-246 Poland

ISBN: (纸本)9783902823625

This paper deals with the application of Echo State Network (ESN) model to robust control of the Twin Rotor Aero-Dynamical System (TRAS) through estimation and cancellation of disturbances. The work describes the modelling process of the plant and control scenarios in which the system is under influence of the unknown disturbances. In such control scenarios the ESN model is used to estimate the disturbances and calculate the input correction in such way to improve the control quality. All data used in experiments are collected from the TRAS through the Matlab/Simulink environment. © IFAC.

关键词： Quality control

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Automated generation of component system for the calibration of the service robot kinematic parameters

Automated generation of component system for the calibration...

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International Conference on Methods and Models in Automation and Robotics

作者： Tomasz Winiarski Konrad Banachowicz Institute of Control and Computation Engineering Warsaw University of Technology ul. Nowowiejska 15/19 00–665 Warsaw Poland

ISBN: (纸本)9781479987023

In the article we propose a fast and cheap strategy of service robot kinematic parameters calibration. Our method is based on sensors (cameras in particular) that are already mounted on the robot and inexpensive markers, that are easy to fix on the robot arms. We developed the method to compute the impact of manipulator velocity on markers localization error in camera image. Thanks to our method, the calibration data acquisition can be significantly shortened, because a certain, acceptable marker detection error threshold can be introduced that allows to acquire the data with non-zero velocity of the manipulator. Additionally, we propose a method of automatic component based data acquisition system generation, based on the embodied agent theory and tree like kinematic model representation of the robot. Our model is suitable for the most of service robots. The same model forms the base for an automatic generation of measure functions for cost functions used in the optimization process to find the optimal set of model parameters. The whole approach has been verified experimentally using Velma service robot.

关键词： Automated generation calibration service robot kinematic parameters

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Merging robotics and AAL ontologies: The RAPP methodology

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2015年 351卷 285-297页

作者： Tsardoulias, Emmanouil G. Zieliński, Cezary Kasprzak, Wlodzimierz Reppou, Sofia Symeonidis, Andreas L. Mitkas, Pericles A. Karagiannis, George Centre of Research & Technology – Hellas 6th km Xarilaou – Thermi Thessaloniki57001 Greece Institute of Control and Computation Engineering Warsaw University of Technology ul. Nowowiejska 15/19 WarszawaPL-00-665 Poland Ormylia Foundation Ormylia – Chalkidiki63071 Greece Department of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki54124 Greece

Cloud robotics is becoming a trend in the modern robotics field, as it became evident that true artificial intelligence can be achieved only by sharing collective knowledge. In the ICT area, the most common way to formulate knowledge is via the ontology concept, where different meanings connect semantically. Additionally, a considerable effort to merge robotics with assisted living concepts exists, as the modern societies suffer from lack of caregivers for the persons in need. In the current work, an attempt is made to merge a robotic and an AAL ontology, as well as utilize it in the RAPP Project (EU-FP7). © Springer International Publishing Switzerland 2015.

关键词： Robotics

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Influence of environmental conditions on graphene resistance

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2015年 352卷 75-81页

作者： Gawlik, Grzegorz Nowak, Pawel Kozlowska, Anna Wojtasiak, Mateusz Szewczyk, Roman Institute of Electronic Materials Technology Wólczyńska 133 Warsaw01-919 Poland Industrial Research Institute for Automation and Measurements PIAP Al. Jerozolimskie 202 Warsaw02-486 Poland Warsaw University of Technology Institute of Control and Computation Engineering Nowowiejska 15/19 Warsaw00-665 Poland Warsaw University of Technology sw. A. Boboli 8 Warsaw02-525 Poland

The influence of the wet and warm atmosphere on CVD graphene was investigated. The CVD graphene grown on Cu foil and then transferred onto the BK7 glass substrate was applied in the experiments. The environmental conditions were established using designed environmental chamber. The wet (RH = 80%) and warm (T = 32 ºC) atmospheres were applied for up to eight hours every day for nine days experiment. Rest of time the sample was stored in room conditions. The small changes of the graphene resistance were observed during experiment. SEM and EDS observations demonstrated crystallization of the water impurities like chlorides and organics on the graphene surface under applied conditions. The changes of the graphene wettability caused by condensed contamination may cause the observed resistance changes. © Springer International Publishing Switzerland 2015.

关键词： Graphene

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Dissipativity of Nonlinear 2D Systems

Dissipativity of Nonlinear 2D Systems

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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

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Hybrid CPU/GPU platform for high performance computing

Hybrid CPU/GPU platform for high performance computing

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28th European Conference on Modelling and Simulation, ECMS 2014

作者： Marks, Michal Niewiadomska-Szynkiewicz, Ewa Wawozowa 18 02-796 Warsaw Poland Institute of Control and Computation Engineering Warsaw University of Technology Nowowiejska 15/19 00-665 Warsaw Poland

ISBN: (纸本)9780956494481

High performance computing is required in a number of data-intensive domains. CPU and GPU clusters are one of the most progressive branches in a field of parallel computing and data processing nowadays. Cloud computing has recently emerged as one of the buzzwords in the ICT industry. It offers suitable abstractions to manage the complexity of large data processing and analysis in various domains. This paper addresses issues associated with distributed computational system and the application of mixed GPU&CPU technology to data intensive computation. We describe a hybrid cluster formed by devices from different vendors (Intel, AMD, NVIDIA). Two variants of software environment that hides the heterogeneity of our hardware platform and provides tools for solving complex scientific and engineering problems are presented and discussed. The first solution (HGCC) is a software platform for data processing in heterogenous CPU/GPU clusters. The second solution (HGCVC) is an extension version of the previous one. The cloud technology is incorporated to the HGCC framework. The results of numerical experiments performed for parallel implementations of password recovery algorithms are presented to illustrate the performance of our systems. Proceedings 28th European Conference on Modelling and Simulation © ECMS Flaminio Squazzoni, Fabio Baronio, Claudia Archetti, Marco Castellani (Editors).

关键词： Cloud computing

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Multispace, Dynamic, Fixed-Radius, All Nearest Neighbours Problem

Multispace, Dynamic, Fixed-Radius, All Nearest Neighbours Pr...

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International Symposium on Symbolic and Numeric Algorithms for Scientific Computing (SYNASC)

作者： Bartosz Papis Andrzej Pacut Institute of Control and Computation Engineering Warsaw University of Technology

We present a solution to a specific version of one of the most fundamental computer science problem - the nearest neighbour problem (NN). The new, proposed variant of the NN problem is the multispace, dynamic, fixed-radius, all nearest neighbours problem, where the NN data structure handles queries that concern different subsets of input dimensions. In other words, solutions to this problem allow searching for closest points in terms of different features. This is an important issue in the context of practical applications of incremental state abstraction techniques for high dimensional Markov Decision Processes (MDP). The proposed solution is a set of simple, one-dimensional structures, that can handle range queries for arbitrary subset of input dimensions for the Chebyshev distance. We also provide version for other metrics, and a simplified version of the algorithm that yields approximate results but runs faster. The proposed approximation is deterministic in a way that ensures that the most important (in the context of the considered state abstraction task) parts of the result are returned with no accuracy loss. The presented experimental study demonstrates improvement in comparison to some state-of-the-art algorithms on uniformly random and MDP-generated data.

关键词： Chebyshev approximation Measurement Approximation algorithms Complexity theory Indexes Vectors Generators

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Neighbourhood approach to bisimulation in state abstraction for quantized domains

Neighbourhood approach to bisimulation in state abstraction ...

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

作者： Bartosz Papis Andrzej Pacut Institute of Control and Computation Engineering Warsaw University of Technology

State abstraction [1] is one of solutions to the curse of dimensionality [2] problem, and possibly allows real-life application of AI algorithms. We present a new state abstraction algorithm inspired by stimulus discrimination theory from behavioral psychology [3], [4] and by current work on bisimulation theory as applied to reinforcement learning [5], [6], [7]. The new way of comparing state abstractions with the proposed notion of the ambiguity coefficient is evaluated on a well known Coffee Task domain. It is also a foundation for applying bisimulation approach to continuous domains.

关键词： Abstracts Vectors Aerospace electronics Indexes Robots Heuristic algorithms Context

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The reactive ASR-FA – an ant routing algorithm that detects changes in the network by employing statistical delay models 7th

The reactive ASR-FA – an ant routing algorithm that detects...

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7th International ICST Conference on Bio-Inspired Models of Network, Information, and Computing Systems, BIONETICS 2012

作者： Gadomska-Kudelska, Malgorzata Pacut, Andrzej Kudelski, Michal Institute of Control and Computation Engineering Warsaw University of Technology Warsaw00-665 Poland NASK Research and Academic Computer Network Warsaw02-796 Poland

ISBN: (纸本)9783319069432

This paper introduces the Reactive ASR-FA algorithm which is a novel ant routing algorithm that utilizes statistical models of packet delay to detect changes in the network conditions. The algorithm is able to quickly react to various load level changes by temporarily modifying the learning parameter’s settings. We show in a set of experiments that using the Reactive ASR-FA significantly speeds up the adaptation process of ant routing algorithms and assures lower values of the mean packet delay. It can be also employed in DoS and DDoS attacks detection. © institute for Computer Sciences, Social Informatics and Telecommunications engineering 2014.

关键词： Denial-of-service attack

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2D systems based iterative learning control design for multiple-input multiple-output systems 19

2D systems based iterative learning control design for multi...

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2014 19th International Conference on Methods and Models in Automation and Robotics, MMAR 2014

作者： Hladowski, Lukasz Van Dinh, Thanh Galkowski, Krzysztof Rogers, Eric Freeman, Chris T. Institute of Control and Computation Engineering University of Zielona Gora Poland Electronics and Computer Science University of Southampton SO17 1BJ United Kingdom

ISBN: (纸本)9781479950812

Iterative learning control can be applied to systems that repeat the same task over a finite duration with resetting to the starting location once each one is complete. The novel feature is the use of information from previous executions of the task in order to update the control signal applied during the next one and thereby sequentially improve performance. Linear iterative learning control laws can be designed using 2D systems theory and recently experimental validation of such designs for single-input single-output examples has been reported. This paper gives the first results on extending this approach to systems with more than one input and output. © 2014 IEEE.

关键词： MIMO systems

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