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Workshop on Robot Motion and control

作者： Piotr Trojanek Tomasz Kornuta Cezary Zielinski Institute of Control and Computation Engineering Warsaw University of Technology

ISBN: (纸本)9781467355094

The paper presents how the design of robot control systems should deal with two fundamental aspects of their functioning: asynchronous arrival of data from the environment and their processing resulting in the required system behaviour. The behaviour of the system is described by transition functions. However, the definition of those functions must take into account that not all data required for controlling the system are readily available, thus different variants of transition functions taking into account only the currently available data have to be defined. The overall system behaviour is then specified in terms of Petri nets, while the mathematical expression of the transition functions is complemented by the use of data flow diagrams. The paper presents the general design method and exemplifies it on the case of a robot visual servo utilising two cameras: an eye-in-hand and a stand-alone one.

关键词： Asynchronous system behavior robot control system data flow Petri nets Robot overall design

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The generation of letter-to-sound rules for grapheme-to-phoneme conversion

The generation of letter-to-sound rules for grapheme-to-phon...

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International Conference on Human System Interaction

作者： Pawel Przybysz Wlodzimierz Kasprzak Institute of Control and Computation Engineering Warsaw University of Technology

ISBN: (纸本)9781467356350

This paper presents an approach to letter-to-sound translation for the Polish language that is a part of a speech recognition system. It describes the process of automatic generation of Polish letter-to-sound (LTS) rules. The LTS rules were trained with a Polish phonetic lexicon, that was extracted from the "wictionary" - a Polish on-line dictionary. This lexicon contains 35.826 entries. We examined a novel method for creating the letter-to-phone allowable pairing, that applies the "IBM Model 1" algorithm. Such automatically generated allowed letter-to-sound pairs were compared with a second pairing map, created by an expert. Both allowable pairing maps were used separately to train the Polish LTS rules. The test results verify that our generated pairing map leads to a more compact LTS model than the expert-made one.

关键词： Polish LTS Long-Term Survivors speech recognition system Pairing Dictionaries as Topic Clinical Test Result autogeneration Rule Professional personnel maps

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Applications oriented stability theory for discrete linear repetitive processes 8

Applications oriented stability theory for discrete linear r...

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8th International Workshop on Multidimensional Systems, nDS 2013

作者： Dabkowski, Pawel Galkowski, Krzysztof Rogers, Eric Institute of Physics Nicolaus Copernicus University in Torun Poland Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Institute of Control and Computation Engineering University of Zielona Gora Institute of Physics Nicolaus Copernicus University in Torun Poland Electronics and Computer Science University of Southampton Southampton United Kingdom

ISBN: (纸本)9783800735433

Many systems repeat the same operation over and over again on a finite duration. Repetitive processes have this characteristic where repeated sweeps, termed passes, are made over the finite pass length and when each is complete the process resets to the starting location and the next pass begins. The distinguishing feature of these processes is that the output, or pass profile, produced on each pass explicitly contributes to the dynamics of the next one and can result in oscillations that increase in amplitude from pass-to-pass. For applications, it is necessary to have a stability theory on which to base control law design for stabilization and performance. This paper gives a reflective overview of the stability theory for linear repetitive processes with particular attention to the forms of stability possible, their characterizations, and suitability for control law design. A particular feature is that the strongest form of stability for these processes can, especially for applications, lead to difficulties in control law design for stability and performance. One alternative in such cases is also considered. © VDE VERLAG GMBH 2013.

关键词： Stabilization

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Learning population of spiking neural networks with perturbation of conductances

Learning population of spiking neural networks with perturba...

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International Joint Conference on Neural Networks (IJCNN)

作者： Piotr Suszyński Paweł Wawrzyński Institute of Control and Computation Engineering Warsaw University of Technology Poland

In this paper a method is presented for learning of spiking neural networks. It is based on perturbation of synaptic conductances. While this approach is known to be model-free, it is also known to be slow, because it applies improvement direction estimates with large variance. Two ideas are analysed to alleviate this problem: First, learning of many networks at the same time instead of one. Second, autocorrelation of perturbations in time. In the experimental study the method is validated on three learning tasks in which information is conveyed with frequency and spike timing.

关键词： Neurons Encoding Sociology Statistics Biological neural networks Gaussian distribution computational modeling

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Iterative learning control design for stability and transient performance using differential linear repetitive process stability theory ?

Iterative learning control design for stability and transien...

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11th IFAC International Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2013

作者： Paszke, Wojciech Ga Lkowski, Krzysztof Rogers, Eric Institute of Control and Computation Engineering University of Zielona Gora Poland Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

ISBN: (纸本)9783902823373

Iterative learning control has been developed for systems that repeat the same task over a finite duration with resetting to the starting location once each repetition, or trial, is complete. The novel feature is the use of information generated on the previous trial to compute the control input for the next one and the basic problem is to force the sequence of trial outputs to track a given reference signal. In many cases, it is also necessary to regulate the dynamics produced along the trials, for which this paper gives new results using the theory of linear repetitive processes and the generalized form of the Kalman-Yakubovich-Popov lemma. © IFAC.

关键词： Two term control systems

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Fair optimization with advanced aggregation operators in a multicriteria facility layout problem

Fair optimization with advanced aggregation operators in a m...

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Federated Conference on Computer Science and Information Systems (FedCSIS)

作者： Jarosław Hurkała Adam Hurkała Warsaw University of Technology Institute of Control & Computation Engineering Warsaw Poland

In this paper we address a mining operation problem that is a special case of Quadratic Assignment Problem and which belongs to the class of facility layout problems. The considered problem is static and discrete, but the set of possible locations is larger than the set of *** distinguish multiple types of equal-area facilities (mines, processing and auxiliary facilities). Mines can be placed only on selected locations (deposits of various resources), and the production volume of each type of facility depends on the adjacency of other facilities. We examine two situations: when the number of each type of facility is given, and when only the total number of facilities is specified. The goal is to maximize the production. This problem is multi-objective and we use advanced aggregation operators (OWA/WOWA) to achieve fair solutions. A comparison of results obtained with list-based threshold accepting meta-heuristic and simulated annealing algorithm is presented.

关键词： Production Layout Open wireless architecture Simulated annealing Temperature Heuristic algorithms

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Specification of the structure and behaviours of a robotic system able to determine object convexity

Specification of the structure and behaviours of a robotic s...

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

作者： Tomasz Kornuta Łukasz Żmuda Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

The paper focuses on the problem of design of robotic controllers able to perform complex service tasks. The proposed approach, rooted in the embodied agent concept, enables the definition of both the structure and behaviour of the system. The supplementing each other mathematical and graphical notations along with the multi-level decomposition enable the specification of the system in details facilitating its implementation. The approach is validated on a non-trivial task of determination of object convexity. The presented results of experimental verification prove both the correctness of the designed system and the usefulness of the approach.

关键词： Cameras Robots Image segmentation Regulators Radio frequency Joints

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An investment strategy for the Stock Exchange using neural networks

An investment strategy for the Stock Exchange using neural n...

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Federated Conference on Computer Science and Information Systems (FedCSIS)

作者： Antoni Wysocki Maciej Ławryńczuk Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

This paper describes a neural system which helps to make the current investment decisions. Some well known financial indicators usually considered by investors are inputs of the system. The basic problem is to select appropriately the indicators which would give the best predictor. Two methods are used and compared: the combination method and the correlation method. To analyze the problem daily quotations of companies included in the Warsaw Stock Exchange Index (WIG20) are used.

关键词： Investment Oscillators Indexes Stock markets Biological neural networks Share prices

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Stabilization of a class of active ladder circuits based on a wave repetitive process approach by means of multidimensional wave digital filters 8

Stabilization of a class of active ladder circuits based on ...

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8th International Workshop on Multidimensional Systems, nDS 2013

作者： Schwerdtfeger, Tim Galkowski, Krzysztof Kummert, Anton Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal42119 Germany Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra65-246 Poland University Wuppertal Germany

ISBN: (纸本)9783800735433

Recently, the theory of Wave Repetitive Processes has been applied to derive a control for a class of ladder circuits that features wave-like active inter-stage connections [1]. There, the discretization of the circuit has been implemented by means of a basic difference scheme. Wave Digital Filter (WDF) theory provides a more elaborate scheme that ensures a number of favourable properties, and is typically used for strictly passive circuits. In this paper, the adaptability of such an active circuit by means of Multidimensional Wave Digital Filters (MDWDF) is analysed with regard to the implementation of non-standard elements as multiple sources and intra-structural secondary connections. Conclusively, the simulation results are studied and compared. © VDE VERLAG GMBH 2013.

关键词： Digital filters

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Robust MPC for a non-linear system – a neural network approach

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Journal of Physics: Conference Series 2014年第3期570卷

作者： Marcel Luzar Marcin Witczak Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland

The aim of the paper is to design a robust actuator fault-tolerant control for a non-linear discrete-time system. Considered system is described by the Linear Parameter-Varying (LPV) model obtained with recurrent neural network. The proposed solution starts with a discretetime quasi-LPV system identification using artificial neural network. Subsequently, the robust controller is proposed, which does not take into account actuator saturation level and deals with the previously estimated faults. To check if the compensation problem is feasible, the robust invariant set is employed, which takes into account actuator saturation level. When the current state does not belong to the set, then a predictive control is performed in order to make such set larger. This makes it possible to increase the domain of attraction, which makes the proposed methodology an efficient solution for the fault-tolerant control. The last part of the paper presents an experimental results regarding wind turbines.

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