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International Conference on System Theory, control, and Computing (ICSTCC)

作者： José Lamarca Marius Kloetzer Cristian Mahulea Dept. of Computer Science and Systems Engineering University of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania Aragón Institute for Engineering Research University of Zaragoza Spain

ISBN: (纸本)9781509027217

This paper describes the structure of a mobile robot suitable for laboratory experiments. The robot is developed with the ideas of minimizing the production costs and of executing motion commands received from an external computer that runs the (possible computational intensive) planning algorithms. The proposed system is a differential wheeled robot built based on an Arduino platform, it has a small physical size and it is capable of wireless communication. These characteristics make it useful for validating planning algorithms for mobile robots in computer-guided laboratory experiments, while lowering the expenses required by such a setup. Moreover, in order to compensate the communication delay between the central computer and the robot, an estimation algorithm is implemented on the robot for obtaining a smoother motion.

关键词： Mobile robots Wheels Computers Planning Trajectory Pins

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Multi-robot path planning for syntactically co-safe LTL specifications

Multi-robot path planning for syntactically co-safe LTL spec...

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International Workshop on Discrete Event Systems, WODES

作者： Marius Kloetzer Cristian Mahulea Dept. of Automatic Control and Applied Informatics Technical University “Gheorghe Asachi” of Iasi Romania Aragón Institute of Engineering Research (I3A) University of Zaragoza Zaragoza Spain

This paper presents an automatic strategy to control a team of identical robots that should satisfy a given task expressed as a syntactically co-safe Linear Temporal Logic (LTL) formula over a set of regions of interest. The team of robots is modeled by using a Petri net system with outputs (observations), thus avoiding the use of synchronized product of automatons. The strategy starts by translating the task into a Büchi automaton and by choosing a finite string satisfying the formula. Three Integer Linear Programming (ILP) formulations are used to find in the Petri net model a sequence of reachable markings such that the generated observations produce the chosen string of the Büchi automaton. If the string is not correctly followed, another one is found and the procedure is reiterated.

关键词： Automata Petri nets Collision avoidance Trajectory Computational modeling

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Modelling of Greenhouse using Parabolic Trough Collectors Thermal Energy

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IFAC-PapersOnLine 2015年第30期48卷 450-455页

作者： Grigoriu, Ramona-Oana Voda, Alina Arghira, Nicoleta Iliescu, Sergiu Stelian Dept. of Automatic Control and Industrial Informatics University Politehnica of Bucharest Bucharest Romania Dept. of Control Systems GIPSA-lab University Joseph Fourier Grenoble 1 Grenoble France

The paper proposes a system developed to provide heat for a greenhouse using parabolic trough collectors (GHPTC) thermal energy. In order to ensure perfect conditions of growth for greenhouse plants, the GHPTC control system regulates the internal temperature of the greenhouse and it monitors the temperature of the conducting fluid through collector pipes. The GHTPC model is composed of two subsystems: the greenhouse model and the parabolic trough collector model. Each of these models were validated using real data, considering as a validation index the maximum error between the real and simulated data on a period of one day (24 hours). The proposed GHTPC model shows an energy gain by increasing the greenhouse internal energy even with no control applied on ether of the subsystems. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Greenhouses Smart power grids Solar collectors Thermal energy Conducting fluid Internal energies Internal temperature Maximum error Parabolic trough collectors Smart grid Solar greenhouse Validation index

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Optimal control with fixed-end point for discrete linear perturbed systems

Optimal control with fixed-end point for discrete linear per...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Florin Ostafi Corneliu Botan Dept. of Automatic Control and Applied Informatics Technical University of Iasi Iasi Romania

The linear quadratic optimal control problem with finite final time and fixed end-point for discrete linear time invariant systems is presented. The study takes into account the influence of the time variant perturbations in optimal control law implementation. The applicability of the proposed algorithm is validated by simulation tests.

关键词： Optimal control Switches Optimization Estimation Shape Approximation methods

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An alternative for PID control: Predictive Functional control - a tutorial

An alternative for PID control: Predictive Functional Contro...

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American control Conference

作者： R. Haber J.A. Rossiter K. Zabet Laboratory of Process Control Institute of Process Engineering and Plant Design Faculty of Process Engineering Energy and Mechanical Systems Cologne University of Applied Science D-50679 Koln Germany Dept. of Automatic Control and Systems Eng. University of Sheffield S1 3JD UK

ISBN: (纸本)9781467386838

PFC (Predictive Function control) can be considered as a bridge between PI(D) and complex MPC. PI(D) control can have problems handling dead time and constraints. PFC handles these cases and is often better than using a Smith predictor. PFC is a simple realizable MPC which thus uses prediction and preview of key variables. PFC can be implemented via simple program code and thus has cheap license costs. The tutorial introduces the basic idea of PFC and algorithms for typical processes. Simulations illustrate its effectiveness and advantages over PI(D) and Smith predictors.

关键词： Process control Mathematical model Trajectory Tuning Robustness Prediction algorithms Predictive models Proportional Integral Derivative control Prediction algorithms Process control Prediction models Pelvic Inflammatory Disease trajectory tuning Power factor correction Mathematical Model Smith predictors Proportional derivative control predictive functional control program code Robustness DEAD TIME

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Towards a new computing problem solving model for organizations 6

Towards a new computing problem solving model for organizati...

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6th International Conference on Computing, Communications and Networking Technologies, ICCCNT 2015

作者： Nedelcu, Raluca-Andreea Goga, Nicolae Caramihai, Simona Iuliana Stanescu, Aurelian Mihai Dept. of Eng. in Foreign Language POLYTEHNICA University Bucharest Romania Molecular Dynamics Group Univ. of Groningen Groningen Netherlands Dept. of Automatic Control and Industrial Informatics POLYTEHNICA University Bucharest Romania

ISBN: (纸本)9781479979844

Computing methods for solving problems effectively are the essence of continual improvement in computer based learning. The aim of this article is to present a new computational approach in solving problems of an organization by stepwise computer assisted finding a reliable solution. The new approach that we propose is to use Kumar's algorithm for supremal controllable supervisor and pattern recognition to find the optimal solution. Having Euclidian plane geometry as an universal language, we will exemplify the new model by taking an example from it. By dividing the types of the problems in various categories we will try to find patterns and to use them for faster problem solving. © 2015 IEEE.

关键词： Problem solving

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Wearable system for stress monitoring of firefighters in special missions

Wearable system for stress monitoring of firefighters in spe...

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E-Health and Bioengineering Conference (EHB)

作者： Virginia Sandulescu Radu Dobrescu Dept. of Automatic Control and Industrial Informatics Politehnica University of Bucharest Bucharest Romania

The paper proposes a telemonitoring wearable system to be used by firefighters in dangerous missions. The current work is based on previous research of the authors conducted on heat and mental stress detection and on physiological parameters monitoring using wearable systems. A wearable garment was designed to monitor the wearer's physiological signals and the ambient conditions (temperature and humidity) and a machine learning algorithm was used to detect the mental stress of the wearer.

关键词： Stress Biomedical monitoring Temperature measurement Monitoring Heating Thermal stresses Temperature sensors

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Optimizing collaborative learning path by ant's optimization technique in e-learning system

Optimizing collaborative learning path by ant's optimization...

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International Conference on Information Technology Based Higher Education and Training, ITHET

作者： Imane Kamsa Rachid Elouahbi Fatima El Khoukhi Touria Karite Hayat Zouiten Dept. Mathematics and Computer Science Faculty of Sciences Moulay Ismail University Meknes Morocco Team. Modelling Applied Informatics in Humanities Faculty of Humanities Moulay Ismail University Meknes Morocco Lab. Mathematics for Analysis and Control systems Faculty of Sciences Moulay Ismail University Meknes Morocco

ISBN: (纸本)9781509007790

The approach that we propose in this paper is part of the optimization of the collaborative learning in the e-learning environment. It is particularly interested in the automatic creation of groups called homogeneous teams, based on a set of criteria to highlight the similarity between the learners. This similarity is calculated using a similarity index that is the Euclidean distance. Then an optimal path guiding each community is built, through a dynamic adaptation of the optimization technique by ant colony. In this article, we have implemented the methodological framework and the algorithmic modeling of our approach, given that our future work will focus on the implementation and the empirical validation of our design.

关键词： Collaborative work Optimization Collaboration Electronic learning Euclidean distance Asynchronous communication

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Accomplish multi-robot tasks via Petri net models

Accomplish multi-robot tasks via Petri net models

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Marius Kloetzer Cristian Mahulea Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania Aragon Institute of Engineering Research (I3A) University of Zaragoza Spain

This paper proposes a method for planning a team of mobile robots such that they accomplish a set of tasks. The environment and the movement capabilities of mobile robots are represented by a Petri net model. Each task is located in a given location and its accomplishment requires a certain number of robots to be present in that place. The order for serving the tasks and firing count vectors for the model result from solving an Integer Linear Programming optimization. Structural properties of the Petri net model allow us to develop an algorithm that produces robot strategies composed from movements, waiting and task serving.

关键词： Mathematical model Petri nets Collision avoidance Mobile robots Optimization Resource management

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A Matlab-based interactive simulator for mobile robotics

A Matlab-based interactive simulator for mobile robotics

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Ramon Gonzalez Cristian Mahulea Marius Kloetzer Aragón Institute of Engineering Research (I3A) University of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania

This paper presents an open-source Matlab-based interactive software tool for teaching mobile robotics in introductory courses. In particular, it deals with the subjects: modeling, path planning, and motion control. This simulator offers the advantage of testing different aspects related to these fundamental topics and instantly seeing the result in a Graphical User Interface (GUI). This fact leads to a high realism in interactivity, while no previous knowledge in Matlab or programming is required. Additionally, it constitutes an easily scalable tool, the GUI has been properly designed with just one single window with straightforward and intuitive buttons, icons, and figures. Some illustrative examples demonstrate the benefits of the proposed simulator.

关键词： Mobile robots Trajectory Wheels MATLAB

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