Progress in Automation, Robotics and Measuring Techniques (eBook)

Foreword 6
Contents 8
About the Editors 11
Synchronization of the Chaotic Pandey-Baghel-Singh Systems of Fractional Order 13
1 Introduction 13
2 Preliminaries 14
3 Stability Analysis 14
4 Synchronization 17
5 Concluding Remarks 21
References 21
Multiple Project Portfolio Scheduling Subject to Mass Customized Service 23
1 Introduction 23
2 Illustrative Example 24
3 Declarative Problem Formulation 28
4 Calculation Example 30
5 Concluding Remarks 32
References 33
Recurrent Polynomial and Neural Structuresin Modelling of a Neutralisation Process 34
1 Introduction 34
2 Recurrent Dynamic Models 35
3 Recurrent Neural Network 35
3.1 Model Architecture 35
3.2 Model Training 36
4 Recurrent Polynomial Model 37
4.1 Model Architecture 37
4.2 Model Training 37
5 Simulation Results 37
5.1 Process Description 37
5.2 Process Modelling 38
6 Conclusions 43
References 43
Memory-Based Prediction of District Heating Temperature Using GPGPU 44
1 Introduction 44
2 Memory Based Reasoning 45
3 GPGPU Parallel Computing 47
3.1 Parallel Computations on a GPU 47
3.2 CUDA Technology Application to the Time Series Prediction 48
4 Experimental Results – District Heating Temperature Prediction 48
4.1 Process: CHP Plant 49
4.2 Execution Time Comparison 51
4.3 Analyses of Each Calculation Performance 51
5 Conclusion 52
References 53
The Architecture of an Embedded Smart Camera for Intelligent Inspection and Surveillance 54
1 Introduction 54
2 An Overview of the Existing Solutions 55
2.1 Semi-disposable, Widely Deployed Sensor Nodes 55
2.2 Application Processor and DSP-Based Smart Cameras 55
2.3 Smart Cameras Using FPGAs 56
3 Architecture of the Proposed System 56
4 Example Results 59
5 Conclusions and Future Work 61
References 61
Nature-Inspired, Parallel Object Recognition 64
1 Introduction 64
2 Pre-processing SLAM 66
3 Parallel Segmentation 67
4 Feature Significance 69
5 Experiments 71
6 Conclusion 72
References 73
Digraphs Minimal Realisations of State Matrices for Fractional Positive Systems 74
1 Introduction 74
2 Preliminaries and Problem Formulation 75
3 Problem Solution 77
4 Concluding Remarks 82
References 83
Optimisation of Digraphs-Based Realisations for Polynomials of One and Two Variables 84
1 Introduction 84
1.1 Realisation Problem 84
1.2 Digraphs 86
2 State-of-the-Art 87
2.1 Complexity of the Problem 88
2.2 Complexity of the Algorithm 89
3 Realisations Optimisation 89
3.1 One Variable Monomials 92
4 Concluding Remarks 92
References 93
Analysis Thrust for Different Kind of Propellers 95
1 Introduction 95
2 The Experimental Setup 96
3 Experimental Results 98
4 Discussion 98
5 Conclusion 99
References 100
SysML Modeling of Functional and Non-functional Requirements for IEC 61131-3 Control Systems 101
1 Introduction 101
2 Related Work 102
3 Running Example and Supporting Environment 103
4 Requirements in IEC 61131-3 Control Systems 104
5 POU Functional Requirements 105
6 Performance Requirements 105
6.1 POU Performance Requirements 106
6.2 Communication Performance Requirements 107
7 HMI Requirements 108
8 Conclusion 109
References 109
Fractional Standard and Positive Descriptor Time-Varying Discrete-Time Linear Systems 111
1 Introduction 111
2 Standard Fractional Descriptor Systems 112
3 Positive Systems 117
4 Concluding Remarks 121
References 121
Decomposition and Parallelizationof Linear Programming Algorithms 123
1 Introduction 123
2 Dantzig-Wolfe Method 124
3 Benders Method 127
4 The Usefulness of Dantzig-Wolfe and Benders Methods on the Background of Other Possibilities of Parallelization of Linear Programming Problems 132
5 Conclusions 135
References 136
45 Years of Mechatronics – History and Future 137
1 Introduction 137
2 Definitions of Mechatronics 138
3 Control Computers Then and Now 140
4 Mechatronics Development on Example of Washing Machines 141
5 Discussion and Conclusion 145
References 146
Analysis and Modelling of Magnetic Circuits in Magnetic Shape Memory Alloy Actuators 147
1 Introduction 147
2 Magnetic Shape e Memory Alloys 148
3 Design and Mathematical Modelling of Magnetic Circuit 149
4 FEM Analysis 152
5 Research 153
6 Conclusions 154
References 155
Share Mode Magnetorheological Dampers for Vibration Attenuation in Domestic Washing Machines 156
1 Introduction 156
2 Domestic Washing Machine 158
3 Share Mode Magnetorheological Dampers 158
3.1 Viscous Damper Examinations 158
3.2 Design of Share Mo ode Magnetorheological Damper 159
4 Washing Machi ne with New Dampers – Experimental dy Stud 162
5 Conclusions 164
References 164
Immune Algorithm for Optimization of Membership Function in Fuzzy Models 166
1 Introduction 166
2 Methods for Construction of Sugeno-Type Fuzzy Model 167
2.1 Fuzzy Models 167
2.2 Extracting Knowledge from the Numerical Data 168
2.3 Extraction of Fuzzy Rules Directly from Numerical Data 168
2.4 Optimization of Coefficients in Consequent and Premise Fuzzy Rules 169
3 Biological and Artificial Immune Systems 170
3.1 Clonal Selection Algorithm 170
3.2 Optimization and Clustering Using Clonal Selection Mechanism 171
4 Application Examples 173
5 Conclusion and Future Work 175
References 175
Characteristics of the Improved Magnetic Shape Memory Alloy Actuator Test Stand 177
1 Introduction 177
2 Motivation for the Test Stand Improvement 178
2.1 General Description of the Problem 178
2.2 Description of Previous Test Stand Version 178
3 Improved Magn netic Shape Memory Alloy Test Stand 180
4 Measurements and Comparison to Previous Results 181
5 Conclusions 183
References 184
Control of an Oriented PV Systemwith the Use of a Discrete, Robust, FractionalOrder PID Controller 185
1 An Introduction 185
2 An Oriented PV System and Its Interval Model 186
3 A Fractional Order PID Controller and Its Discrete Approximation 187
4 A Digital Closed-Loop Control System 188
5 Tuning Method for the Considered Controller 190
6 An Example 191
7 Final Conclusions 193
References 193
Production System Designing with the Use of Digital Factory and Augmented Reality Technologies 195
1 Designing Production Systems 195
2 Collection, Processing and Analysis of Input Data 196
3 The Proposal of the Ideal Layout 197
4 Creation of a Real Production System and Its Evaluation in Virtual Reality Environment 200
5 Layout Visualization with Augmented Reality 202
5.1 The Application of Augmented Reality with the Planning Table 202
5.2 The Usage of AR in Visualization of Production Systems in Real Environment 203
6 Conclusions 203
References 204
Monitoring and Prediction of Time Series Based on Fuzzy Cognitive Maps with Multi-step Gradient Methods 205
1 Introduction 205
2 Fuzzy Cognitive Maps 206
3 Multi-step Learning Algorithms 206
3.1 Gradient Method 207
3.2 Markov Model of Gradient 207
4 ISEMK System 208
5 Simulation Results 208
6 Conclusions 212
References 213
Multichannel High Voltage Amplifier for Piezo Actuators 215
1 Introduction 215
2 Piezoelectric Actuators Supplying 215
3 High Voltage Circuit 217
4 Performance 219
5 Conclusions 221
References 221
Modelling of Electrohydraulic Drive with a Valve Controlled by Synchronous Motor 222
1 Introduction 222
2 Electrohydraulic Drive with Synchronous Motor – Simulation and Modeling 223
2.1 Proportional Valve with Synchronous Motor 223
2.2 Modeling of the Electrohydraulic Servo Drive 223
3 Simulation 226
4 Experimental Research 228
5 Conclusion 229
References 229
Object-Oriented Approachto I/O Handling in Control Programs 230
1 Introduction 230
2 Object-Oriented Features in IEC-61131-3:2013 231
3 Proposed Model of I/O Class Hierarchy 232
3.1 Peripheries 233
3.2 Universal Value Type 234
3.3 Board Capabilities 235
4 Implementation Example 236
4.1 Execution Platform 236
4.2 I/O Boards 237
4.3 Code Example 237
5 Summary 239
References 239
Solution of the State Equation of Descriptor Fractional Continuous-Time Linear Systems with Two Different Fractional 240
1 Introduction 240
2 Descriptor Fractional System 241
3 Systems with Two Different Fractional Orders 243
4 Solution to the State Equation by the Use of Drazin Inverse 245
5 Concluding Remarks 248
References 248
A Hybrid Approach to Sustainable Supply Chain Optimization 250
1 Introduction 250
2 Methodology and Motivation 251
3 A Hybrid Approach – Concept and Implementation 252
4 Illustrative Example 253
4.1 Objective Function 254
4.2 Constraints 255
4.3 Model Transformation 259
4.4 Numerical Experiments 259
5 Conclusion 260
References 260
New Approach to Automation and Robotics Vocational Education in Support of Europe Reindustrialization 262
1 Introduction 262
2 Building the Concept 264
3 Prototype Implementation 267
4 Conclusions 270
References 270
Ship Maneuvering Model for Autopilot Simulator 272
1 Introduction 272
2 Ship Dynamics 272
3 Sea Waves 275
4 Response Amplitude Operators 278
5 Ship Model with Waves 279
6 Summary 281
References 281
Research of Basic Parameters of Piezoelectric Tube Actuator 282
1 Introduction 282
2 Piezoelectric Tube Actuator 282
3 Test Bench 283
4 Piezo Tube Research 285
5 PID Displacement Control 287
6 Conclusions 288
References 288
Hysteresis Modelling of a Piezoelectric Tube Actuator 289
1 Introduction 289
1.1 Generalized Prandtl-Ishlinskii Hysteresis Model 290
2 Experimental Setup and Data Acquisition 291
3 Experimental Results 293
3.1 Generalized Prandtl-Ishlinskii Model Results 294
4 Conclusions 296
References 296
Application of Jiles-Atherton Model for Modelling Magnetization Characteristics of Textured Electrical Steel Magnetized in Easy or Hard Axis 298
1 Introduction 298
2 Tested Material 299
3 Magnetic Measurements 299
4 Jiles-Atherton Model for Anisotropic Materials and Proposed Extension of This Model 300
5 Determination of Model’s Parameters 303
6 Results of Modeling 304
7 Conclusions 305
References 306
Tuning Rules of Conventional and Advanced Ship Autopilot Controllers 308
1 Introduction and Motivation 308
2 Structure of the Autopilots 309
3 PID Course Controller 310
4 Set-Point Rate Limiter 312
5 Limitation of PI Track Controller 313
6 State-Space Track Controller 314
7 Conclusions 315
References 316
A Novel Approach to Optimization of Jobs in Groups 317
1 Introduction 317
2 Literature Review 318
3 Problem Statement and Methodology 319
3.1 Problem Description 319
3.2 Mathematical Model 320
3.3 Linearization of the Model 322
3.4 A Novel Integrated Approach to Modeling, Solving and Optimization 323
4 Numerical Experiments 324
5 Conclusion 325
References 325
Multiple File Server with the Implemented Mechanism ACL 327
1 Introduction 327
2 The Server with ACL Mechanism 328
2.1 Implementation of the ACL Server 328
2.2 Implementing a Samba Server 329
3 ACL Access Rights Management 333
3.1 Assign Permissions to Directories 334
4 Summary 336
References 337
Predictive Control of a Multivariable Neutralisation Process Using Elman Neural Networks 338
1 Introduction 338
2 Description of Neutralisation Process 339
3 Computationally Efficient MPC of the Neutralisation Process Based on the Elman Neural Network 340
3.1 MPC Algorithm with Linearisation around the Trajectory (MPC-NPLT) 340
3.2 Elman Neural Network 343
3.3 Implementation of the MPC-NPLT Algorithm for the Elman Neural Network 343
4 Simulation Results 345
5 Summary 347
References 347
Evaluation of Automatic Identification Systems According to ISO 50001: 2011 348
1 Introduction 348
2 Assessment of Auto-id System Energy Consumption 352
2.1 ISO 50001:2011 Can Serve as Evaluating Tool 352
2.2 Determination of E Energy Consumption 354
3 Example of Method Application 356
4 Conclusion 357
References 357
Author Index 359