Automation 2017 (eBook)

Foreword 6
Contents 7
Editors 6
Control and Automation 15
Petri Nets in Discrete-Event and Hybrid Systems Modelling, Analysing, Performance Evaluation and Control 16
1 Introduction and Preliminaries 16
1.1 Place/Transition Petri Nets 16
1.2 Timed Petri Nets 17
1.3 Hybrid Petri Nets 18
1.4 Illustrations of Particular Approaches 19
2 Agent Cooperation Based on Place Invariants 19
3 Case Study 1 - DES Supervisor Synthesis by P/T PN 20
4 Case Study 2 - TPN Model of DES 22
5 Case Study 3 - FOHPN Model of a Hybrid System 24
6 Case Study 4 - FOHPN Model of a Batch Process 28
7 Conclusion 32
References 32
The PLC Implementation of Fractional-Order Operator Using CFE Approximation 35
1 An Introduction 35
2 Preliminaries 36
2.1 Elementary Ideas 36
2.2 The CFE Approximation 38
3 The Experimental System 40
3.1 General Remarks About Implementation of Special Control Algorithms at PLC Platform 40
3.2 The Hardware 41
3.3 The Software 41
4 Experimental Results 41
5 Conclusions 44
References 45
Descriptor Positive Nonlinear Systems 47
Abstract 47
1 Introduction 47
2 Descriptor Positive Discrete-Time Nonlinear Systems 48
3 Descriptor Positive Continuous-Time Nonlinear Systems 52
4 Concluding Remarks 56
Acknowledgment 56
References 56
Descriptor Fractional Continuous-Time Linear System and Its Solution – Comparison of Three Different Methods 58
Abstract 58
1 Introduction 58
2 Preliminaries 59
3 Shuffle Algorithm Method 60
4 Drazin Inverse Method 61
5 Weierstrass-Kronecker Decomposition Method 62
6 Example 64
6.1 Case of Shuffle Algorithm Method 64
6.2 Case of Drazin Inverse Method 65
6.3 Case of Weierstrass-Kronecker Decomposition Method 66
6.4 Computational Results 67
7 Concluding Remarks 69
Acknowledgments 69
References 69
Synthesis of Optimal Robust Regulator for Food Processing Facilities 71
Abstract 71
1 Introduction 71
2 Uncertainties of Technological Facilities 72
3 Synthesis Algorithm Selection 73
4 Simulation of Robust Optimal Control System on the Example of Sugar Plant Evaporation Station 75
5 Conclusions 77
References 78
Development of Electronic Controller for Haptic Joystick and Electrohydraulic Drive 80
Abstract 80
1 Introduction and Literatures Overview 80
2 Test Stand and Control System 81
2.1 Project Assumptions 81
2.2 Haptic Controller 81
2.3 Test Stand Structure 83
2.4 Experimental Tests 85
3 Conclusion 87
Acknowledgements 87
References 87
Initial Comparison of Experimental Vs. Simulation Results of Velocity Fractional-Order PI Controller of a Servo Drive 89
1 Introduction 89
2 Inteco Modular Servo 90
3 Statement of the Problem 90
4 Admissible parameters of Fractional-Order PI Controller 91
5 Stability Verification, Experimental and Simulation Results 93
6 Conclusions 97
References 97
An Accuracy Estimation for a Non Integer Order, Discrete, State Space Model of Heat Transfer Process 99
1 An Introduction 99
2 Preliminaries 100
2.1 Elementary Ideas 100
3 A Considered Plant and Its Non Integer Order, State Space Model 102
3.1 The Experimental System 102
3.2 The Non Integer Order, Time Continuous Model of the Heat Plant 103
3.3 The Fractional Order, Discrete Time State Space Model of the System 106
4 The Experimental Results 107
5 Final Conclusions 108
References 109
Dynamic Model and Simulation of Electro-Hydraulic Proportional Valve 112
1 Introduction 112
2 The Testbed 113
3 Mathematical Background and Experiment 114
4 Conclusions 119
References 119
Application of Bio Signals in the Brain-Device Interfaces 121
Abstract 121
1 Introduction 121
2 EEG Method Application 122
3 Overview of Equipment Used in Brain Computer Interface 126
4 Recognition of Facial Expressions Using Artificial Neural Network 129
5 Conclusion 131
Acknowledgement 131
References 131
Designing Mass-Customized Network of Passenger Services Subject to Grid Topology Constraints 133
Abstract 133
1 Introduction 133
2 Related Work 134
3 Basic Concepts 135
4 Problem Formulation and Solution Method 137
5 Computational Experiments 138
6 Conclusions 142
References 143
A Hybrid CLP/MP Approach to Modeling and Solving Resource-Constrained Scheduling Problems with Logic ... 145
Abstract 145
1 Introduction 145
2 Resource-Constrained Scheduling Problems (RCSPs) 147
3 A Hybrid CLP/MP Approach to Modeling and Solving RCSPs- the Concept and Implementation Framework 148
4 Illustrative Example and Numerical Experiments 149
5 Conclusion 152
Appendix A Sets of Facts for Illustrative Example 153
Appendix B Illustrative Example-Formal Model 154
References 155
Methods of Determining Information Support of Web Community User Personal Data Verification System 157
Abstract 157
1 Introduction 157
2 Determination of Information Support of Web Community User Data Verification System 158
2.1 Level of Account Completion 158
2.2 Actuality of Account Data and Content 159
2.3 Administrative Power of User 160
3 Activity of Virtual Communities’ Users 160
4 System of Rules of Web Users’ Communicative Behavior 161
5 Conclusions 162
References 162
Comparison of Two Different Methods of Observer Synthesis for Descriptor Discrete-Time Linear Systems 164
Abstract 164
1 Introduction 164
2 [Ez–a]?1 Expansion Method 165
3 Weierstrass-Kronecker Decomposition Method 167
4 Comparison of the Methods 172
5 Concluding Remarks 176
Acknowledgment 176
References 176
Identification of Parameters of the Capacitor Equivalent Scheme Using Monte Carlo Methods 178
Abstract 178
1 Introduction 178
2 Equivalent Circuit of Capacitor 179
3 Basic Equations of the Model and Measurement Data 180
4 The System of Conditional Equations and Criteria for Evaluation Accuracy of their Solution 182
5 Determination the Initial Values of Identified Parameters 183
6 Single MC Method of Identification 184
7 Multiple Iterative MC Method of Identification 187
8 Extended Ranges of Relative Error of MC Identification 189
9 General Conclusion 190
References 190
LD Graphic Editor Implemented in CPDev Engineering Environment 191
Abstract 191
1 Introduction 191
2 LD Graphic Editor 191
3 Creating a Diagram 193
4 Compilation 194
5 Simulation 195
6 Elements with EN 195
7 More on Connections 196
8 Conclusions 197
References 197
SFC Graphic Editor for CPDev Environment 199
Abstract 199
1 Introduction 199
2 SFC Graphic Editor 199
3 Creating a Diagram 201
4 Output Code and Compilation 202
5 Simulation 205
6 Unreachable and Unsafe SFC 205
7 Conclusions 206
References 206
Robust Stability of a Class of an Uncertain Fractional Discrete-Time Linear State-Space System 208
1 Introduction 208
1.1 Problem Formulation 209
2 Asymptotic Stability Regions 210
3 Main Results 211
4 Illustrative Examples 213
5 Concluding Remarks 215
References 215
Realisation of Continuous-Time (Fractional) Descriptor Linear Systems 217
1 Introduction 217
1.1 Digraphs 218
1.2 Descriptor (factional) System 218
2 Main Results 219
3 Numerical Example 223
4 Concluding Remarks 226
References 226
Relations Between Digraphs Structure and Analogue Realisations with an Example of Electrical Circuit 228
1 Introduction 228
1.1 Constant Phase Element Method 229
1.2 Fractional Order System 229
2 Problem Solution 230
2.1 Digraph Structure Corresponding to Electrical Circuit 230
2.2 Analogue Realisation 232
3 Concluding Remarks 238
References 238
Experimental Research of Electrochemical Energy Storage 240
Abstract 240
1 Introduction 240
2 Presentation of the Test Bench 241
3 Test-Bench Research 242
4 Conclusions 246
References 246
Experimental Research and Simulation Model of Electrochemical Energy Stores 249
Abstract 249
1 Introduction 249
2 Test Bench and Experimental Research 250
3 A Battery Model – Analytical Background 252
4 Simulation Model and Simulation Results 255
5 Conclusions 257
References 257
Robotics 260
Mobile Robot Localization: Where We Are and What Are the Challenges? 261
1 Introduction 261
2 Perception 263
3 Representation 264
4 Estimation 267
4.1 Filtration-Based Methods 267
4.2 Optimization-Based Methods 268
4.3 Visual Odometry 272
5 Challenges 272
6 Final Remarks 274
References 275
CIE-DataGlove, A Multi-IMU System for Hand Posture Tracking 280
1 Introduction 280
1.1 Related Work 281
1.2 Contribution 281
2 Glove Design 281
2.1 IMU Placement 281
2.2 Mechanical Design 282
3 Hardware 283
3.1 IMU Board 283
3.2 MainBoard 284
4 Firmware 284
4.1 IMU Communication 285
4.2 PC Communication 285
5 Setup Evaluation 285
5.1 Data Transfer Integrity 286
5.2 Joint Configuration Estimation 286
6 Conclusions 287
References 288
Comparison of a Traditional Control and a Force Feedback Control of the Robot Arm During Teleoperation 289
Abstract 289
1 Introduction 289
2 Haptic Technology 289
3 The Construction of a Test Station 291
4 Robot Kinematics and the Control System 292
5 Experimental Studies 295
6 Conclusion 298
References 299
Optimized and Reconfigurable Environment for Simulation of Legged Robots 302
1 Introduction 302
2 Related Work 303
3 Simulation Environment 304
3.1 Robots 305
4 Simulator Optimization 308
5 Conclusions 310
References 311
Depth-Map-Based Shape Recognition of Soft Continuum Manipulator Body 312
1 Introduction 312
2 Manipulator Description 313
3 Algorithm 314
3.1 The Depth Image Data 314
3.2 Algorithm Steps 314
4 Conclusion 317
References 318
Data-Driven Video Game Agent Pathfinding 320
Abstract 320
1 Competitive, Multiplayer Environments 320
1.1 Standard Approach to Video Game Agents 320
1.2 Adaptive Pathfinding 321
1.3 Obstacles of Multiplayer Environments 321
1.4 The Basic Idea 322
2 The Game World 322
2.1 The Map Representation 322
2.2 Participants, Agents and Players 322
3 Gathering Player Data 323
3.1 Available Information About a Player 323
3.2 Space Context 323
3.3 Time Context 324
4 Influencing the Agents Pathfinding 325
4.1 Problems with Modifying the Graph Edges 325
4.2 The Risk Coefficient 325
4.3 The Memory Coefficient 326
5 Example 326
6 A Test Environment 328
7 Conclusion 329
References 329
Path Planning for an Unmanned Ground Vehicle Traversing Rough Terrain with Unknown Areas 331
1 Introduction 331
2 Related Work 333
3 Algorithms for Filling-In of Unknown Areas 334
4 Incremental Path Planning 335
5 Experiments 336
6 Final Remarks 339
References 340
Experimental Test Bench for Multirotor UAVs 342
1 Introduction 342
2 Related Work 343
3 Design of the Test Bench 343
3.1 General Concept 343
3.2 Mechanical Structure 344
3.3 Data Processing Flow 346
3.4 Synchronization Mechanism 347
4 Evaluation 348
5 Conclusion 349
References 350
Development of Vertical Movement Controller for Multirotor UAVs 351
1 Introduction 351
2 Simulation 352
2.1 Model Design 352
2.2 Identification of System Noise 354
3 Controller Design and Tuning 355
3.1 Control Structure 355
3.2 PSO Parameters Tuning 355
3.3 Simulation Results 356
4 Experiments 356
5 Conclusions and Further Research 358
References 359
Influence of Exoskeleton Parameters Calibration Inaccuracies on the Step Length Error 361
1 Introduction 361
2 Kinematic Model of CIE Exoskeleton 362
3 Influence of Exoskeleton Parameters on the Step Length Error 363
4 Conclusion 368
References 368
Multirotor Aerial Platform with Manipulation System - Static Disturbances 369
1 Introduction 369
2 Kinematics of the Aerial Platform Equipped with Dual-Arm Manipulation System 370
2.1 Compensation of Static Components of the System Reaction Angles 372
2.2 Determining Centres of Gravity 373
2.3 Derivation of Moments of Inertia 375
2.4 Analysis of the Influence of the Change of System's Configuration on Platform 376
3 Conclusions and Further Research 377
References 378
The Estimation Method of Strength for Technology-Oriented 3D Printing Parts of Mobile Robots 379
Abstract 379
1 Introduction 379
2 Mathematical Description of Prototypes 382
3 Manufacturing and Testing of Robotic Parts 384
4 Results and Conclusions 386
References 390
The Development of PIAP Fenix Mobile Robot 392
Abstract 392
1 Introduction 392
2 Applications and Requirements for Small UGV 392
3 Robot Fenix 393
4 Selected Technical Issues 395
4.1 Resistance for Tracks Contamination 395
4.2 Reduction of Weight 396
4.3 Environmental Sealing and EMC 397
4.4 Noise Reduction 397
5 Conclusions 400
References 400
Measuring Techniques and Systems 402
Characteristics of Question of Blind Source Separation Using Moore-Penrose Pseudoinversion for Reconstruction of EEG Signal 403
1 Introduction 403
2 Electroencephalographic Signal 403
3 Blind Source Separation 404
4 Moore-Penrose Pseudoinversion 405
5 BSS EEG Signal and Moore-Penrose Pseudoinversion 407
6 Discussion 408
References 409
Coverage Region for the Bidimensional Vector Measurand 411
Abstract 411
1 Introduction 411
2 Vector Measurand 411
3 Propagation of Uncertainty 412
4 Coverage Region 412
5 Numerical Example 413
6 Elliptical Coverage Region 415
7 Conclusion 416
References 417
Vision System for Inspection of Glass Furnace Structure 418
Abstract 418
1 Introduction 418
2 Glass Furnace Structure 419
3 Inspection Method for Glass Furnace Structure 422
3.1 Vision System 422
4 Sample Results of Diagnostic Inspection 423
5 Conclusions 426
References 426
The Use of Remote Ground Sensing Data for Assessment of Environmental and Crop Condition of the Recl ... 428
Abstract 428
1 Introduction 428
2 Methods and Techniques 429
3 Results and Discussion 429
4 Conclusions 433
References 433
Approach to Determination of Parameters of Probability Density Function of Object Attributes Recogni ... 435
Abstract 435
1 Introduction 435
2 Methods and Techniques 436
3 Results and Discussion 436
4 Conclusions 441
References 441
Research on Concentration Levels Depending on the Color and Blinking Frequency of the Marker Using Multiple EEG Channel 443
1 Introduction 443
2 Methods 444
3 Test Results 446
4 Conclusion 449
References 449
Development of Low Cost Speech System for Patient Suffer on the Amyotrophic Lateral Sclerosis 451
Abstract 451
1 Introduction 451
2 Device Design 452
2.1 Assumptions 452
2.2 Construction of Devices and Control Algorithm 452
2.3 Experimental Tests 455
3 Conclusion 457
Acknowledgements 458
References 458
Cross-Sensor Calibration Procedure for Magnetometer and Inertial Units 460
1 Introduction 460
1.1 Related Work and Contribution 460
2 Error Sources 461
3 Calibration Setup 462
4 Calibration Procedure 463
4.1 Accelerometer Axis Calibration 463
4.2 Magnetometer Ellipsoidal Fitting 464
4.3 Magnetometer to Accelerometer Cross-Sensor Correction 464
5 Validation 465
6 Discussion 467
7 Conclusions 468
References 469
Calibration of Scanning Electron Microscope with Improved Model of the Silicon Relief Measure 470
Abstract 470
1 Introduction 470
2 Measure Image Model Development 471
3 Calibration Method Development 473
4 Conclusions 477
References 477
A Polynomial Estimation of Measurand Parameters for Samples of Non-Gaussian Symmetrically Distribute ... 478
Abstract 478
1 Introduction 478
2 The Purpose of Research 480
3 Mathematical Formulation of the Problem 481
4 The Polynomial Maximization Method (PMM) 481
5 Polynomial Estimation of the Measured Value 482
6 Analysis of the Accuracy of Polynomial Estimates 484
7 Statistical Modeling of Polynomial Estimation 485
8 Conclusions 489
References 489
Optimization of Interpolation for Improved Numeric Calculation of Forward Eddy Current Tomography Transformation 491
Abstract 491
1 Introduction 491
2 Discretely Linear Algorithm (DLA) with Randomly Generated Initial State 493
2.1 Algorithm Description 493
2.2 Influence of Number of Algorithm Repeats on Results Correctness 493
3 Hybrid Genetic Algorithm 495
4 Algorithms Comparison 496
5 Conclusion 497
References 497
Comparison of Jiles-Atherton and Bulk Ferromagnetic Hysteresis Models for Modelling the Magnetic Characteristics of Advanced Magnetic Materials 498
Abstract 498
1 Introduction 498
2 Principles of the Jiles-Atherton Model and the Bulk Ferromagnetic Hysteresis Model 499
3 Tested Materials and the Method of Measurements 501
4 Results of Modelling of Anhysteretic Magnetization Curve 501
5 Conclusions 504
References 504
Gravimeters of Aviation Gravimetric System: Classification, Comparative Analysis, Prospects 506
Abstract 506
1 Introduction 506
2 Presentation of Main Material of the Study 507
3 Advanced Developments in Designing AGS Gravimeters of New Type 512
4 Conclusions 512
References 512
Heat Transfer in the Thermo-Anemometric Flowmeter for Biofuels 515
Abstract 515
1 Introduction 515
2 Materials and Methods 516
3 Results and Discussion 517
4 Conclusions 520
References 520
Vectorization of the Software for Modelling the Magnetostatic Properties of Thin Layers Using the Me ... 522
Abstract 522
1 Introduction 522
2 Implementation of Basic Linear Algebra Subprograms (BLAS) 523
3 Vectorization of the Code for Solving the Thin Layer Extension of Magnetostatic Method of Moments 524
4 Test Cases and Results 526
5 Conclusions 528
References 528
Active LR Integrator Circuit for Drift-Free Fluxmeter 529
Abstract 529
1 Introduction 529
2 Idea of the Active LC Integrator Circuit 530
3 SPICE Simulation 531
4 Experimental Results 532
5 Conclusions 535
Acknowledgements 536
References 536
Test Stand for Matteucci Effect Measurements 537
Abstract 537
1 Introduction 537
2 Annealing of the Samples 537
3 Magnetic Field Measurement Setup 539
4 Exemplary Measurement Results 540
5 Conclusion 541
References 542
Test Stand for Investigating of Giant Magneto-Impedance 543
Abstract 543
1 Introduction 543
2 Test Stand 544
3 Manufacturing of Samples 546
4 Results and Discussion 546
5 Conclusions 549
Acknowledgements 549
References 549
Machine Intelligence 550
Parameter-Free On-line Deep Learning 551
1 Introduction 551
2 Problem Formulation 552
3 The Model of Valley 553
4 Influence of i and i on t for t> i
4.1 Short-Term Influence 553
4.2 Long-Term Influence 555
4.3 Optimization of and 556
4.4 Instability Detection 557
5 Experimental Study 557
6 Conclusions 560
References 560
Learning Fuzzy Cognitive Maps Using Evolutionary Algorithm Based on System Performance Indicators 562
1 Introduction 562
2 Fuzzy Cognitive Maps 564
3 System Performance Indicators 564
4 Algorithm for Fuzzy Cognitive Maps Learning Based on System Performance Indicators 566
5 Experiments 569
6 Conclusion 570
References 571
Utilization of Deep Reinforcement Learning for Saccadic-Based Object Visual Search 573
1 Introduction 573
2 Related Works 574
3 Saccadic-Based Visual Search 575
3.1 Deep Reinforcement Learning Primer 575
3.2 System for Learning Saccadic-Based Visual Search 576
4 Experimental Verification 577
4.1 Partially Observable Environment: The Maze of Digits 577
4.2 Random Mazes of Digits 578
4.3 Mazes of Digits Forming a Circle 579
4.4 Mazes of Digits Forming a Path 580
5 Discussion of Results and Future Works 580
References 581
Low-Effort Place Recognition with WiFi Fingerprints Using Deep Learning 583
1 Introduction 583
2 Related Work 584
3 Low-Effort Place Recognition with Deep Learning 585
4 Experimental Data 587
5 Experimental Evaluation 588
5.1 Representing the Lack of WiFi Signal 588
5.2 Building and Floor Classification 589
6 Conclusions 590
References 591
Adopting the FAB-MAP Algorithm for Indoor Localization with WiFi Fingerprints 593
1 Introduction 593
2 Related Work 594
3 Adopting FAB-MAP to WiFi Features 595
4 Experimental Data 598
5 Parameter Tuning 598
6 Experimental Evaluation 599
7 Conclusions 601
References 601
Review of 3D Objects Segmentation Methods 603
1 Introduction 603
2 Materials and Methods 604
2.1 Dataset Used for Testing 604
2.2 Tested Methods 604
3 Measures 606
4 Results 608
4.1 Discussion of the Results 609
5 Conclusions 611
References 611
Author Index 613