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2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)最新文献

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Control strategies for the sludge line in wastewater treatment plants 污水处理厂污泥管线的控制策略
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-01 DOI: 10.1109/AQTR.2016.7501332
M. Barbu, R. Vilanova, I. Santín
{"title":"Control strategies for the sludge line in wastewater treatment plants","authors":"M. Barbu, R. Vilanova, I. Santín","doi":"10.1109/AQTR.2016.7501332","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501332","url":null,"abstract":"This paper presents the implementation and evaluation of control strategies for wastewater treatment plants. The study was carried out using the platform Benchmark Simulation Model No. 2 (BSM2) and is conceived plant wide by introducing as a distinctive feature the structuring of the plant on: a water line and a sludge line, the two operating lines being interdependent but at the same time influencing simultaneously the overall functioning of the plant. For the water line only one control strategy was implemented and this strategy was used together with the five control strategies proposed for the sludge line. In evaluating the obtained results special attention has been placed on the indicators related to the percentage of time when the pollutants in the effluent are violating the quality limits for total nitrogen and ammonium. However, the effect on the overall effluent quality and operation costs have also been considered by means of the usual aggregated cost indexes. The control strategy for the sludge line that offered the best results is the one that uses the control of the total suspended solids in the fifth tank by manipulating the wastage flow rate together with the control of the storage tank volume by manipulating its flow rate.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115198403","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Connected visualization service in a water management system 水管理系统中的连接可视化服务
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-01 DOI: 10.1109/AQTR.2016.7501299
S. Enyedi, I. Stefan, L. Miclea, I. Stoian, D. Capatina
{"title":"Connected visualization service in a water management system","authors":"S. Enyedi, I. Stefan, L. Miclea, I. Stoian, D. Capatina","doi":"10.1109/AQTR.2016.7501299","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501299","url":null,"abstract":"Large scale water management systems have both high dynamics and low dynamics parts. The “slow” data, comprising logs and long-term predictions, is not time-critical, and so it can be stored and put through data analytics or other processing, when there is time for it. The quick control, however, is managed by automated SCADA routines, which generate near real-time data, and quite a lot of it. The visualization of the slow and quick data should be done accurately and in a timely manner, including new data which is created/stored during the visualization. This work proposes a fast, synchronous solution to getting the data from the SCADA system, through the visualization gateway, to the client's viewer, and updating it automatically, when necessary. Access is role based, with proper credential management. The communication is encrypted and based on open standards, so that further clients and server modules may be developed.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115777019","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Digraphs structures corresponding to realisation of multi-order fractional electrical circuits 有向图结构对应于多阶分数电路的实现
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-01 DOI: 10.1109/AQTR.2016.7501368
K. Markowski
{"title":"Digraphs structures corresponding to realisation of multi-order fractional electrical circuits","authors":"K. Markowski","doi":"10.1109/AQTR.2016.7501368","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501368","url":null,"abstract":"This paper presents a method of the determination of a minimal stable realisation of the fractional continuous-time linear system with different fractional orders. For the proposed method, a digraph-based algorithm was constructed. In this paper, we have shown how we can perform the transfer matrix using electrical circuits consisting of resistances, inductances, capacitances and source voltages. The proposed method was discussed and illustrated with some numerical examples.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129108284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Object handling in cluttered indoor environment with a mobile manipulator 用移动机械手处理杂乱室内环境中的物体
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-01 DOI: 10.1109/AQTR.2016.7501382
Cristian Militaru, Ady-Daniel Mezei, L. Tamás
{"title":"Object handling in cluttered indoor environment with a mobile manipulator","authors":"Cristian Militaru, Ady-Daniel Mezei, L. Tamás","doi":"10.1109/AQTR.2016.7501382","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501382","url":null,"abstract":"This paper presents an indoor object handling application using a 7 degree of freedom lightweight robotic arm and a commercial depth sensor. The motion planning for such a complex arm is demanding, especially in a cluttered scenes, like the majority of human environments are. In order to cope with this task we designed and implemented the direct and inverse kinematics for the arm as well as the perception related modules using a depth sensor. Both the simulation and experimental parts are carried out in a common framework which ensures a light integration of different planning and spatial perception parts.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129207756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
SCADA plug-in modules and instruments for federative organisation: Application on water management 联邦组织的SCADA插件模块和仪器:水管理的应用
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-01 DOI: 10.1109/AQTR.2016.7501400
I. Stoian, D. Capatina, O. Ghiran, L. Miclea, S. Enyedi
{"title":"SCADA plug-in modules and instruments for federative organisation: Application on water management","authors":"I. Stoian, D. Capatina, O. Ghiran, L. Miclea, S. Enyedi","doi":"10.1109/AQTR.2016.7501400","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501400","url":null,"abstract":"Present paper presents an approach related to the question of structuring a federation of SCADA systems, associated with the integrated water resource exploitation, from a certain catchment area. Utilized instruments for federation development there are: (i) DESCRIPTOR component, achieving topology description - resources (roots) associated with protocols, functionality and governance rules, combined in plug-in module TOPOLOGY; (ii) Integrated Supervisor, having supervision role related to exchanges between federation partners. This plug-in application is auto-configurable and is running correlated with the TOPOLOGY modules.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129359858","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design and development of the synchronous mobile robots 同步移动机器人的设计与开发
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-01 DOI: 10.1109/AQTR.2016.7501315
M. Tatar, Florin Haiduc, A. Szalontai, A. Pop
{"title":"Design and development of the synchronous mobile robots","authors":"M. Tatar, Florin Haiduc, A. Szalontai, A. Pop","doi":"10.1109/AQTR.2016.7501315","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501315","url":null,"abstract":"In this paper authors present two omnidirectional robots developed for educational and research purposes. For the first minirobot, synchronization is achieved electronically and for the second (synchro-drive) minirobot synchronization is done mechanically. Transmission for the second minirobot is based on geared mechanisms. Two motors are used for driving the minirobot. One for driving and one for steering.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133665085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Bilateral telecontrol of AutoMerlin mobile robot with fix communication delay 固定通信延时的AutoMerlin移动机器人双向遥控
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-01 DOI: 10.1109/AQTR.2016.7501383
A. Shahzad, H. Roth
{"title":"Bilateral telecontrol of AutoMerlin mobile robot with fix communication delay","authors":"A. Shahzad, H. Roth","doi":"10.1109/AQTR.2016.7501383","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501383","url":null,"abstract":"This paper addresses bilateral telecontrol of a motor vehicle type mobile robot AutoMerlin, with constant communication delay over local area network (LAN) having communication impediments like packet drop, duplication, out of order etc, similar to Internet. The proposed telecontrol scheme enables the human operator to teleoperate the AutoMerlin mobile robot by maneuvering a haptic force feedback joystick. The force acting on the remote robot has been rendered to the human operator. The sensation of this force has been provided to human operator via haptic force feedback joystick. This force alerts the operator about the presence of obstacles in the vicinity of mobile robot and enables him to avoid them and perform teleoperation conveniently. Time Delay Power Network (TDPN) has been applied to extend the notion of Time Domain Passivity Control (TDPC) to bilateral telecontrol of mobile robot with delay. Communication channel has been modeled as a Two-port network. The energy entering and leaving each port has been correlated to calculate active energy. Passivity Observers (PO) and Passivity Controllers (PC) have been implemented using TDPN to keep the Two-port network passive. Stability has been analyzed and experimental results have proven the feasibility of the proposed approach for teleoperation.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"217 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124273003","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design aspects of an embedded remote controlled vehicle based on Intel Galileo Platform 基于英特尔伽利略平台的嵌入式遥控车辆的设计
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-01 DOI: 10.1109/AQTR.2016.7501311
Teodor Sumalan, R. Arsinte, E. Lupu
{"title":"Design aspects of an embedded remote controlled vehicle based on Intel Galileo Platform","authors":"Teodor Sumalan, R. Arsinte, E. Lupu","doi":"10.1109/AQTR.2016.7501311","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501311","url":null,"abstract":"The paper presents the main aspects of the design of a Wi-Fi remote controlled car. A classical RC (Radio Controlled) car architecture is replaced by one based on the Intel Galileo Platform (Arduino compatible) and the car may be controlled by a mobile device. In order to allow the Wi-Fi connection between the tablet and the car a PCI (Peripheral Component Interconnect) extension card is connected to the Galileo board - the core control of the car. An Android application runs on the tablet and allows the control of the car in terms of: speed, direction, light and temperature. These first results, employing low-cost available hardware and open-source software, encourage us to complete the developed architecture with new facilities.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114902765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Tracking and localization system using Android mobile phones 跟踪和定位系统采用Android手机
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-01 DOI: 10.1109/AQTR.2016.7501350
A. Puscasiu, Alexandra Fanca, H. Valean
{"title":"Tracking and localization system using Android mobile phones","authors":"A. Puscasiu, Alexandra Fanca, H. Valean","doi":"10.1109/AQTR.2016.7501350","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501350","url":null,"abstract":"There are many situations which request a tracking and localization system. Some examples are car/persons tracking and localization in case of accidents or disasters. Due to the hardware and software characteristics of the smartphones, these devices are suitable to work as terminals for such a system. The goal of the paper is to present the design and implementation of a tracking and localization system based on Android phones, able to find persons in case of accident and give a set of necessary information for rescue. The system sends the GPS coordinates of the person, display the coordinates on a map and computes the shortest route to the accident site.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125033068","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
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