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2019 20th International Carpathian Control Conference (ICCC)最新文献

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A modified micro-genetic algorithm for robust emergency system designing 鲁棒应急系统设计中的改进微遗传算法
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8765916
S. Pesko, Zuzana Borčinová
{"title":"A modified micro-genetic algorithm for robust emergency system designing","authors":"S. Pesko, Zuzana Borčinová","doi":"10.1109/CarpathianCC.2019.8765916","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8765916","url":null,"abstract":"We study a robust emergency system in a transport network where it is necessary to solve a problem of finding p service centers for randomly emergency demands in nodes. The objective of our problem is to minimize the upper bound of partial object functions for given number of detrimental scenarios. Transport network is modelled in a matrix form i.e elements of the matrix are response times from a potential service center to a location of an user. Such matrix is given for every detrimental scenario. At last every location is given a number of shared users. We present modified micro-genetic algorithm on the instance of transport network of Slovak Republic. We verify it in selected regions of network via comparing it to known exact solutions. We also seek an approximate solution for a total network.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123671935","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
Soil sampling mobile platform for Agriculture 4.0 农业4.0土壤采样移动平台
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8765937
A. Łukowska, P. Tomaszuk, K. Dzierżek, Ł. Magnuszewski
{"title":"Soil sampling mobile platform for Agriculture 4.0","authors":"A. Łukowska, P. Tomaszuk, K. Dzierżek, Ł. Magnuszewski","doi":"10.1109/CarpathianCC.2019.8765937","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8765937","url":null,"abstract":"Soil testing is essential for modern agriculture: to optimise the production, protect the environment from fertilisers overuse, save money and energy during the production. The purpose of this work was to develop an autonomous mobile platform with soil sampling device for agriculture. Soil samples are analysed to determine the composition, characteristics or nutrient levels of the soil. Smallholder farmers can use simple hand-held field-testing kits. However, in the case of large farms where plants are grown upon hundreds of hectares, the autonomous mobile platform with a soil sampler would be the optimal solution. Precision farming is a concept of using new production and management methods that use all kind of data collected about specific locations and crop variety. The mentioned robot can increase resource and cost efficiency in acquiring the required data. Information about the soil properties can be retrieved from the field using the robot's onboard systems, enabling farmers to respond to abrupt changes in real time. Data technologies and collecting soil system allows an efficient production process. Use of robots on farms is associated with the progressive digitisation of all areas of our lives, and agriculture is no exception. After the presentation of available commercial solutions to soil sampling and data storage solutions, we will describe the core design of the mentioned soil sampling robot. The mobile robot has a form of a six-wheeled platform with the all-terrain suspension system. The soil sampling device is placed onboard and consists of a drill pipe with custom flap design on the end of it, to keep the soil within, preserving whole cross-section. The storage of soil samples and its analysis are currently being developed. Significant observations after tests and studies point out that such a robot could increase production efficiency. Collected samples provide accurate data of nutrient-supplying capacity.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114758924","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: 20
IAE minimization in sliding mode control for second order systems with velocity constraint 二阶速度约束系统滑模控制中的IAE最小化
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8765949
Mateusz Pietrala, M. Jaskula
{"title":"IAE minimization in sliding mode control for second order systems with velocity constraint","authors":"Mateusz Pietrala, M. Jaskula","doi":"10.1109/CarpathianCC.2019.8765949","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8765949","url":null,"abstract":"This paper comprises the design of the terminal sliding mode controller, which drives the representative point of the system to the demand state in finite time. Our goal is to obtain the robustness with respect to perturbations. Therefore, we eliminate the reaching phase by selecting a non-linear, non-stationary switching line. Parameters of that sliding line are selected to limit the system's velocity from above by a predefined constant and from below by its additive inverse. To obtain a good dynamics of our system we minimize the IAE (Integral Absolute Error) quality index.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127720816","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
Preparation of 3D models of Trucks for Timber Load Analysis 用于木材载荷分析的卡车三维模型的制备
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8766059
Sikora Jan, F. David, G. Jan, Podešva Petr, Mihola Milan
{"title":"Preparation of 3D models of Trucks for Timber Load Analysis","authors":"Sikora Jan, F. David, G. Jan, Podešva Petr, Mihola Milan","doi":"10.1109/CarpathianCC.2019.8766059","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8766059","url":null,"abstract":"The article describes a unique method of processing scanned point cloud on a moving object with variable speed. Point clouds represent a set of trucks loaded by a scanning gate made up of four 2D laser scanners. Three scanners record the surface of the truck from three sides, the fourth scanner records the longitudinal change of the profile of one of a truck's side. From this profile, the method evaluates the motion movement function by which all other point clouds are recalculated. The result is a modified point clouds representing the surface of the standing set. The article also provides a way of point segmentation that separates the points representing the timber load from the truck.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125604852","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
Shock Response Spectrum Calculation from Container Placing 容器放置的冲击响应谱计算
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8765974
V. Pavelka, P. Šuránek
{"title":"Shock Response Spectrum Calculation from Container Placing","authors":"V. Pavelka, P. Šuránek","doi":"10.1109/CarpathianCC.2019.8765974","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8765974","url":null,"abstract":"This paper deals with using shock response spectrum for container placing optimization. Two types of laying pads under container are used and its impact to container substructures is observed. Shock response spectrum is calculated with using Signal Analyser software from signal measured with accelerometers during container placing. The resulted spectrum for both pads is compared.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115854920","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
Design of Controllers Applied to Autonomous Unmanned Aerial Vehicles Using Software In The Loop 基于软件在环的自主无人机控制器设计
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8766036
D. C. Silva, M. F. Santos, M. F. Silva, A. F. S. Neto, Paolo Mercorelli
{"title":"Design of Controllers Applied to Autonomous Unmanned Aerial Vehicles Using Software In The Loop","authors":"D. C. Silva, M. F. Santos, M. F. Silva, A. F. S. Neto, Paolo Mercorelli","doi":"10.1109/CarpathianCC.2019.8766036","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8766036","url":null,"abstract":"This paper presents the design of the altitude controller of Unmanned Aerial Vehicle (UAV) based on the data acquired from the Software in the Loop (SITL). More specifically, the developed methodology permits to describe a test procedure where an algorithm or even a control strategy can be designed and validated based on the physical model of the system. In this way, the PID controller with a technique known as Successive Loop Closure is designed. The paper also shows how to establish a remote communication with the quadcopter using all the versatility of the Software in the Loop (SITL) in combination with a Ground Control Station and Dronekit developing tool. Finally, the flight simulation tests show that the designed controller was able to reach a stable flight with its performance evaluated through non-intrusive performance indexes and analysis of the system response in the time domain.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131471985","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: 2
Experimental investigation on an energy storage in a piezoelectric harvester for a rotating shaft 旋转轴式压电收割机储能系统的实验研究
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8765914
Piotr Micek, D. Grzybek
{"title":"Experimental investigation on an energy storage in a piezoelectric harvester for a rotating shaft","authors":"Piotr Micek, D. Grzybek","doi":"10.1109/CarpathianCC.2019.8765914","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8765914","url":null,"abstract":"An experimental investigation on an energy storage in a piezoelectric energy harvester is a subject of article The piezoelectric energy harvester consisted of Macro Fiber Composite patch, Graetz Bridge and capacitor. Macro Fiber Composite patch was direct glued on a rotating shaft surface, which was a source of mechanical energy. Such structure of energy harvester enabled the obtaining of linear increase of voltage values which were generated by the harvester. Laboratory experiments contained measurements of voltage across a capacitors, which are the storage device in energy harvesting circuit. On the basis of laboratory results and discussion it noticed that an electric power, which is delivered from a piezoelectric material to a capacitor in the energy harvesting circuit, is dependent on the voltage across this capacitor for constant maximal stress values and constant frequency of value change of stress in a piezoelectric material.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131672607","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
Mathematical Modelling and Control for an Activated Sludge Process in a Wastewater Treatment Plant 污水处理厂活性污泥过程的数学建模与控制
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8766060
E. Petre, D. Selișteanu, Constantin Șulea-Iorgulescu, Sorin Mehedințeanu
{"title":"Mathematical Modelling and Control for an Activated Sludge Process in a Wastewater Treatment Plant","authors":"E. Petre, D. Selișteanu, Constantin Șulea-Iorgulescu, Sorin Mehedințeanu","doi":"10.1109/CarpathianCC.2019.8766060","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8766060","url":null,"abstract":"The paper addresses the modelling and the design of an adaptive control structure for an aerobic fermentation process under the realistic assumption that some state variables are unmeasurable, the reaction kinetics are incompletely known and time-varying and the influent flow rate has very large variations. More exactly, the studied process is a wastewater biological treatment process, with activated sludge, carried out in a continuous perfectly mixed bioreactor implemented in the Wastewater Treatment Plant (WWTP) Făcăi, Craiova, Romania. The behaviour and performance of control algorithms are evaluated by several numerical simulations and are compared with the real outputs of the mentioned plant. The aim of this study is to improve the plant performance by implementation of the proposed control algorithms.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133765302","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: 7
Algorithm for Early Warning System for Contamination in Water Network 水网污染预警系统算法研究
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8765966
A. Antonowicz, Alicja Bałut, A. Urbaniak, P. Zakrzewski
{"title":"Algorithm for Early Warning System for Contamination in Water Network","authors":"A. Antonowicz, Alicja Bałut, A. Urbaniak, P. Zakrzewski","doi":"10.1109/CarpathianCC.2019.8765966","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8765966","url":null,"abstract":"The Water Network Tool for Resilience (WNTR) library, running on hydraulic models developed in EPANET, was first published in 2017. It allows not only hydraulic and quality simulations but also modeling of events such as power outages, pipe breaks, incidental contamination events, earthquakes and other unusual situations that may occur in water supply networks. This article presents the practical application of this algorithm (quoted in the title) in an Early Warning System (EWS). Based on a selected hydraulic model of a water supply network and a random dose of some contamination, the role of this algorithm is to propose which sections of the network should be closed to minimize the contamination impact. Additionally, this paper discusses how the use of WNTR tool may help to influence follow-up reactions in case of the type of event having been described.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115882677","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: 2
Evaluation of temperature changes of a loaded DC motor in autonomous mobile robots 自主移动机器人负载直流电机的温度变化评估
2019 20th International Carpathian Control Conference (ICCC) Pub Date : 2019-05-01 DOI: 10.1109/CarpathianCC.2019.8766058
Marcin Dziubek, Marek Klimowicz, R. Grądzki
{"title":"Evaluation of temperature changes of a loaded DC motor in autonomous mobile robots","authors":"Marcin Dziubek, Marek Klimowicz, R. Grądzki","doi":"10.1109/CarpathianCC.2019.8766058","DOIUrl":"https://doi.org/10.1109/CarpathianCC.2019.8766058","url":null,"abstract":"In this paper, the analysis of the temperature changes of a loaded DC motor is presented. The motor is being used in autonomous robots in MegaSumo category. The research object was Maxon Motor RE40 150W, which is a frequent choice of autonomous mobile robots' constructors. High power, small size, simplicity and precision of control are primary factors that make these motors popular. This study aimed to develop a protection scheme of MegaSumo robot's power components, battery, motors, and their drivers through estimation of safe work time of a loaded motor in the robot activity time based on instantaneous power loss in the motor. In order to evaluate the thermal response of the motor's internal components, a mathematical model was created basing on both experimental and motor manufacturers data. The research based on a model was carried out in Matlab/Simulink software suite.","PeriodicalId":122628,"journal":{"name":"2019 20th International Carpathian Control Conference (ICCC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116891388","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: 2
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