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Pelincec 2005 - 21: Dialog II - Intelligent Control and Signal Processing
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	On two approaches to design controllers for the systems with saturation of plant input   By Wojciech Kozinski	[View]   [Download]
Abstract: In every control loop the plant input saturation is present, but in many design attempts, this fact is not taken into account. Neglecting the presence of saturation can lead to loss of performance or even instability. Since linear matrix inequalities have been established as standard tool in control, many papers were published on analysis and design anti-windup systems. The analysis of such control loops is regarded as easy one, but still there is no uniform approach to design. The paper present perhaps two simplest approaches based on published cases. First one is to design such controller, which never saturates for given class of inputs (disturbances). The second one allows designing anti-windup system for existing (previously designed) controller.
	EVOLUTIONARY COMPUTATION AND MODELS FOR COMBINED HEAT AND POWER PLANT PRODUCTION SCHEDULING   By Krzysztof Dziedzicki, Roman Smierzchalski	[View]   [Download]
Abstract: The article discusses a problem of time scheduling of heat and electric power production, aimed at securing maximum profit during a given time period. It was assumed in the paper that the prognosis of heat consumption is known. The developed time schedule takes into account the dynamics of the power station. The formulated model allows simulations of power plant’s co-operation with the heat distribution network and the heat collection tank.
	Research on Linguistic Concept Creation Method Applied to Environmental Comfort Sensors   By Li Xin	[View]   [Download]
Abstract: Abstract—In this paper, we endeavor to provide a novel tool to evaluate environmental comfort level. A fuzzy comfort sensor that can measure and fusion the environmental parameters is designed. It will further give a linguistic description about the environmental comfort level, in the manner of an expert system. Similar to human behavior, the sensor makes all the evaluation about the surrounding environment’s comfort level based on the symbolic measurement theory. Chart representation theory in multivariate analysis was applied to complete the human comfortable sensor’s linguistic concept creation. We achieved better performance when using this method. It is our belief that this method can be used in both intelligent sensing and many other areas, where the quantitative and qualitative information transform is needed.
	An LMI Approach to the Stability of Positive Systems   By Maciej Twardy	[View]   [Download]
Abstract: The paper addresses the problem of the stability and stabilizability of positive systems. The results are based on linear matrix inequalities (LMIs). In particular, attention is paid to D-stability and D-stabilizability of positive systems. The results are illustrated with a numerical example.
	Switched Differential Linear Repetitive Processes   By J.Bochniak, K. Galkowski, E. Rogers	[View]   [Download]
Abstract: Differential linear repetitive processes are a distinct class of hybrid linear 2D systems where information is propagated in two independent directions. In particular, information is propagated in one direction as a function of a continuous variable and in the other as a function of a discrete variable. Moreover, the former of these only occurs over a finite duration where this is due to the underlying dynamics and not an assumption introduced for analysis or other purposes. Recently, applications have arisen which can be modelled as a differential linear repetitive process where the dynamics switch as a function of the discrete variable. In this paper we extend previously reported stability analysis to such models. The main results are in the form of sufficient conditions which can be implemented through the use of the Linear Matrix Inequality (LMI) algorithms.
	Synchronization of voltages in supply system in variable load impedance condition   By Konrad Skowronek, Piotr Walczak	[View]   [Download]
Abstract: Influence of variable load impedance on quality of synchronisation process in supply system consisting of sinusoidal voltage sources is presented in the paper. The paper deals with the effect exerted on the quality of synchronisation of load impedance character, its absolute value, and the load impedane to internal impedance ration of the supply source. A block diagram of the voltage source model in the supply system is persented and discussed, with consideration of the power distribution system applied for the research purposes. Final conclusions based on obtained results and the results of simulation experiments are enclosed.
	APPLICATION OF AN IDENTIFICATION ALGORITHM FOR OPTIMAL CONTROL OF COMPENSATION CIRCUITS   By Radoslaw Klosiñski	[View]   [Download]
Abstract: Modern compensation circuits are built with the use of controlled sources. Such circuits provide for many possibilities, which are not fully used due to the lack of appropriate algorithms of source control. Some algorithms for optimal control of compensators require the knowledge of circular parametric operators that describe linear periodically time-varying or non-linear impedance elements of the circuit i.e. load impedance and inner source impedance. The operators are not known in practice. Thus, an attempt has been made to create an algorithm for identification of the operators based on terminal signal measurements of voltage and current. The manner of representation of linear two-terminals with periodically variable parameters has been described in the paper. This has been achieved by means of a circular parametric operator, which assumes the form of a matrix of real elements in the domain of time. The paper presents the derivation and effects of a genuine algorithm for identification of circular parametric operators describing performance of periodically time-varying systems, of one input – one output type. The algorithm has been connected with the algorithm for indication of optimal currents in one-phase circuits of “real source – receiver” type (Fig. 1.) Apart from theoretical considerations, the paper also presents some results of computer simulations.
	THE GENERATOR OF THE SPATIAL MAGNETIC FIELD   By Michal Gwózdz, Ryszard Porada	[View]   [Download]
Abstract: The paper considers Generator of the Spatial Magnetic Field for medical specific (magnetic field therapy) purposes. One of essential blocks there is three-channel quasi – linear power electronics source and set of space oriented electromagnets. The control module utilizes microcomputer with floating point digital signal processor (Analog Devices, ADSP- 21364, SHARCTM family). This microcomputer has been integrated with industrial PC – part of generator, on base of dedicated PCI Card. The execution block utilizes set of power electronics inverters based on MITSUBISHI IGBT Intelligent Power Modules. The project has been realized within two stages. At first of them a generator in one–channel version for evaluation purposes has been worked out. Next one has been dedicated to developing generator in three-channel version. This paper describes fundamentals of current source control algorithms and laboratory investigations of generator in one– channel version. Then, some features of generator in threechannel version are introduced.
	On some spectral properties of nonlinear transformations of limited spectrum signals   By Krystian Kubowicz	[View]   [Download]
Abstract: It is shown that nonlinear transformations of limited sprectrum signals change the sprectrum so that the transformed signal has only harmonics with frequency being a linear combination of the signal that was transformed. The author shows that this information can be used to check if between signals there exists a relationship or not.
	Componentwise asymptotic stability and exponential stability of positive discrete-time linear systems with delays   By Mikolaj Buslowicz, Tadeusz Kaczorek	[View]   [Download]
Abstract: Definitions of the componentwise asymptotic stability and of the exponential stability are extended for positive discrete-time linear systems with delays. Necessary and sufficient conditions for the componentwise asymptotic stability and the exponential stability of linear positive discrete-time systems with delays are established.
	Determination of the state matrices of the positive second Fornasini-Marchesini model using digraph theory   By Konrad Andrzej Markowski	[View]   [Download]
Abstract: In this paper a method for determination elements of the state matrices of two-dimensional (2D) systems described by special case of general model – second Fornasini-Marchesini model using digraphs theory is presented. The method is illustrated by numerical examples.
	Restoration of old motion pictures by image processing tools   By Slawomir Skoneczny	[View]   [Download]
Abstract: In old movies we often may encounter different types of degradations: noise, blurred edges of the objects (low contrast), scratches, spots etc. It is therefore very important think to find effective way of noise removal from degraded movie and it is also one of the main and oldest problem in image sequence procesing. The main difficulty here is the presence of motion. The standard approach aproach is to use motion compensated filters which is very time consuming. In addition it is almost impossible to obtain perfect results in motion compensation. The multistage median filter approach may be an interesting alternative in this case. In this paper the main attention is paid to the filtering of colorized image sequence with severe artificial impulsive noise. Some new 3D filters, which stem from the concept of multistage median filering, for color image sequence processing are proposed. In addition a method of sharpening the contrast of the blurred frames is presented.
	Approximating Discontinuous Functions using Takagi-Sugeno-Kang Fuzzy Models   By Marcin Jastrzêbski	[View]   [Download]
Abstract: In this paper generalized model Takagi-Sugeno- Kang for approximating of discontinuous function is proposed. For tuning described model algorithm being a combination of bacterial algorithm and least square method is used. Efficient of proposed model with tuning method is illustrated by some examples.
	Universal implementation of PSO algorithm   By Jaroslaw Kacerka	[View]   [Download]
Abstract: PSO is a stochastic optimisation algorithm proposed in 1995 by Eberhart and Kennedy. In the paper a universal Matlab implementation of PSO is presented. It includes many of the common modifications. Various configurations of the implementation are tested on benchmark functions.
	OBSERVABILITY OF POSITIVE DISCRETE-TIME LINEAR SYSTEMS WITH UNIT DELAY   By Rafal Kociszewski, Wojciech Trzasko	[View]   [Download]
Abstract: The paper deals with observability of the positive discrete-time linear systems with unit delay. Necessary and sufficiant conditions for observability of the positive (internally) discrete-time linear systems with delay (in state vector) are given. A method for computing the non-negative initial condition is proposed. Considerations are illustrated by an example.
	OPTIMAL REAL-TIME CONTROL FOR LINEAR TIME-DELAY SYSTEMS   By Olga P. Yarmosh	[View]   [Download]
Abstract: An terminal optimal control problem to a linear time-delay systems is under consideration. Control actions are supposed to be discrete with a constant period of quantization. This problem is equivalent to an interval problem of linear programming (LP). To solve the latter the dynamic version of the adaptive methods (Gabasov et all 1979) are used which allows to calculate in real time current values of optimal feedbacks. Results are illustrated by examples.
	REACHABILITY INDEX OF THE POSITIVE 2D SYSTEMS WITH DELAYS   By Anh Dung Nguyen, Tadeusz Kaczorek	[View]   [Download]
Abstract: It is shown that [ n(q1+1) + n(q2+1)] is the upper bound for the reachability index of the n-order positive 2D systems with ( q1,q2 ) state delays.
	Certain Comments on Hermite Polynomials as Activation Functions in the Neural Architecture   By Bartlomiej Beliczynski	[View]   [Download]
Abstract: Despite the fact that Hermite polynomials are or- thogonal, in the considered scheme of the mutivariable function approximation, the basis is not orthogonal. The main advantage however to use Hermite polynomials is that they offer a chance to control high frequency components in the approximation scheme.
	Physics-Based Control of Swarm LEGO® Robots   By Robert Gasowski	[View]   [Download]
Abstract: Author introduces a framework based on LEGO® “MINDS STORM®” robots, called “Robo-ant”, that provides distributed control of large collection of mobile physical robots in sensor networks. The robots sense and will react to virtual forces, which are motivated by natural physics laws. This framework provides an effective basis for self-organization, fault-tolerance, and three primary factors will distinguish our framework from others that are related: an emphasis on minimality, ease of implementation and run-time efficiency. “Robo-ant” will be implement both in simulation and on a team of three mobile LEGO© robots and CC1000DK Development kit (remote transmitter/receiver). Specifics of the robotics bodiment are presented in the paper. The focus of author research is to design and build rapidly deployable, scalable, adaptive, cost-effective, and robust networks of autonomous distributed LEGO® vehicles. This combines sensing, computation and networking with mobility, thereby enabling deployment, and reconfiguration of the multiagent collective. Author objective is to provide a scientific, approach to the design and analysis of aggregate sensor systems. The general purpose for deploying tens to hundreds of such agents can be summarized as “factor control”. Factor control means monitoring, detecting, tracking, reporting, and responding to environmental conditions within a specified physical region. This is done in a distributed manner by deploying numerous vehicles, each carrying one or more sensors, to collect, aggregate, and fuse distributed data into a tactical assessment. The result is enhanced situational awareness and the potential for rapid and appropriate response. Author goal is to design fully automated, coordinated, multi-agent sensor systems. An agent’s sensors perceive theworld, including other agents, and an agent’s effectors make changes to that agent and/or the world, including other agents. It is assumed that agents can only sense and affect nearby agents; thus, a key challenge has been to design “local” control rules. Not only do author want the desired global behavior to emerge from the local interaction between agents (self-organization), but also require fault-tolerance, that is, the global behavior degrades very gradually if individual agents are damaged. Self-repair is also desirable, in the event of damage. Self-organization, faulttolerance, and self-repair are precisely those principles exhibited by natural physical systems. Thus, many answers to the problems of distributed control can be found in the natural laws of physics. This paper presents a framework, called “Roboant”. Although the forces will be virtual, agents act as if they were real. Thus the agent’s sensors must see enough to allow it to compute the force to which it is reacting. The agent’s effectors must allow it to respond to this perceived force. Author see two potential advantages to this approach. First, in the real physical world, collections of small entities yield surprisingly complex behavior from very simple interactions between the entities. Thus there is a precedent for believing that complex control is achievable through simple local interactions. This is required for very small agents, since their sensors and effectors will necessarily be primitive. Second, since the approach is largely independent of the size and number of agents, the results scale well to larger agents and larger sets of agents. Three primary emphases distinguish the “Robo-ant” framework from others that are related: minimality, ease of implementation, and runtime efficiency. First, robots formations will be achieved with a minimal set of sensors and sensor information. The rationale for this emphasis is that it will: (1) reduce overall vehicle cost, (2) enable physical embodiment with small agents, and (3) increase vehicle stealthiness if sensing is active. Second, the paper presents the toretical results that translate directly into practical advice on how to set system parameters for desired swarm performance. This makes the robotic implementation straightforward.
	Wavelet based technique for object detection in robot vision system   By Ryszard S. Choras	[View]   [Download]
Abstract: We present two approaches to object detection: - rstly, object detection using matched wavelets and, - secondly, wavelet based technique for object detection in image sequences. From the lter-bank interpretation of wavelet transform the wavelet should ”match” the signal of interest such that the output of the matched lter bank is maximized. The wavelet transform is a correlation transform and the correlation is maximized when the spectrum of the wavelet (for corresponding value of dilation and translation) is matched to the spectrum of signal of interest. In the second approach we apply wavelet based technique to detect object in the image sequences. We dene two hypotheses to motion detection. To characterize motion we used some heuristics criteria.
	Stereo Matching for Robotics Vision   By Tomasz Andrysiak, Michal Choras	[View]   [Download]
Abstract: In the article we presented methods of stereo matching, both in the image feature domain as well as in the frequency domain basing on the phase information. We proposed the original method of determining the global displacement vector between the stereopair images in order to find the common part of those images (adequate for matching) and the margins of those stereo images. The method of determining image regions containing the important information, which is useful for enhancing the matching process, is presented. Experimental results confirm effectiveness of the presented methods of determining stereo disparity and stereo matching for robotics and machine vision applications.
	Spoken digit recognition using generalized Brain-State-in-a-Box model   By Krzysztof Starczewski	[View]   [Download]
Abstract: Abstract—In this paper an approach to spoken digit recognition using generalized Brain-State-in-a-Box (gBSB) model is shown. Author presents several methods of feature extraction from sampled human voice signals and some major problems of implementation. Experimental results and working examples are included.
	Linear SVM for organizing data   By Marcin Jurczak	[View]   [Download]
Abstract: This paper demonstrates that the text categorization (TC) is a good automatic method for organizing data. Some features of the TC problem are described and explained that linear Support Vector Machines (SVM) is an appropriate technique for this task. Theoretical considerations are illustrated through examples in which the text categorization problem has been solved with SVM.
	IDENTIFICATION OF PARAMETER CHANGES IN A DYNAMIC SYSTEM WITH THE USE OF TIME-FREQUENCY TRANSFORMS AND NEURAL NETWORKS   By Roman Tarasewicz, Miroslaw Swiercz	[View]   [Download]
Abstract: The paper presents an application of neural networks to the problem of parameter identification of a mathematical model of a high-order dynamic system. The concept of the parameter identification system assembles the methods and algorithms of signal processing (time-frequency distribution), feature extraction and feature classification with neural networks. The laboratory torsional plant, which allows substantial changes of its internal parameters has been used for experiments.