ICINCO 2015 Abstracts

Area 1 - Industrial Informatics
Short Papers
Area 2 - Intelligent Control Systems and Optimization
Full Papers Short Papers
Area 3 - Robotics and Automation
Full Papers Short Papers
Area 4 - Signal Processing, Sensors, Systems Modelling and Control
Full Papers Short Papers

Area 1 - Industrial Informatics

Short Papers
Paper Nr: 99
Title:

Analysis of Thermographic Patterns using Open CV - Case Study: A Clinker Kiln
Authors:

Villie Morocho, Eliezer Colina, Sebastian Bautista, Alfredo Mora and Mara Falconi
Abstract: The core of the cement production process is the clinker kiln. Proper operation of the kiln depends on factors such as the timely monitoring of its thermal behavior under different operation conditions. This work includes a systematization of empirical knowledge of skilled kiln operators, linking it with the analysis of thermography images of the kiln using Open CV. The paper includes an integration of interventions implemented by the operators, in terms of a log described in natural language. The work highlights potential uses of the knowledge of experienced operators, when this is combined with techniques based on image analysis and artificial intelligence.
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Paper Nr: 205
Title:

Design of i-Fields System Component: Computer Model of Oil-Recovery by Polymer Flooding
Authors:

D. Zh. Ahmed-Zaki, S. T. Mukhambetzhanov and T. S. Imankulov
Abstract: This article describes the issues and approaches the design and development of distributed high-performance system for analysis of oil fields within the i-fields (smart fields) concept. The system is based on hydrodynamic model of collaborative filtering of oil, water, gas, polymer solution and the surfactant, taking into account influence of temperature. Built a 3D numerical parallel algorithm and web-based platform for data analysis and calculation on a supercomputer. Obtained distribution of the main technological parameters: distribution of pressure, saturation of each phase, the concentration of surfactant and polymer, and temperature.
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Paper Nr: 42
Title:

Geographic Information Science and Technology as Key Approach to unveil the Potential of Industry 4.0 - How Location and Time Can Support Smart Manufacturing
Authors:

Stefan Schabus and Johannes Scholz
Abstract: Productivity of manufacturing processes in Europe is a key issue. Therefore, smart manufacturing and Industry 4.0 are terms that subsume innovative ways to digitally support manufacturing. Due to the fact, that geography is currently making the step from outdoor to indoor space, the approach presented here utilizes Geographical Information Science applied to smart manufacturing. The objective of the paper is to model an indoor space of a production environment and to apply Geographic Information Science methods. In detail, movement data and quality measurements are visualized and analysed using spatial-temporal analysis techniques to compare movement and transport behaviours. Artificial neural network algorithms can support the structured analysis of (spatial) Big Data stored in manufacturing companies. In this article, the basis for a) GIS-based visualization and b) data analysis with self-learning algorithms, are the location and time when and where manufacturing processes happen. The results show that Geographic Information Science and Technology can substantially contribute to smart manufacturing, based on two examples: data analysis with Self Organizing Maps for human visual exploration of historically recorded data and an indoor navigation ontology for the modelling of indoor production environments and autonomous routing of production assets.
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Paper Nr: 96
Title:

Towards the Quality Evaluation of Software of Control Systems of Nuclear Power Plants: Theoretical Grounds, Main Trends and Problems
Authors:

Elena Jharko
Abstract: The paper considers issues of implementing works on the evaluation of the software quality of control systems of nuclear power plants in the part of theoretical grounds, main trends and problems in this branch.
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Paper Nr: 150
Title:

Taguchi Method or Compromise Programming as Robust Design Optimization Tool: The Case of a Flexible Manufacturing System
Authors:

Wa-Muzemba Tshibangu
Abstract: Competitive advantage of a firm is usually reflected through its superiority in production resources and performance outcomes. In order to achieve high performance (e.g., productivity) and significantly improve product quality, major US industries have promoted and implemented Robust Design (RD) techniques during the last decade. RD is a cost-effective procedure for determining the optimal settings of the control factors that make the product performance insensitive to the influence of noise factors. In this research, we employ and compare two RD optimum-seeking methods to optimize a flexible manufacturing system (FMS). Taguchi Method (TM), which uses robust design concept, i.e., Signal-To-Noise Ratio (S/N) to reduce the output variation, is applied first. Taguchi’s approach to robust design drawn much criticism because it relies on the signal-to-noise (S/N) ratio for the optimization procedure. Because of this paramount criticism, a second method known as the Compromise Programming (CP) approach, i.e., the weighted Tchebycheff, is also used. This method formulates the robust design as a bi-objective robust design (BORD) problem by taking into account the two aspects of the RD problem, i.e. minimize the variation and optimize the mean. This approach seeks to determine the RD solution which is guaranteed to belong to the set of efficient solutions (Pareto points). Both methods use a RD formulation to determine an optimal and robust configuration of the system under study. The results gained through simulations and analytical formulations show that the current ways of handling the multiple aspects of the RD problem by using Taguchi’s S/N ratio may not be adequate.
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Paper Nr: 164
Title:

Development of the Visualization Tool for the VMS Emulator System
Authors:

Jung-Sook Kim
Abstract: In this paper, we design and implement the visualization tool for the VMS (Variable Message Signs) emulator which can generate the data fields for the variable text message frame and can generate the window controls such as RadioButton, TextBox, ComboBox, and etc automatically in order to input the valid data value for the instances of variable data using the visualization tool. A variable message signs, often abbreviated VMS, is an electronic traffic sign often used on roadways to give travelers information about special events. However, VMS has the different sizes and shapes according to the city scene and the road types and it has to display the variable text message in real-time. And a VMS manufacturer must produce the different products according to each order made. In addition that, they should test and check the correct operation to each VMS order made goods using the variable message frame. That is very time and workers consuming and VMS emulator with automatic variable text message generator system and real-time scheduling using visualization tool is necessary.
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Paper Nr: 168
Title:

Order-up-to Networked Policy for Periodic-Review Goods Distribution Systems with Delay
Authors:

Przemyslaw Ignaciuk
Abstract: In this paper, inventory control problem in goods distribution networks with non-negligible transshipment delay is addressed. In contrast to the majority of earlier approaches, system modeling and policy design do not assume simplified system structure, such as a serial, or a tree-like one. The network nodes, in addition to satisfying market demand, answer internal requests with delay spanning multiple periods. The stock in the network is refilled from uncapacited outside sources. A dynamic model of the considered class of goods distribution systems is constructed and a new inventory policy is formulated. The proposed policy shares similarity with the classical order-up-to one, yet provide improved performance owing to the networked perspective assumed in the design process.
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Paper Nr: 173
Title:

FPGA-SOPC based Motion Controller with ACC/DEC using Digital Convolution
Authors:

Haiming Huang, Guangsheng Li and Wusheng Chou
Abstract: Acceleration/deceleration (ACC/DEC) motion planning is used to generate smooth motion command. This study focuses on realizing trapezoidal, S-curve and fourth-order ACC/DEC planning using digital convolution. To test and verify the proposed ACC/DEC method, a motion controller is designed and implemented. The FPGA (Field Programmable Gate Array) is used to implement the measurement unit and pulse generator, while the SOPC (System on a Programmable Chip) is used to realize the trajectory generator and PID controller. The FPGA-SOPC based motion controller can improve the integration level of the motion control system and meet the real-time requests. Simulation and experiment results verify that the digital convolution method is effective and the FPGA-SOPC based motion controller is feasible.
Paper Nr: 213
Title:

Library for Simplified Timer Implementation using Standard C++
Authors:

Sérgio F. Lopes, Paulo Vicente and Ricardo Gomes
Abstract: Temporization is a crucial aspects of control, automation and robotics systems. C++ is used in the development of such systems, especially if they are more complex and powerful. Because, the language and standard library do not support non-blocking timers with callbacks for event-driven programming, developers resort to libraries and frameworks that offer such functionality. However, their timer implementations are dependent on platform specificities and thus have more limited portability. C++11 has introduced features that enable standard implementations of timers. We propose a library that implements timers with simplified usage relatively to well-known libraries. The proposed library is contrasted with timers of two well know libraries, through a series of usage scenarios. We describe the design and provide performance measurements. The results show that it is faster and offers more accurate temporization.
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Area 2 - Intelligent Control Systems and Optimization

Full Papers
Paper Nr: 68
Title:

Implementation of Evolving Fuzzy Models of a Nonlinear Process
Authors:

Radu-Emil Precup, Emil-Ioan Voisan, Emil M. Petriu, Mircea-Bogdan Radac and Lucian-Ovidiu Fedorovici
Abstract: This paper presents details on the implementation of evolving Takagi-Sugeno-Kang (TSK) fuzzy models of a nonlinear process represented by the pendulum dynamics in the framework of the representative pendulum-crane systems. The pendulum angle is the output variable of the TSK fuzzy models that are obtained by online identification. The rule bases and the parameters of the TSK fuzzy models are continuously evolved by an online identification algorithm (OIA) that adds new rules with more summarization power and modifies the existing rules and parameters. The OIA is associated with an input selection algorithm that guides the modelling in terms of ranking the inputs according to their importance factors. Three TSK fuzzy models evolved by the OIA are exemplified. The performance of the new evolving TSK fuzzy models is illustrated by experimental results conducted on pendulum-crane laboratory equipment.
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Paper Nr: 102
Title:

Adaptive Decision-level Fusion for Fongbe Phoneme Classification using Fuzzy Logic and Deep Belief Networks
Authors:

Frejus A. A. Laleye, Eugene C. Ezin and Cina Motamed
Abstract: In this paper, we compare three approaches for decision fusion in a phoneme classification problem. We especially deal with decision-level fusion from Naive Bayes and Learning Vector Quantization (LVQ) classifiers that were trained and tested by three speech analysis techniques: Mel-frequency Cepstral Coefficients (MFCC), Relative Spectral Transform - Perceptual Linear Prediction (Rasta-PLP) and Perceptual Linear Prediction (PLP). Optimal decision making is performed with the non-parametric and parametric methods. We investigated the performance of both decision methods with a third proposed approach using fuzzy logic. The work discusses the classification of an African language phoneme namely Fongbe language and all experiments were performed on its dataset. After classification and the decision fusion, the overall decision fusion performance is obtained on test data with the proposed approach using fuzzy logic whose classification accuracies are 95,54% for consonants and 83,97% for vowels despite the lower execution time of Deep Belief Networks.
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Paper Nr: 149
Title:

Application of Sensory Body Schemas to Path Planning for Micro Air Vehicles (MAVs)
Authors:

Eniko T. Enikov and Juan-Antonio Escareno
Abstract: To date, most autonomous micro air vehicles (MAV-s) operate in a controlled environment, where the location of and attitude of the aircraft are measured be dedicated high-power computers with IR tracking capability. If MAV-s are to ever exit the lab and carry out autonomous missions, their flight control systems needs to utilize on-board sensors and high-efficiency attitude determination algorithms. To address this need, we investigate the feasibility of using body schemas to carry out path planning in the vision space of the MAV. Body schemas are a biologically-inspired approach, emulating the plasticity of the animal brains, allowing efficient representation of non-linear mapping between the body configuration space, i.e. its generalized coordinates and the resulting sensory outputs. This paper presents a numerical experiment of generating landing trajectories of a miniature rotor-craft using the notion of body and image schemas. More specifically, we demonstrate how a trajectory planning can be executed in the image space using a pseudo-potential functions and a gradient-based maximum seeking algorithm. It is demonstrated that a neural-gas type neural network, trained through Hebbian-type learning algorithm can learn a mapping between the rotor-craft position/attitude and the output of its vision sensors. Numerical simulations of the landing performance of a physical model is also presented, The resulting trajectory tracking errors are less than 8 %.
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Paper Nr: 169
Title:

Genetic Algorithm based X-Ray Diffraction Analysis for Chemical Control of Aluminium Smelters Baths
Authors:

Shakhnaz Akhmedova, Igor Yakimov, Aleksandr Zaloga, Sergey Burakov, Eugene Semenkin, Petr Dubinin, Oksana Piksina and Eugene Andryushenko
Abstract: Aluminium production is based on the high-temperature electrolysis of alumina in molten fluoride salts. Part of the fluoride compounds continuously evaporates, which violates the optimal composition of the electrolyte in the electrolytic baths. It causes a technological necessity for regular adjustment of the electrolyte composition by the addition of fluorides according to results of automatic express analysis of the electrolyte. Control of the main composition characteristics is performed automatically by XRD phase analysis of crystallized electrolyte samples. The XRD method, usually used on aluminium smelters, requires periodic calibration with reference samples, whose phase composition is exactly known. The preparation of such samples is a rather complicated problem because samples include 5-6 different phases with variable microcrystalline structure. An alternative diffraction method is the Rietveld method, which does not require reference samples to be used. The method is based on the modelling of the experimental powder patterns of electrolyte samples as the sum of the phase of component powder patterns, calculated from their atomic crystal structure. The simulation includes a refinement of the profile parameters and crystal structure of phases by the nonlinear least squares method (LSM). The problem with the automation of this approach is the need to install a set of initial values of the parameters that can and should be automatically refined by LSM to exact values. To solve this problem, the article proposed an optimization method based on an evolutionary choice of initial values of profile and structural parameters using a genetic algorithm. The criterion of the evolution is the minimization of the profile R-factor, which represents the weighted discrepancy between the experimental and model powder patterns of the electrolyte sample. It is shown that this approach provides the necessary accuracy and complete automation of the electrolyte composition control.
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Short Papers
Paper Nr: 23
Title:

Two-player Ad hoc Output-feedback Cumulant Game Control
Authors:

Chukwuemeka Aduba and Chang-Hee Won
Abstract: This paper studies a finite horizon output-feedback game control problem where two players seek to optimize their system performance by shaping the distribution of their cost function through cost cumulants. We consider a two-player second cumulant nonzero-sum Nash game for a partially-observed linear system with quadratic cost function. We derive the near-optimal players strategy for the second cost cumulant function by solving the Hamilton-Jacobi-Bellman (HJB) equation. The results of the proposed approach are demonstrated by solving a numerical example.
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Paper Nr: 43
Title:

Diversifying TS using GA in Multi-agent System for Solving Flexible Job Shop Problem
Authors:

Ameni Azzouz, Meriem Ennigrou and Boutheina Jlifi
Abstract: No doubt, the flexible job shop problem (FJSP) has an important significance in both fields of production management and combinatorial optimization. For this reason, FJSP continues to attract the interests of researchers both in academia and industry. In this paper, we propose a new multi-agent model for FJSP. Our model is based on cooperation between genetic algorithm (GA) and tabu search (TS). We used GA operators as a diversification technique in order to enhance the searching ability of TS. The computational results confirm that our model MAS-GATS provides better solutions than other models.
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Paper Nr: 56
Title:

Norm Selection for Evaluation Criterion for Placement Planning of Active Damping Devices in Structure
Authors:

Kou Miyamoto, Jinhua She, Hiroshi Hashimoto and Min Wu
Abstract: Active vibration control has been widely investigated in civil engineering. This study considers the problem of selecting a norm for an evaluation criterion for the planning of the placement of active damping devices (ADDs) in a structure in active vibration control. Using a 4-degree-of-freedom system as an example, we compare the commonly used 2-norm and 8-norm, and show that the 2-norm is a suitable choice for the performance index of the placement planning of ADDs.
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Paper Nr: 57
Title:

Cooperative Self-optimisation of Network Protocol Parameters at Runtime
Authors:

Sven Tomforde, Jan Kantert, Sebastian von Mammen and Jörg Hähner
Abstract: Network protocols are deployed in highly dynamic environments, but typically configured with a static setup of configurations. The Organic Network Control system (ONC) has been developed to alter protocol configurations at runtime. ONC is equipped with online learning capabilities and safety considerations. This paper presents a first TCP-based study on how this approach can be applied to end-to-end protocols and simultaneously alleviating the drawbacks of a simulation-based optimisation procedure. The paper explains the developed algorithm and demonstrates the benefit of the solution in an Omnet++ scenario.
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Paper Nr: 61
Title:

Mobile Sensor Path Planning for Iceberg Monitoring using a MILP Framework
Authors:

Anders Albert and Lars Imsland
Abstract: We look at the task of iceberg monitoring using a single mobile sensor, and we suggest a modular framework for this. The focus is on path planning for which we come up with a novel strategy, which includes solving a static optimization problem often to account for changes. We formulate the optimization problem in a MILP framework, and we illustrate how this yields acceptable computational time for problem size of about 15 icebergs. We also suggest a tuning rule for weighting between different objectives in the optimization formulation, which we demonstrate in simulations. Initializing the optimization with the previous solution can improve computational time dramatically. Finally, we discuss how we easily can add extra features to our framework.
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Paper Nr: 85
Title:

A New Energetically Optimized Power Supply System for a Mobile Robot Platform, using Ultracapacitors and Batteries to Ensure Both Ultra-fast Charging and Autonomy
Authors:

Carlos Arantes, João Sena Esteves and João Sepúlveda
Abstract: The smallest charging times required by fully discharged conventional batteries are some tens of minutes. This is an important limitation for mobile robot platforms. A previous paper already validated the possibility of integrating ultracapacitors and batteries in the same system. However, it has some significant limitations: 1) It works with an ultracapacitors module or a battery, but it does not work with both devices at the same time; 2) It requires an external dedicated charging station; 3) It is not possible to take profit from a part – which is non-negligible – of the energy previously stored in the ultracapacitors. This paper presents a new power supply system for mobile robot platforms that has been developed in order to overcome these limitations. Its main goals are evaluating the feasibility of: 1) Fully integrating batteries and ultracapacitors, working simultaneously as energy-storing devices, with the aim of enabling a mobile robot platform to achieve a reasonable autonomy after a very reduced charging time and considerable autonomy when there are no charging time constraints; 2) Installing all the system in the mobile robot platform, avoiding the use of an external dedicated charging station; 3) Extracting almost all the energy previously stored in the ultracapacitors. Both simulation results and experimental results are presented.
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Paper Nr: 87
Title:

Pitfalls When Solving Eigenproblems - With Applications in Control Engineering
Authors:

Vasile Sima and Peter Benner
Abstract: There is a continuous research effort worldwide to improve the reliability, efficiency, and accuracy of numerical computations in various domains. One of the most promising research avenues is to exploit the structural properties of the mathematical problems to be solved. This paper investigates some numerical algorithms for the solution of common and structured eigenproblems, which have many applications in automatic control (e.g., linear-quadratic optimization and H¥-optimization), but also in various areas of applied mathematics, physics, and computational chemistry. Of much interest is to find the eigenvalues and certain deflating subspaces, mainly those associated to the stable eigenvalues. Several simple examples are used to highlight the pitfalls which may appear in such numerical computations, using state-of-the-art solvers. Balancing the matrices and the use of condition numbers for eigenvalues are shown to be essential options in investigating the behavior of the solvers and problem sensitivity.
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Paper Nr: 97
Title:

Inverse Kinematics of a Redundant Manipulator based on Conformal Geometry using Geometric Approach
Authors:

Je Seok Kim, Jin Han Jeong and Jahng Hyon Park
Abstract: This paper describes a geometrical approach for analysing the inverse kinematics of a 7 Degrees of Freedom (DOF) redundant manipulator. The geometric approach is desirable since it provides complete and simple solutions to the problem and determines the relationship between the joints and the end-effector without iterative process. This paper introduces the approach to solve kinematic solution of 7 DOF in an intuitive way using conformal geometric approach step by step. We finally present the comparison with pseudo inverse solution which is the most well-known method in redundant manipulator kinematic problem at the same simulation environment.
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Paper Nr: 113
Title:

The Optimal Control Problems of Nonlinear Systems
Authors:

M. N. Kalimoldayev, M. T. Jenaliyev, A. A. Abdildayeva and L. S. Kopbosyn
Abstract: This article discusses the optimal control problem of nonlinear systems, which are described by ordinary differential equations, their right parts are periodic in the angular coordinate. The particularity of the considered in the given work nonlinear control problems is that they take into account the fact that on unfairly long interval of time, preservation of a deviation of any subsystem of controlled system from nominal operating conditions conducts to danger of destruction and unbalance of other subsystems and even of all the system as a whole. Consideration was given to a numerical example of the optimal motion control of two-machine power system.
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Paper Nr: 153
Title:

Unconstrained Global Optimization: A Benchmark Comparison of Population-based Algorithms
Authors:

Maxim Sidorov, Eugene Semenkin and Wolfgang Minker
Abstract: In this paper we provide a systematic comparison of the following population-based optimization techniques: Genetic Algorithm (GA), Evolution Strategy (ES), Cuckoo Search (CS), Differential Evolution (DE), and Particle Swarm Optimization (PSO). The considered techniques have been implemented and evaluated on a set of 67 multivariate functions. We carefully selected the tested optimization functions which have different features and gave exactly the same number of objective function evaluations for all of the algorithms. This study has revealed that the DE algorithm is preferable in the majority of cases of the tested functions. The results of numerical evaluations and parameter optimization are presented in this paper.
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Paper Nr: 154
Title:

Can UAV and UGV Be Best Buddies? - Towards Heterogeneous Aerial-ground Cooperative Robot System for Complex Aerial Manipulation Tasks
Authors:

Tamara Petrovic, Tomislav Haus, Barbara Arbanas, Matko Orsag and Stjepan Bogdan
Abstract: This paper presents the results of our efforts to build a heterogeneous robotic system capable of executing complex disaster response and recovery tasks. We aim to explore high level task scheduling and mission planning algorithms that enable various types of robots to cooperate together, utilizing each others strengths to yield a symbiotic robotic system. In the proposed scenario, a ground vehicle and an aerial robot work together to close a valve in a disaster stricken industrial environment. To that end we use TÆMS framework in order to specify interrelationships between mission subtasks and develop an effective scheduling and coordination mechanism, inspired by Generalized Partial Global Planning. We present simulation results with two different outcomes that show cooperative capabilities of the system.
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Paper Nr: 155
Title:

Detecting and Isolating Inconsistently Behaving Agents using an Intelligent Control Loop
Authors:

Jan Kantert, Sarah Edenhofer, Sven Tomforde, Jörg Hähner and Christian Müller-Schloer
Abstract: Desktop Computing Grids provide a framework for joining in and sharing resources with others. The result is a self-organised system that typically consists of numerous distributed autonomous entities. Openness and heterogeneity postulate severe challenges to the overall system’s stability and efficiency since uncooperative and even malicious participants are free to join. In this paper, we present a concept for identifying agents with exploitation strategies that works on a system-wide analysis of trust and work relationships. Afterwards, we introduce a system-wide control loop to isolate these malicious elements using a norm-based approach – due to the agents’ autonomy, we have to build on indirect control actions. Within simulations of a Desktop Computing Grid scenario, we show that the intelligent control loop works highly successful: these malicious elements are identified and isolated with a low error rate. We further demonstrate that the approach results in a significant increase of utility for all participating benevolent agents.
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Paper Nr: 158
Title:

Neural Modeling and Control of a 13C Isotope Separation Process
Authors:

Vlad Muresan, Mihail Abrudean, Honoriu Valean, Tiberiu Coloşi, Mihaela-Ligia Unguresan, Valentin Sita, Iulia Clitan and Daniel Moga
Abstract: The paper presents a solution for the 13C isotope concentration control inside and at the output of a separation column, solution based on the Internal Model Control strategy. The 13C isotope results from a chemical exchange process carbon dioxide – carbamate, which is a distributed parameter process. In order to model the mentioned process, an original form of the approximating analytical solution which describes the process work in transitory regime is determined. The evolution of the approximating solution depends both on time and on the position from the column height. The reference model of the fixed part of the control structure is implemented using neural networks, representing an original solution due to the fact that a neural model is determined for a distributed parameter process. The controller is, also, implemented using neural networks, its main parameter being adapted in relation to the transducer position change in the separation column. The advantages of using the proposed concentration control strategy consist of: the possibility of controlling the value of the 13C isotope concentration in any point from the separation column height; the improvement of the system performance regarding the settling time; the possibility to reject the effect of the disturbances.
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Paper Nr: 172
Title:

Revisiting Gradient Methods in Function Space - With Application to Rocket Trajectories
Authors:

Joseph Z. Ben-Asher
Abstract: The gradient method in function space is revisited and applied to the problem of optimizing the trajectories of aerodynamically maneuvering rockets. The optimization objective may be the maximal range or the minimal control effort for a given range. The method is shown to provide an implementable and fast algorithm for a good approximation to the optimal solution. It does not require any non-linear programming solver, and can be straightforwardly programmed in a flight computer. The method can also be used to provide an initial guess for more precise techniques, thus accelerating the computational process.
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Paper Nr: 195
Title:

Integrating Particle Swarm Optimization with Analytical Nonlinear Model Predictive Control for Nonlinear Hybrid Systems
Authors:

Jean Thomas
Abstract: The computation load remains the main challenge facing the control techniques of hybrid systems with discrete and continuous control signals. In this paper, a new hybrid controller based on Analytical Nonlinear Model Predictive Control (ANMPC) and Particle Swarm Optimization (PSO) for nonlinear hybrid systems is presented. The proposed controller offer sub-optimal solution in reasonable time while respecting the given constraints. The new developed technique is not considered as a computation burden, thus real-time implementation is possible for many hybrid systems. Besides, it can be applied directly to the nonlinear models, avoiding linearization which may lead to inaccurate model and unexpected behaviour. An application of the proposed controller to a three tanks example is presented.
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Paper Nr: 202
Title:

Temporal-Difference Learning - An Online Support Vector Regression Approach
Authors:

Hugo Tanzarella Teixeira and Celso Pascoli Bottura
Abstract: This paper proposes a new algorithm for Temporal-Difference (TD) learning using online support vector regression. It benefits from the good generalization properties support vector regression (SVR) has, and also can do incremental learning and automatically track variation of environment with time-varying characteristics. Using the online SVR we can obtain good estimation of value function in TD learning in linear and nonlinear prediction problems. Experimental results demonstrate the effectiveness of the proposed method by comparison with others methods.
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Paper Nr: 203
Title:

Hybrid Algorithm for Solving the Multi-compartment Vehicle Routing Problem with Time Windows and Profit
Authors:

Hadhami Kaabi and Khaled Jabeur
Abstract: This paper presents a new variant of the well-known vehicle routing problem with time windows (VRPTW). More precisely, this paper addresses a multi-compartment vehicle routing problem with time windows and profit (MCVRPTW with profit). The aim of this problem is to serve a set of customers by using a set of vehicles with multiple compartments, under a minimum traveling cost. The vehicles, starting and ending at the depot, have a limited capacity and each compartment is dedicated to one product. A customer is served only within a given time windows and, when it is visited a profit is collected (i.e. a profit not low than a preset profit bound). To solve this problem, an hybrid approach combining the genetic algorithm (GA) and the iterated local search (ILS) is used.
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Paper Nr: 204
Title:

A Diagnosis Scheme for Dynamical Systems: Approach by Guaranteed Parameter Estimation
Authors:

Qiaochu Li, Carine Jauberthie, Lilianne Denis-Vidal and Zohra Cherfi
Abstract: Through parameter estimation schemes, one could be able to detect, localize and identify the occurring fault via simple computation. Yet, certain faults may not be discovered even be mistaken in a normal condition with unknown noises by trend checking or state monitoring. A more informative way when a correct model is present to analyses the data via parameter estimation. In this paper, we propose by using interval analysis a diagnosis scheme, from which we can extract the guaranteed diagnostic results to inform the supervisor so that appropriate actions could be taken. Sending them the results in a guaranteed way to tell the diagnostician which kind of fault exist is firstly taken care in diagnosis context. Our original fault detection and localization procedure has been firstly proposed in an interval analysis context for the constant fault in parameters. Moreover, another new technique in parameter estimation is the distance check, which speed up the estimation procedure. Some drawbacks have been discussed in the end.
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Paper Nr: 209
Title:

Off-line State-dependent Parameter Models Identification using Simple Fixed Interval Smoothing
Authors:

Elvis Omar Jara Alegria, Hugo Tanzarella Teixeira and Celso Pascoli Bottura
Abstract: This paper shows a detailed study about the Young’s algorithm for parameter estimation on ARX-SDP models and proposes some improvements. To reduce the high entropy of the unknown parameters, data reordering according to a state ascendant ordering is used on that algorithm. After the Young’s temporal reordering process, the old data do not necessarily continue so. We propose to reconsider the forgetting factor, internally used in the exponential window past, as a fixed and small value. This proposal improves the estimation results, especially in the low data density regions, and improves the algorithm velocity as experimentally shown. Other interesting improvement of our proposal is characterized by the flexibility to the changes on the state-parameter dependency. This is important in a future On-Line version. Interesting features of the SDP estimation algorithm for the case of ARX-SDP models with unitary regressors and the case with correlated state-parameter are also studied. Finally a example shows our results using the INCA toolbox we developed for our proposal.
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Paper Nr: 210
Title:

State-parameter Dependency Estimation of Stochastic Time Series using Data Transformation and Parameterization by Support Vector Regression
Authors:

Elvis Omar Jara Alegria, Hugo Tanzarella Teixeira and Celso Pascoli Bottura
Abstract: This position paper is about the identification of the dependency among parameters and states in regression models of stochastic time series. Conventional recursive algorithms for parameter estimation do not provide good results in models with state-dependent parameters (SDP) because these may have highly non-linear behavior. To detect this dependence using conventional algorithms, we are studying some data transformations that we implement in this paper. Non-parametric relationships among parameters and states are obtained and parameterized using support vector regression. This way we look for a final non-linear structure to solve the SDP identification problem.
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Paper Nr: 17
Title:

Robot Navigation using Velocity Potential Fields and Particle Filters for Obstacle Avoidance
Authors:

Dan-Sorin Necsulescu, Jin Bai and Jurek Sasiadek
Abstract: Autonomous robots are required to avoid the obstacles during navigation. For this purpose unknown and unexpected obstacles have to be detected during motion. The proposed approach uses particle filters to process sensors data and estimate relative position of the robot with regard to the obstacles and to the goal. These relative position estimations are inputs to the velocity potential field approach for obtaining time varying velocity commands for the robot to avoid all obstacles and reach the goal.
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Paper Nr: 19
Title:

Optimal Irrigation Scheduling and Crop Production Functions Development using AquaCrop and TOMLAB
Authors:

Ilya Ioslovich and Raphael Linker
Abstract: Water stress is one of the most influential factors contributing to crop yield loss. The importance of the irrigation constantly increases because of water scarcity and growing demand for agricultural production worldwide. Previously, an approach using empirical water production functions and analytic optimal control methodology has been developed for optimal irrigation scheduling. Such an approach based on numerical optimal control is an alternative to common irrigation scheduling based on agronomy practice. Nowadays, more complex dynamic crop simulation models, such as the FAO AquaCrop model, predict crop responses to different irrigation strategies and climates. The state variables of the AquaCrop model include crop characteristics, such as biomass, and soil water content in up to 12 soil layers. In this paper the numerical optimal control scheme for irrigation scheduling and crop water production function development is described and demonstrated using this model and the TOMLAB optimization library. Maize crop in Foggia, Italy, for season of the year 2000, is used as an illustrative case study.
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Paper Nr: 26
Title:

The Design of the 3-Axial Centrifuge
Authors:

Feng Ou, Ying Chen, Hong Chen and Dongfeng Zhang
Abstract: Acceleration(G), in physics, is the rate of change of velocity of an object. Advanced missiles are capable of generating the axial acceleration(Gx), the tangential acceleration(Gy) and the normal acceleration(Gz) during aerial combat manoeuvres, which has seriously threatened flight reliability. In order to improve the reliability of missiles, it is necessary to carry out acceleration tests on the ground. Testers usually separately simulate the acceleration with the centrifuge, but the complex effect of 3-axial accelerations can not be reflected. This paper introduces a new 3-axial centrifuge, which can effectively and synchronously simulate the 3-axial acceleration. The paper also designs the structure and the synchronization control system of the 3-axial centrifuge. At last, the paper shows the result of the simulation and the result shows that the system is reliable, and it's synchronization among 3 axial accelerations is very high. The analysis can also provide a reference for similar centrifuge designers.
Paper Nr: 29
Title:

A Fault Detection Scheme for Time-delay Systems using Minimum-order Functional Observers
Authors:

H. M. Tran and H. Trinh
Abstract: This paper presents a method for designing residual generators using minimum-order functional observers to detect actuator and component faults in time-delay systems. Existence conditions of the residual generators and functional observers are first derived, and then based on a parametric approach to the solution of a generalized Sylvester matrix equation, we develop systematic procedures for designing minimum-order functional observers to detect faults in the system. The advantages of having minimum-order observers are obvious from the economical and practical points of view as cost saving and simplicity can be achieved, particularly when dealing with high-order complex systems. Extensive numerical examples are given to illustrate the proposed fault detection scheme. In all the numerical examples, we design minimum-order residual generators and functional observers to detect faults in the system.
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Paper Nr: 32
Title:

Particle Swarm Optimization of Economic Dispatch Problem: A Brief Review Transfer
Authors:

Elahe Faghihnia, Sadegh Khaleghi, Reihane Kardehi Moghaddam and Mahdi Zarif
Abstract: Electrical energy production has changed various features of the energy manufacturing. According to this map, lack of energy supplies, improving energy cost, environment matter, require optimal economic dispatch. Economic load dispatch (ED) problem is essentially nonlinear. Since we know that the traditional methods donot have the ability to solve problems like this for reasons such as caught up in the trap of local optimal point or low convergence speed. Therefore, the use of algorithms that are more powerful is inevitable. An efficient algorithm for solving ED problem is particle swarm optimization considering to its fast convergence to global optima and computationally efficiency. PSO based algorithms has achieved a pluperfect identification of the best solution for such kind of EDPs in last decade. In this paper, we try various techniques associated with PSO, fully checked.
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Paper Nr: 35
Title:

Identifying Landmark Cues with LIDAR Laser Scanner Data Taken from Multiple Viewpoints
Authors:

Andrzej Bieszczad
Abstract: In this paper, we report on our ongoing efforts to build a cue identifier for mobile robot navigation using a simple one-plane LIDAR laser scanner and machine learning techniques. We used simulated scans of environmental cues to which we applied various levels of Gaussian distortion to test a number of models the effectiveness of training and the response to noise in input data. We concluded that in contrast to back propagation neural networks, SVM-based models are very well suited for classifying cues, even with substantial Gaussian noise, while still preserving efficiency of training even with relatively large data sets. Unfortunately, models trained with data representing just one stationary point of view of a cue are inaccurate when tested on data representing different points of view of the cue. Although the models are resilient to noisy data coming from the vicinity of the original point of view used in training, data that originates in a point of view shifted forward or backward (as would be the case with a mobile robot) proved much more difficult to classify correctly. In the research reported here, we used an expanded set of synthetic training data representing three view points corresponding to three positions in robot movement in relation to the location of the cues. We show that by using the expanded data the accuracy of cue classification is dramatically increased for test data coming from any of the points.
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Paper Nr: 37
Title:

Design of State Observers for Interconnected Time-delay Systems via a Coordinate Transformation Approach
Authors:

Wei Yin Leong and Hieu Trinh
Abstract: This paper considers the design of state observers for interconnected time-delay systems using a coordinate transformation method. Through such a transformation, the system that has interconnection and state delays is metamorphosed into a new system that injects time-delay information into its input and output terms, before reintroducing them back into the latter system, effectively coupling the delay terms into the IO injection terms and eliminating the delay values from the state variables. Next, full-order and reduced-order observers are designed based on the transformed system. Finally, the observed states of the transformed system that correspond to the original system is used to deduce the estimates of the original system. A numerical example is provided of an interconnected time-delay system.
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Paper Nr: 50
Title:

A Novel Approach to Neural Network Design for Natural Language Call Routing
Authors:

Roman Sergienko, Oleg Akhtiamov, Eugene Semenkin and Alexander Schmitt
Abstract: A novel approach to artificial neural network design using a combination of determined and stochastic optimization methods (the error backpropagation algorithm for weight optimization and the classical genetic algorithm for structure optimization) is described in this paper. The novel approach to GA-based structure optimization has a simplified solution representation that provides effective balance between the ANN structure representation flexibility and the problem dimensionality. The novel approach provides improvement of classification effectiveness in comparison with baseline approaches and requires less computational resource. Moreover, it has fewer parameters for tuning in comparison with the baseline ANN structure optimization approach. The novel approach is verified on the real problem of natural language call routing and shows effective results confirmed with statistical analysis.
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Paper Nr: 53
Title:

PI-controlled ANN-based Energy Consumption Forecasting for Smart Grids
Authors:

Gulsum Gezer, Gurkan Tuna, Dimitris Kogias, Kayhan Gulez and V. Cagri Gungor
Abstract: Although Smart Grid (SG) transformation brings many advantages to electric utilities, the longstanding challenge for all them is to supply electricity at the lowest cost. In addition, currently, the electric utilities must comply with new expectations for their operations, and address new challenges such as energy efficiency regulations and guidelines, possibility of economic recessions, volatility of fuel prices, new user profiles and demands of regulators. In order to meet all these emerging economic and regulatory realities, the electric utilities operating SGs must be able to determine and meet load, implement new technologies that can effect energy sales and interact with their customers for their purchases of electricity. In this respect, load forecasting which has traditionally been done mostly at city or country level can address such issues vital to the electric utilities. In this paper, an artificial neural network based energy consumption forecasting system is proposed and the efficiency of the proposed system is shown with the results of a set of simulation studies. The proposed system can provide valuable inputs to smart grid applications.
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Paper Nr: 79
Title:

A Multi-sensory Stimuli Computation Method for Complex Robot Behavior Generation
Authors:

Younes Raoui and El Houssine Bouyakhf
Abstract: In this paper we present a method for obstacle avoidance which uses the neural field technique to learn the different actions of the robot. The perception is used based on monocular camera which allows us to have a 2D representation of a scene. Besides, we describe this scene using visual global descriptor called GIST. In order to enhance the quality of the perception, we use laser range data through laser range finder sensor. Having these two observations, GIST and range data, we fuse them using an addition. We show that the fusion data gives better quality when comparing the estimated position of the robot and the ground truth. Since we are using the paradigm learning-test, when the robot acquires data, it uses it as stimuli for the neural field in order to deduce the best action among the four basic ones (right, left, frontward, backward). The navigation is metric so we use Extended Kalman Filter in order to update the robot position using again the combination of GIST and range data.
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Paper Nr: 82
Title:

Study of Inheritance and Approximation Techniques for Adaptive Multi-objective Particle Swarm Optimization
Authors:

Ibtissem Bouoni, Nadia Smairi and Kamel Zidi
Abstract: In this paper, we propose to introduce inheritance and approximation techniques for the evaluation of the objective function. The main idea of the approaches is to reduce MO-TRIBES complexity. Besides, in our study, we incorporate at the beginning, an inheritance technique then an approximation technique (Approximation 1: to consider the whole swarm, Approximation 2: to consider the tribe) at the evaluation of the objective function. We conducted in our experiments eleven well-known multi-objective test functions. The results showed a good behavior of our propositions on most tested functions. Moreover, TRIBES-inheritance provided the best compared to MO-TRIBES, we concluded that MO-TRIBES with inheritance give the best time than MO-TRIBES and MO-TRIBES with approximation. It also kept the same performances with MO-TRIBES with a simple improvement for several functions.
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Paper Nr: 86
Title:

The Use an Electric Vehicle as a Power Source
Authors:

Kristyna Friedrischkova, David Vala and Bohumil Horak
Abstract: Electric cars are becoming a serious competition for the common artificial fuel driven cars in small city agglomerates and short distances. With the new developments on the field of state-of-art accumulators, electric cars are becoming much more that just a single use items, but can serve a number of roles. One of them is possibility to use excessive energy stored in the batteries and its rerouting from the car to other systems (such as offices, family houses, lighting etc.). This brief article is making a suggestion on usage and lifecycle of traction batteries, interconnection of the house and its electric car. Additionally, logic and control of such a transfer processes is put to the test for conclusion, that the electric car can be used as both the mean of transportation as well as energy source while in the meantime its primary function is not dampened at all.
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Paper Nr: 120
Title:

Autonomous Cars: Past, Present and Future - A Review of the Developments in the Last Century, the Present Scenario and the Expected Future of Autonomous Vehicle Technology
Authors:

Keshav Bimbraw
Abstract: The field of autonomous automation is of interest to researchers, and much has been accomplished in this area, of which this paper presents a detailed chronology. This paper can help one understand the trends in autonomous vehicle technology for the past, present, and future. We see a drastic change in autonomous vehicle technology since 1920s, when the first radio controlled vehicles were designed. In the subsequent decades, we see fairly autonomous electric cars powered by embedded circuits in the roads. By 1960s, autonomous cars having similar electronic guide systems came into picture. 1980s saw vision guided autonomous vehicles, which was a major milestone in technology and till date we use similar or modified forms of vision and radio guided technologies. Various semi-autonomous features introduced in modern cars such as lane keeping, automatic braking and adaptive cruise control are based on such systems. Extensive network guided systems in conjunction with vision guided features is the future of autonomous vehicles. It is predicted that most companies will launch fully autonomous vehicles by the advent of next decade. The future of autonomous vehicles is an ambitious era of safe and comfortable transportation.
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Paper Nr: 139
Title:

MIMO Evolving Learning based on Maximum Likelihood Algorithm Applied to Black Box Fuzzy Modeling for Systems Identification Design
Authors:

Orlando Donato Rocha Filho and Ginalber Luiz de Oliveira Serra
Abstract: This paper presents an overview of a specific application to computational intelligence techniques, specifically, evolving fuzzy systems: online fuzzy inference system with Takagi–Sugeno evolving structure, which employs an adaptive distance norm based on the maximum likelihood criterion online with instrumental variable recursive parameter estimation. The performance and application of the proposed methodology is based on the black box modeling.
Paper Nr: 144
Title:

Optimal Design of Digital Low Pass Finite Impulse Response Filter using Particle Swarm Optimization and Bat Algorithm
Authors:

Alcemy G. V. Severino, Leandro L. S. Linhares and Fábio M. U. de Araújo
Abstract: In this paper, the traditional metaheuristic Particle Swarm Optmization (PSO) and the Bat Algorithm (BA) are used to optimal design digital low pass (LP) Finite Impulse Response (FIR) filters. These filters have a wide range of applications because of their characteristics. They are easy to be designed, they have guaranteed bounded input-bounded output (BIBO) stability and can be designed to present linear phase at all frequencies. Traditional optimization methods based on gradient are susceptible to getting trapped on a local optima solution when they are applied to optimize multimodal problems, such as the FIR filter design. Here, to overcome this drawback, the aforementioned metaheuristics are adopted to obtain the coefficients of low pass FIR filters of order 20 and 24. The performance of BA and PSO algorithms are compared with the classical Parks and McClellan (PM) filter design algorithm, which is a deterministic procedure. For this comparison is considered the filters pass band and stop band ripples, transition width and statistical data. The simulation results demonstrate that the proposed filter design approach using BA algorithm outperforms PM and PSO.
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Paper Nr: 145
Title:

Modelling and Optimization of Strictly Hierarchical Manpower System
Authors:

Andrej Škraba, Eugene Semenkin, Davorin Kofjac, Maria Semenkina, Anja Znidaršic, Matjaž Maletic, Shakhnaz Akhmedova, Crtomir Rozman and Vladimir Stanovov
Abstract: This paper addresses the problem of the hierarchical manpower system control in the restructuring process. The restructuring case study is described where eight topmost ranks are considered. The desired and actual structure of the system is given by the actual numbers of men in a particular rank. The system was modelled in the dicrete state space with state elements and flows representing the recruitment, wastages and retirements. The key issues were identified in the process as the stating of the criteria function, which are time variant boundaries on the parameter values, the chain stucture of the system and the tendency for the system to oscilate at given initial conditions. The oscillatory case is presented and the dynamic programming approach was considered in the optimization as unsuitable, examining the oscillations. The boundary space and optimal solution space were considered by indicating the small area where the solution could be optimal. The augmented finite automaton was defined which was used in the optimization with the adaptive genetic algorithm. The developed optimization method enabled us to successfully determine proper restructuring strategy for the defined manpower system.
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Paper Nr: 146
Title:

A Proposal based on Frequency Response for Multi-Model Controllers
Authors:

Anderson Luiz de Oliveira Cavalcanti
Abstract: This paper presents an alternative approach to control nonlinear plants. The nonlinear system to be controlled is decomposed into a number of operating points and a GPC controller is properly designed, based on local linear model for each point. A metric based on frequency response of each local linear model is proposed in order to consider the contribution of each local controller in the signal sent to the plant. Two applications are presented. The first application in a simulated plant consists of a continuous stirred tank reactor (CSTR) and the second consists of a coupled tanks system level control.
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Paper Nr: 163
Title:

Addressing Challenges Beyond Classic Control with Organic Computing
Authors:

Jan Kantert, Sven Tomforde and Christian Müller-Schloer
Abstract: The increasing coupling of former isolated systems towards an interwoven complex structure poses questions about the controllability and maintainability of the corresponding systems. This paper discusses challenges resulting from the growing complexity of technical systems and derives solution perspectives by utilising concepts from the domain of self-organising and self-optimising systems, in particular from the Organic Computing and Autonomic Computing initiatives.
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Paper Nr: 174
Title:

A New Inverse Optimal Control Method for Discrete-time Systems
Authors:

Moayed Almobaied, Ibrahim Eksin and Mujde Guzelkaya
Abstract: This paper presents a new approach based on extended kalman filter (EKF) to construct a control lyapunov function (CLF). This function will be used in establishing the control law of inverse optimal control for discrete-time nonlinear systems. The main aim of the inverse optimal control is to avoid the solution of the difficult Hamilton-Jacobi-Bellman (HJB) equation which is resulted from the traditional solution of nonlinear optimal control problem. The relevance of the proposed scheme is illustrated through MATLAB simulation. The results show the effectiveness of the proposed method.
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Paper Nr: 185
Title:

Consensus of Nonlinear Multi-Agent Systems with Exogenous Disturbances
Authors:

Xiaozhi Yu, Zhen He and Feng Yu
Abstract: Most existing research concerning the consensus problem of multi-agent systems has been focused on linear first-order or two-order systems without disturbances. However, in practice, most multi-agent systems are complicated nonlinear system subjected to disturbances. In this paper, the coordinated tracking problem for nonlinear undirected multi-agent systems with exogenous disturbances is studied in the framework of consensus theory. The exogenous disturbances generated by both linear exosystems and nonlinear exosystems are considered. Disturbance observers are developed to estimate the disturbances generated by the linear exogenous systems. The Lyapunov stability theorem is used to prove the asymptotical consensus of the systems. The dynamic gain technique is used to construct the disturbance observer for the disturbance generated by a nonlinear exosystem. Based on the adaptive disturbance observer, a consensus protocol is proposed for the nonlinear multi-agent system. Finally, the proposed design approaches are verified though simulation examples.
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Paper Nr: 186
Title:

Option-based Motion Planning and ANFIS-based Tracking Control for Wheeled Robot in Cluttered Environment
Authors:

Yangyang Feng, Weiwei Yu, Yasheng Chen, Xiaoqun Tan, Runxiao Wang and Kurosh Madani
Abstract: Motion planning and trajectory tracking control are two fundamental problems needed to be solved when wheeled robots maneuver and operate autonomously in the cluttered environment. In this paper, two integrated and intelligent approaches are applied to solve these problems. Firstly, an option-based hierarchical reinforcement learning approach integrated with transfer learning is proposed to accomplish motion planning task in the cluttered environment, the transfer learning approach is employed to speed up the learning process. Then, the generated trajectory is tracked by an ANFIS-based controller, the parameters of inference system are updated online by gradient descent learning algorithm. The performance of using proposed intelligent approaches to control mobile robot in cluttered environment is validated in the simulation.
Paper Nr: 196
Title:

Periodic Takagi-Sugeno Observers for Individual Cylinder Spark Imbalance in Idle Speed Control Context
Authors:

Thomas Laurain, Jimmy Lauber and Reinaldo Palhares
Abstract: This paper aims to present a systematic methodology for designing periodic observers for cyclic nonlinear systems represented by Takagi-Sugeno models. An application to idle speed control of a spark-ignition engine will be proposed. Thanks to the estimated individual cylinder values, we can detect an imbalance of each cylinder (unbalanced cylinder). Based on a dynamic hybrid model, some simulation results will prove the efficiency of our method.
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Paper Nr: 200
Title:

ANN-based Classifiers Automatically Generated by New Multi-objective Bionic Algorithm
Authors:

Shakhnaz Akhmedova and Eugene Semenkin
Abstract: An artificial neural network (ANN) based classifier design using the modification of a meta-heuristic called Co-Operation of Biology Related Algorithms (COBRA) for solving multi-objective unconstrained problems with binary variables is presented. This modification is used for the ANN structure selection. The weight coefficients of the ANN are adjusted with the original version of COBRA. Two medical diagnostic problems, namely Breast Cancer Wisconsin and Pima Indian Diabetes, were solved with this technique. Experiments showed that both variants of COBRA demonstrate high performance and reliability in spite of the complexity of the optimization problems solved. ANN-based classifiers developed in this way outperform many alternative methods on the mentioned classification problems. The workability of the proposed meta-heuristic optimization algorithms was confirmed.
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Area 3 - Robotics and Automation

Full Papers
Paper Nr: 9
Title:

3D Positioning Algorithm for Low Cost Mobile Robots
Authors:

Rafael Socas, Sebastian Dormido, Raquel Dormido and Ernesto Fabregas
Abstract: A new 3D positioning algorithm for low cost robots is proposed. The algorithm is based on a Finite State Machine to estimate the position and orientation of the robot. The system sets dynamically the parameters of the algorithm and makes it independent of the noise in the sensors. The algorithm has been tested for differential wheel drive robots, however it can be used with different types of robots in a simple way. To improve the accuracy of the system, a new reference system based on the accelerometer of the robot is presented which reduces the accumulative error that the odometry produces.
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Paper Nr: 39
Title:

Safe Predictive Mobile Robot Navigation in Aware Environments
Authors:

Michael Arndt and Karsten Berns
Abstract: It is a common goal to improve safety and performance of mobile indoor robots by predicting the movements of people in the surroundings. In contrast to many related works which exclusively employ sensors mounted on mobile robots, this work shows a method to achieve this goal in a smart environment where external sensors are used to sense people’s positions. By using probabilistic models and filters, the evolution of the environment’s state is predicted and optimal paths with respect to safety and performance are planned. Experiments in reality and in a simulation environment show the applicability in real-world scenarios and the advantages over classical path planning approaches.
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Paper Nr: 51
Title:

Kinematic Analysis and Simulation of a Hybrid Biped Climbing Robot
Authors:

Adrian Peidro, Arturo Gil, Jose Maria Marin, Yerai Berenguer and Oscar Reinoso
Abstract: This paper presents a novel climbing robot that explores 3-D truss structures for maintenance and inspection tasks. The robot is biped and has a hybrid serial-parallel architecture since each leg is composed of two parallel mechanisms connected in series. First, the forward kinematic problem of the complete robot is solved, obtaining the relative position and orientation between the feet in terms of the ten joint coordinates of the robot. The inverse kinematics is more complex due to the redundancy of the robot. Hence, a simplified inverse kinematic problem that assumes planar and symmetric movements is analyzed. Then, a tool to simulate the kinematics of the robot is presented, and it is used to demonstrate that the robot can completely explore 3-D structures, even when some movements are restricted to be planar and symmetric.
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Paper Nr: 75
Title:

Assistive Robot for Standing with Physical Activity Estimation based on Muscle Arrangements of Human Legs
Authors:

Daisuke Chugo, Takahiro Yamada, Satoshi Muramatsu, Sho Yokota and Hiroshi Hashimoto
Abstract: A physical activity estimation scheme is proposed for patients who use a robot for standing assistance. In general, conventional assistive robots do not require patients to use their own physical strength to stand, which leads to decreased strength of the elderly. Therefore, an assistive robot that maximally uses a patient’s remaining physical strength is desired. The assistive robots can achieve this objective by estimating the physical activity of the patient when they stand. The activity estimation proposed here is primarily based on a human musculoskeletal model of a lower limb, which exhibits a biarticular muscle function. The patient generates a natural standing motion using the biarticular muscle function, and the proposed model enables the assistive robot to estimate the patient’s physical activity, without using biosensors, such as electromyographs, which are normally stuck on patients. The proposed estimation is implemented with a prototype assistive robot that assists elderly patients to use their remaining physical strength based on the estimated results, thus testing the effectiveness of the proposed method.
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Paper Nr: 80
Title:

Visual Servoing-based Registration of Multimodal Images
Authors:

M. Ourak, B. Tamadazte, N. Andreff and E. Marchand
Abstract: This paper deals with mutual information-based numerical and physical registration of white light images vs. fluorescence images for microrobotic laser microphonosurgery of the vocal folds. More precisely, it presents two techniques: a numerical registration of multimodal images and a vision feedback control for positioning an endoscope with regards to a preoperative image (fluorescence image). Nelder-Mead Simplex for nonlinear optimization is used to minimize the cost-function. The proposed methods are successfully validated in an experimental set-up using preoperative fluorescence images and real-time white light images of the vocal folds.
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Paper Nr: 101
Title:

Guaranteed Control of a Robotic Excavator During Digging Process
Authors:

Alexander Gurko, Oleg Sergiyenko, Juan Ivan Nieto Hipólito, Igor Kirichenko, Vera Tyrsa and Juan de Dios Sanchez Lopez
Abstract: Automation of excavators offers a promise for increasing productivity of digging. At the same time, it’s a highly difficult issue due to presence of various nonlinearities and uncertainties in excavator mechanical structures and hydraulic actuators, disturbance when a bucket contacting the ground etc. This paper concerns the problem of robust trajectory tracking control of an excavator arm. To solve this problem, the computed torque control with the guaranteed cost control is considered. The mathematical tool of R-functions as an alternative to the linear matrix inequality approach to constructing information sets of an excavator arm state is used. Simulation results and functional ability analysis for the proposed control system are given.
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Paper Nr: 106
Title:

Analysis of Shapes to Measure Surfaces - An Approach for Detection of Deformations
Authors:

C. M. Mateo, P. Gil, D. Mira and F. Torres
Abstract: This paper presents a method to analyse 3D planar surfaces and to measure variations on it. The method is oriented to the detection of deformations on the elastic object surfaces formed by flat faces. These deformations are usually caused when two bodies, a solid and another elastic object, come in contact and there are contact pressures among their faces. Our method describes a strategy to model the shape of deformation using a mathematical approach based on two concepts: Histogram and Map of curvature. In particular, we describe the algorithm for deformations in order to use it in visual control and inspection tasks for manipulation processes with robot hands. Several experiments and their results are shown to evaluate the validity and robustness of the method to detect and measure deformations in grasping tasks. To do it, some virtual scenarios were created to simulate contacts with fingers of a hand robot.
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Paper Nr: 118
Title:

RCON: Dynamic Mobile Interfaces for Command and Control of ROS-enabled Robots
Authors:

Robert Codd-Downey and Michael Jenkin
Abstract: The development of effective user interfaces for an autonomous system can be quite difficult, especially for devices that are to be operated in the field where access to standard computer platforms may be difficult or impossible. One approach in this type of environment is to utilize tablet or phone devices, which when coupled with an appropriate tool such as ROSBridge can be used to connect with standard robot middleware. This has proven to be a successful approach for devices with mature user interface requirements but may require significant software development for experimental systems. Here we describe RCON, a software tool that allows user interfaces on iOS devices to be configured on the device itself, in real time, in response to changes in the robot software infrastructure or the needs of the operator. The system is described in detail along with the accompanying communication framework and the process of building a user interface for a simple autonomous device.
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Paper Nr: 126
Title:

A Taxonomy of Distribution for Cooperative Mobile Manipulators
Authors:

Andreas Schierl, Andreas Angerer, Alwin Hoffmann, Michael Vistein and Wolfgang Reif
Abstract: Simple robot applications can be run on a single computer, but when it comes to more complex applications or multiple mobile robots, software distribution becomes important. When structuring mobile robot systems and applications, distribution has to be considered on various levels. This paper proposes to distinguish between real-time level, system level, application level and regarding the world model. Advantages and disadvantages of distribution on each level are analyzed, and examples are given how this distribution is realized in the robotics frameworks OROCOS, ROS and the Robotics API. The results are demonstrated using a case study of two cooperating youBots handing over a work-piece while in motion, which is shown in simulation as well as in real life.
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Paper Nr: 133
Title:

A Robust Temperature Controller Design for an Innovative Hyperthermic Intraperitoneal Chemotherapy Equipment
Authors:

Iulia Clitan, Corneliu Lungoci, Vlad Muresan, Daniel Moga and Valentin Sita
Abstract: This paper presents an advanced control structure for controlling the heating process of cytostatic solution used in regional chemotherapy. The solution temperature control is an individual control structure which is desired to be implemented on hyperthermic intraperitioneal chemotherapy (HIPEC) innovative device. Cytoreductive surgery followed by HIPEC represents a therapeutic solution for patients suffering from peritoneal carcinomatosis, an abdominal cancer. An H∞ robust control structure is designed since the heating process model’s parameters depend on the solution’s delivery flow. It is considered that the heating process gain can vary from a nominal value to a maximum value, which represents an increase by up to 100% from the nominal value. The responses to a step input signal for the nominal case, and the cases when the gain varies by 50% or 100%, are simulated. The control structure is compared against a PID feasible controller by means of overall performances. It resulted that the robust controller generates the best performance set for the nominal gain and also for the case when the heating process gain varies.
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Paper Nr: 137
Title:

Using Tablets in the Vision-based Control of a Ball and Beam Test-bed
Authors:

Jared A. Frank, José Antonio De Gracia Gómez and Vikram Kapila
Abstract: Although the onboard cameras of smart devices have been used in the monitoring and teleoperation of physical systems such as robots, their use in the vision-based feedback control of such systems remains to be fully explored. In this paper, we discuss an approach to control a ball and beam test-bed using visual feedback from a smart device with its camera pointed at the test-bed. The computation of a homography between the frames of a live video and a reference image allows the smart device to accurately estimate the state of the test-bed while facing the test-bed from any perspective. Augmented reality is incorporated in the development of an interactive user interface on the smart device that allows users to command the position of the ball on the beam by tapping their fingers at the desired location on the touchscreen. Experiments using a tablet are performed to characterize the noise of vision-based measurements and to illustrate the performance of the closed-loop control system.
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Paper Nr: 142
Title:

A Depth-based Approach for 3D Dynamic Gesture Recognition
Authors:

Hajar Hiyadi, Fakhreddine Ababsa, Christophe Montagne, El Houssine Bouyakhf and Fakhita Regragui
Abstract: In this paper we propose a recognition technique of 3D dynamic gesture for human robot interaction (HRI) based on depth information provided by Kinect sensor. The body is tracked using the skeleton algorithm provided by the Kinect SDK. The main idea of this work is to compute the angles of the upper body joints which are active when executing gesture. The variation of these angles are used as inputs of Hidden Markov Models (HMM) in order to recognize the dynamic gestures. Results demonstrate the robustness of our method against environmental conditions such as illumination changes and scene complexity due to using depth information only.
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Paper Nr: 156
Title:

Robots Avoid Potential Failures through Experience-based Probabilistic Planning
Authors:

Melis Kapotoglu, Cagatay Koc and Sanem Sariel
Abstract: Robots should avoid potential failure situations to safely execute their actions and to improve their performances. For this purpose, they need to build and use their experience online. We propose online learning-guided planning methods to address this problem. Our method includes an experiential learning process using Inductive Logic Programming (ILP) and a probabilistic planning framework that uses the experience gained by learning for improving task execution performance. We analyze our solution on a case study with an autonomous mobile robot in a multi-object manipulation domain where the objective is maximizing the number of collected objects while avoiding potential failures using experience. Our results indicate that the robot using our adaptive planning strategy ensures safety in task execution and reduces the number of potential failures.
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Paper Nr: 157
Title:

Continuous Pre-Calculation of Human Tracking with Time-delayed Ground-truth - A Hybrid Approach to Minimizing Tracking Latency by Combination of Different 3D Cameras
Authors:

Philip Nicolai, Jörg Raczkowsky and Heinz Wörn
Abstract: We present an approach to track a point cloud with a 3D camera system with low latency and/or high frame rate, based on ground truth provided by a second 3D camera system with higher latency and/or lower frame rate. In particular, we employ human tracking based on Kinect cameras and combine it with higher frame-rate/ lower latency of Time-of-Flight (ToF) cameras. We present the system setup, methods used and evaluation results showing a very high accuracy in combination with a latency reduction of up to factor 30.
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Paper Nr: 189
Title:

Fast and Robust Keypoint Detection in Unstructured 3-D Point Clouds
Authors:

Jens Garstka and Gabriele Peters
Abstract: In robot perception, as well as in other areas of 3-D computer vision, keypoint detection is the first major step for an efficient and accurate 3-D perception of the environment. Thus, a fast and robust algorithm for an automatic identification of keypoints in unstructured 3-D point clouds is essential. The presented algorithm is designed to be highly parallelizable and can be implemented on modern GPUs for fast execution. The computation is based on a convolution of a voxel based representation of the point cloud and a voxelized integral volume. The generation of the voxel-based representation neither requires additional surface information or normals nor needs to approximate them. The proposed approach is robust against noise up to the mean distance between the 3-D points. In addition, the algorithm provides moderate scale invariance, i. e., it can approximate keypoints for lower resolution versions of the input point cloud. This is particularly useful, if keypoints are supposed to be used with any local 3-D point cloud descriptor to recognize or classify point clouds at different scales. We evaluate our approach in a direct comparison with state-of-the-art keypoint detection algorithms in terms of repeatability and computation time.
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Paper Nr: 216
Title:

Toward a Human-like Locomotion: Modelling Dynamically Stable Locomotion of an Anthropomorphic Robot in Simulink Environment
Authors:

Ramil Khusainov, Ilya Shimchik, Ilya Afanasyev and Evgeni Magid
Abstract: In the near future anthropomorphic robots will turn into an important part of our everyday routine. To successfully perform various tasks these robots require stable walking control algorithms, which could guarantee dynamic balance of the biped robot locomotion. Our research is focused on the development of locomotion algorithms which could provide effective anthropomorphic walking of a robot. As a target robotic platform we utilize an experimental model of a human-size robot - a novel Russian robot AR-601M. In this paper we introduce AR-601M robot and present a model of a biped robot with 11 DoF which simulates a simplified AR-601M robot. The simulation model is implemented in Matlab/Simulink environment and uses walking primitives in order to provide a dynamically stable locomotion.
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Short Papers
Paper Nr: 16
Title:

A Model Predictive Sliding Mode Control with Integral Action for Slip Suppression of Electric Vehicles
Authors:

Tohru Kawabe
Abstract: This paper proposes a new SMC (Sliding Mode Control) method with MPC (Model Predictive Control) algorithm for the slip suppression of EVs (Electric Vehicles). This method introducing the integral term with standard SMC gain, where the integral gain is optimized for each control period by solving an optimization problem based on the MPC algorithm to improve the acceleration performance and the energy consumption of EVs. Numerical simulation results are also included to demonstrate the effectiveness of the method.
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Paper Nr: 18
Title:

Data Fusion Between a 2D Laser Profile Sensor and a Camera
Authors:

M. Wagner, P. Heß, S. Reitelshöfer and J. Franke
Abstract: This paper describes a color extension of a 2D laser profile sensor by extracting the corresponding color from a camera image. For these purpose, we developed a routine for an extrinsic calibration between the profile sensor and the camera. Based on the resulting translation and rotation vectors a belonging pixel can be calculated for each profile point. Consequently, the color for each profile point can be extracted from the image. This approach is used to extend the geometric data of a robotic based 3D scanning system by color data.
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Paper Nr: 21
Title:

A Complete Sensor-based System to Navigate Through a Cluttered Environment
Authors:

A. Durand-Petiteville, V. Cadenat and N. Ouadah
Abstract: This article deals with the autonomous navigation problem of a mobile robot in a cluttered environment. We propose to have a different perspective than the traditional way of splitting the problem into two categories: the map-based ones and the mapless ones. Here we divide navigation systems into six processes: perception, modeling, localization, planning, action and decision. Then we present how those processes are organized into an architecture to perform a navigation. It is shown that this framework embraces any navigation system proposed in the literature and how it allows to create new combination of processes. We then detail our solution to the problem which mainly consists in coupling sensor-based controllers with a topological map. Moreover we present the used tools that we have developed over the last years as well as the ones from the literature. Finally we present experimentation results of a long-range navigation based on the proposed approach where a robot drives through an environement despite of occlusions and possible collisions due to obstacles.
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Paper Nr: 22
Title:

Flatness based Feed-forward Control of a Flexible Robot Arm under Gravity and Joint Friction
Authors:

Elisha Didam Markus
Abstract: This paper discusses the open loop control problem of a flexible joint robot that is oriented in the vertical plane. This orientation of the robot arm introduces gravity constraints and imposes undesirable nonlinear behavior. Friction is also added at the joints to increase the accuracy of the model. Including these dynamics to the robot arm amplifies the open loop control problem. Differential flatness is used to propose a feed-forward control that compensates for these nonlinearities and is able to smoothly steer the robot from rest to rest positions. The proposed control is achieved without solving any differential equations which makes the approach computationally attractive. Simulations show the effectiveness of the open loop control design on a single link flexible joint robot arm.
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Paper Nr: 45
Title:

Relative Height Estimation using Omnidirectional Images and a Global Appearance Approach
Authors:

Yerai Berenguer, Luis Payá, Adrian Peidro and Oscar Reinoso
Abstract: This work presents a height estimation method that uses visual information. This method is based on the global appearance of the scenes. Every omnidirectional scene is described with a global appearance descriptor without any other transformation. This approach is tested with our own image database. This database is generated synthetically based on two different virtual rooms. One of the advantages of generating the images synthetically is that noise or occlusions can be added to test the robustness of the algorithms. This database is formed by a set of omnidirectional images captured from different points of these rooms and at different heights. With these scenes we build the descriptor of each image and we use our method to estimate the relative height of the robot. The experimental results show the effectiveness and the robustness of the method.
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Paper Nr: 47
Title:

Rotation-Invariant Image Description from Independent Component Analysis for Classification Purposes
Authors:

Rodrigo D. C. da Silva, George A. P. Thé and Fátima N. S. de Medeiros
Abstract: Independent component analysis (ICA) is a recent technique used in signal processing for feature description in classification systems, as well as in signal separation, with applications ranging from computer vision to economics. In this paper we propose a preprocessing step in order to make ICA algorithm efficient for rotation invariant feature description of images. Tests were carried out on five datasets and the extracted descriptors were used as inputs to the k-nearest neighbor (k-NN) classifier. Results showed an increasing trend on the recognition rate, which approached 100%. Additionally, when low-resolution images acquired from an industrial time-of-flight sensor are used, the recognition rate increased up to 93.33%.
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Paper Nr: 67
Title:

An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of Robot Manipulators
Authors:

Youmin Hu, Jie Liu, Bo Wu, Kaibo Zhou and Mingfeng Ge
Abstract: A novel adaptive sliding mode control algorithm is derived to deal with synchronized joint position tracking control of robot manipulators. The proposed algorithm does not require the precise dynamic model, and is very practical. The cross-coupled technology is incorporated into the adaptive sliding mode control architecture through feedback of joint position errors and synchronization errors. Its robustness is verified by the Lyapunov stability theory. Simulation results obtained from a 3-link non-linear planer robot manipulator demonstrate the effectiveness of the approach under various disturbances.
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Paper Nr: 77
Title:

Design of Mobile Microrobots with Thermomechanical Actuators
Authors:

N. N. Bolotnik, V. G. Chashchukhin, V. G. Gradetsky, D. V. Kozlov, I. P. Smirnov, A. N. Sukhanov and A. A. Zhukov
Abstract: A design concept of a legged mobile microrobot that utilizes thermomechanical actuators is discussed. The forces and torques acting on the legs of the microrobot are identified and analyzed. The phases of motion, conditions of motion, and sequences of operations are defined; the performance characteristics of the robots are studied. A number of design schematics of the microrobot are presented and compared. The issues related to the mechanical structure of the robots, as well as the content and amount of information required by the measurement and control systems are considered. A modified thermomechanical actuator was developed for the microrobot leg. The structure of the actuator involves a feedback sensor. The design sketches of the inspector microrobot with an on-board micromanipulator based on the thermomechanical actuator are proposed. Possible applications of the microrobot for aerospace planet missions are discussed. This study was supported by the Russian Science Foundation (Grant #14-19-00949).
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Paper Nr: 100
Title:

HybridSLAM: A Robust Algorithm for Simultaneous Localization and Mapping
Authors:

Amir Hossein Monjazeb, Jurek Sasiadek and Dan Necsulescu
Abstract: This paper addresses an ongoing research on a novel approach to Simultaneous Localization and Mapping problem called Unscented HybridSLAM. The main contribution of this paper is to develop the map update formulas along with proof results in order to investigate the validation of the map evolution. The investigation is presented using the help of simulations in terms of robustness, map fusion, and the update process. Results clearly show that as the vehicle travels along the path and the map evolves, the Unscented HybridSLAM algorithm avoids the overestimation of landmarks.
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Paper Nr: 125
Title:

Fast Moving Object Detection from Overlapping Cameras
Authors:

Mikaël A. Mousse, Cina Motamed and Eugène C. Ezin
Abstract: In this work, we address the problem of moving object detection from overlapping cameras. We based on homographic transformation of the foreground information from multiple cameras to reference image. We introduce a new algorithm based on Codebook to get each single views foreground information. This method integrates a region based information into the original codebook algorithm and uses CIE L*a*b* color space information. Once the foreground pixels are detected in each view, we approximate their contours with polygons and project them into the ground plane (or into the reference plane). After this, we fuse polygons in order to obtain foreground area. This fusion is based on geometric properties of the scene and on the quality of each camera detection. Assessment of experiments using public datasets proposed for the evaluation of single camera object detection demonstrate the performance of our codebook based method for moving object detection in single view. Results using multi-camera open dataset also prove the efficiency of our multi-view detection approach.
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Paper Nr: 130
Title:

Human-like Humanoid Robot Posture Control
Authors:

M. Zebenay, V. Lippi and T. Mergener
Abstract: This paper validates experimentally a humanoid posture control concept from neuroscience, called disturbance estimation and compensation, DEC concept. The DEC control system, different from typical state estimation systems, is not including a dynamic model of the body. Also, among human posture control models it is particular in that it uses feedback of multisensory disturbance estimates for compensation, rather than ’raw’ sensory signals. To this end, the system performs fusions of sensory inputs such as vestibular inputs (IMU) and proprioceptive inputs (joint position and speed). The compensation of external disturbances allows the control to use low loop gain, with human-like tolerance of time delays and mechanical compliance. This paper validates the control concept experimentally, measuring the balancing of biped stance of a humanoid 2 DOF robot, Posturob II, while superimposing on support surface tilt either voluntary trunk bending or push stimuli. The results show that the control concept is robust and able to stabilize the robot’s balance in complex disturbance conditions. Furthermore, several human-like features such as hip-ankle coordination emerged from the control concept.
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Paper Nr: 134
Title:

A Vision-based Line Following Strategy for an Autonomous UAV
Authors:

Alexandre Brandão, Felipe Martins and Higor Soneguetti
Abstract: Unmanned Aerial Vehicles (UAVs) are versatile machines that can be used in a variety of applications, such as automatic monitoring of crops and water channels, pest detection, animal counting etc. Autonomous flying is a desirable feature for UAVs, especially for those that are frequently used in monitoring and inspection of large areas. In some situations, global positioning system signal is not guaranteed or its error might be too large, hence other methods of local position feedback are required. In such a context, we present the development of a vision-based line following strategy for an autonomous UAV. The proposed system is intended to guide an autonomous UAV to follow water channel margins, crop lines and other similar patterns, to support automatic monitoring and inspection activities. We present the design of a nonlinear path following controller and we show that the resulting closed-loop system is stable in the sense of Lyapunov. We also propose a visual-based line detection algorithm that it is capable of detecting the average position and orientation of the main lines on the image frames captured by the UAV downwards facing camera. Finally, we present and discuss some experimental results that show the good performance of the proposed system.
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Paper Nr: 136
Title:

Exploring the Role of a Smartphone as a Motion Sensing and Control Device in the Wireless Networked Control of a Motor Test-bed
Authors:

Jared A. Frank, Anthony Brill, Jonghyun Bae and Vikram Kapila
Abstract: The sensing, computing, and control potential of smartphones remains to be fully explored in automatic control applications. In this paper, we control the angular position of a motor test-bed using feedback from the embedded motion sensors of a smartphone while it is mounted to the test-bed. The smartphone hosts an interactive user interface which students and researchers can use to quickly and easily perform experiments with the test-bed and collect measurements using their own personal devices. Proportional-plus-derivative (PD) controllers designed using a sampled-data model of the system are compared for different sampling rates used on the smartphone. Results from simulations and experiments confirm the feasibility of utilizing mounted smartphones in the wireless networked control of systems with rotational degrees of freedom.
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Paper Nr: 161
Title:

Comparative Analysis of Methods for the Log Boundaries Isolation
Authors:

Artem Kruglov and Yuriy V. Chiryshev
Abstract: The scrutiny of boundaries isolation methods is presented in this paper. The newly developed algorithms, based on regression analysis and integral projection are compared with Hough transform in order to analyze their effectiveness for the specific problem of moving logs control. The comparative analysis of the methods was carried out on the database of images obtained from video sequence of real industrial process by the criteria of accuracy and operation speed. Results of the test show that the line-by-line scanning method with posterior LOWESS regression analysis has the best accuracy. However, the best appropriate for the implementation in the real-time control systems based on machine vision technology is consecutive line selection method due to its reasonable accuracy and impressive performance.
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Paper Nr: 167
Title:

Progressive Co-adaptation in Human-Machine Interaction
Authors:

Paolo Gallina, Nicola Bellotto and Massimiliano Di Luca
Abstract: In this paper we discuss the concept of co-adaptation between a human operator and a machine interface and we summarize its application with emphasis on two different domains, teleoperation and assistive technology. The analysis of the literature reveals that only in a few cases the possibility of a temporal evolution of the co-adaptation parameters has been considered. In particular, it has been overlooked the role of time-related indexes that capture changes in motor and cognitive abilities of the human operator. We argue that for a more effective long-term co-adaptation process, the interface should be able to predict and adjust its parameters according to the evolution of human skills and performance. We thus propose a novel approach termed progressive co-adaptation, whereby human performance is continuously monitored and the system makes inferences about changes in the users' cognitive and motor skills. We illustrate the features of progressive co-adaptation in two possible applications, robotic telemanipulation and active vision for the visually impaired.
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Paper Nr: 176
Title:

Adaptive 3-D Object Classification with Reinforcement Learning
Authors:

Jens Garstka and Gabriele Peters
Abstract: We propose an adaptive approach to 3-D object classification. In this approach appropriate 3-D feature descriptor algorithms for 3-D point clouds are selected via reinforcement learning depending on properties of the objects to be classified. This approach is supposed to be able to learn strategies for an advantageous selection of 3-D point cloud descriptor algorithms in an autonomous and adaptive way, and thus is supposed to yield higher object classification rates in unfamiliar environments than any of the single algorithms alone. In addition, we expect our approach to be able to adapt to subsequently added 3-D feature descriptor algorithms as well as to autonomously learn new object categories when encountered in the environment without further user assistance. We describe the 3-D object classification pipeline based on local 3-D features and its integration into the reinforcement learning environment.
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Paper Nr: 194
Title:

Visual based Navigation of a Free Floating Robot by Means of a Lab Star Tracker
Authors:

Marco Sabatini, Giovanni B. Palmerini and Paolo Gasbarri
Abstract: A visual based navigation for a free floating platform has been realized. The basic principle is the same as for the star trackers used in space operations for attitude determination, with the remarkable difference that also the position with respect to an inertial reference frame is evaluated. Both the working principles and the algorithms for increasing the robustness of the device will be reported. The design and realization of the prototype is illustrated. Finally, the performance of the navigation system will be tested both in a numerical environment and in a dedicated experimental setup, showing a satisfactory level of accuracy for the intended operations.
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Paper Nr: 208
Title:

Towards Multi-functional Robot-based Automation Systems
Authors:

Andreas Angerer, Michael Vistein, Alwin Hoffmann, Wolfgang Reif, Florian Krebs and Manfred Schönheits
Abstract: Multi-functional robot cells will play an important role in smart factories of the future. Equipped with flexible toolings, teams of robots will be able to realize manufacturing processes with growing complexity. However, to efficiently support small batch sizes and a multitude of process variants, powerful software tools are required. This paper illustrates the challenges that developers face in multi-functional robot cells, using the example of CFRP production. The vision of a new programming environment for such future flexible automation systems is sketched.
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Paper Nr: 212
Title:

Range Data Fusion for Accurate Surface Generation from Heterogeneous Range Scanners
Authors:

Mahesh Kr. Singh, K. S. Venkatesh and Ashish Dutta
Abstract: In this paper, we present a new method for range data fusion from two heterogeneous range scanners for accurate surface modeling of rough and highly unstructured terrain. First, we present the segmentation of RGB-D images using the new framework of the GMM by employing the convex relaxation technique. After segmentation of RGB-D images, we transform both the range data to a common reference frame using PCA algorithm and apply the ICP algorithm to align both data in the reference frame. Based on a threshold criterion, we fuse the range data in such a way that the coarser regions are obtained from Kinect sensor and finer regions of plane are obtained from the Laser range sensor. After fusion, we apply Delaunay triangulation algorithm to generate the highly accurate surface model of the terrain. Finally, the experimental results show the robustness of the proposed approach.
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Paper Nr: 214
Title:

Reactive Planning on a Collaborative Robot for Industrial Applications
Authors:

Gautier Dumonteil, Guido Manfredi, Michel Devy, Ambroise Confetti and Daniel Sidobre
Abstract: A challenge for roboticists consist in promoting collaborative robotics for industrial applications, i.e. allowing robots to be used close to humans, without barriers. Safety becomes the key issue. For manipulation tasks, a part of the problem is solved using new arms like the KUKA LWR, able to physically detect a collision from couple measurements on each joint. Nevertheless it is better to avoid collisions, overall if the obstacle is the arm or the head of an operator. This paper describes how obstacles could be detected and avoided, using a single Kinect sensor for the monitoring of the workspace and the reactive planner developped by the Blind company for the the real-time selection of an avoidance trajectory. Experimental results are provided as a proof that our dynamic obstacle avoidance strategy works properly.
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Paper Nr: 28
Title:

Filling Accuracy Analysis of the Rocket Propellant based on the Flowmeter Measuring Model
Authors:

Xiang Youhuan, Zhang Ping, Liu Weidong and Cui Benting
Abstract: The high filling accuracy of rocket propellant is an important guarantee for the success of the rocket launch. In view of the factors that affect filling accuracy of the rocket propellant in the filling system of the spaceflight launch site, the algorithm of propellant filling accuracy calculation based on the flowmeter measuring model is proposed in this paper. It respectively carries through mathematical analyses for the different factors affecting the filling accuracy. Through the proposed algorithm, numerical calculation has been carried on the comprehensive filling accuracy of rocket propellant under the existing filling process. It can provide theoretical basis and data support for optimizing filling control process and improving filling accuracy in the launch site, so as to further improving the success rate of rocket launch.
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Paper Nr: 34
Title:

Comparison of Controllable Transmission Ratio Type Variable Stiffness Actuator with Antagonistic and Pre-tension Type Actuators for the Joints Exoskeleton Robots
Authors:

Hasbi Kizilhan, Ozgur Baser, Ergin Kilic and Necati Ulusoy
Abstract: Exoskeleton robots are used as assistive limbs for elderly persons, rehabilitation for paralyzed persons or power augmentation purposes for healthy persons. The similarity of the exoskeleton robots and human body neuro-muscular system maximizes the device performance. Human body neuro-muscular system provides a flexible and safe movement capability with minimum energy consumption by varying the stiffness of the human joints regularly. Similar to human body, variable stiffness actuators should be used to provide a flexible and safe movement capability in exoskeletons. In the present day, different types of variable stiffness actuator designs are used, and the studies on these actuators are still continuing rapidly. As exoskeleton robots are mobile devices working with the equipment such as batteries, the motors used in the design are expected to have minimal power requirements. In this study, antagonistic, pre-tension and controllable transmission ratio type variable stiffness actuators are compared in terms of energy efficiency and power requirement at an optimal (medium) walking speed for ankle joint. In the case of variable stiffness, the results show that the controllable transmission ratio type actuator compared with the antagonistic design is more efficient in terms of energy consumption and power requirement.
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Paper Nr: 41
Title:

Feasibility Study of a Pair of 2-DOF Step-climbing Units for a Manual Wheelchair User
Authors:

Yoshikazu Mori, Kaoru Katsumura and Katsuya Nagase
Abstract: We have developed a pair of step-climbing units that can be installed in a standard manual wheelchair. We aim to enable manual wheelchair users to establish an independent life that they can lead without assistance. This mechanism is simpler because it uses the capabilities of the wheelchair user. Each unit comprises two actuators and has two degrees of freedom: telescopic motion and rotational motion. We mainly discuss a step-climbing motion using this system. Experimental results obtained when ascending the step of 15 cm height confirm the design's effectiveness.
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Paper Nr: 59
Title:

New Approach to the Artificial Force Concept for Skid-steering Mobile Platform
Authors:

Alicja Mazur, Wojciech Domski, Mirela Kaczmarek and Mateusz Cholewinski
Abstract: In the paper control algorithm for skid-steering mobile platform is presented. For mathematical model of such an object, expressed in auxiliary coordinates, control law based on the idea of artificial force is introduced. A skid-steering mobile platform is an underactuated control system with a rectangular input matrix. In the approach explored in the paper it was assumed that there exists an additional control input, giving an additional column in input matrix and causing this matrix invertible. Because such an actuator does not exist in reality, this input was kept equal to zero equivalently. Simulations have proved proper work of this method.
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Paper Nr: 63
Title:

Detection and Implementation Autonomous Target Tracking with a Quadrotor AR.Drone
Authors:

K. Boudjit and C. Larbes
Abstract: Nowadays, There Are Many Robotic Applications Being Developed to Do Tasks Autonomously without Any Interactions or Commands from Human, Therefore, Developing a System Which Enables a Robot to Do Surveillance Such as Detection and Tracking of a Moving Object Will Lead Us to More Advanced Tasks Carried out by Robots in the Future, AR.Drone Is a Flying Robot Platform That Is Able to Take Role as UAV (Unmanned Aerial Vehicle), Usage of Computer Vision Algorithm Such as Hough Transform Makes It Possible for Such System to Be Implemented on AR.Drone, in This Research, the Developed Algorithm Is Able to Detect and Track an Object with Certain Shape, then the Algorithm Is Successfully Implemented on AR.Drone Quadcopter for Detection and Tracking.
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Paper Nr: 65
Title:

Next Generation Networks for Telecommunications Operators Providing Services to Transnational Smart Grid Operators
Authors:

Gurkan Tuna, George C. Kiokes, Erietta I. Zountouridou and V. Cagri Gungor
Abstract: Due to the networking expertise, services and technical support of telecommunications operators, Smart Grid (SG) operators prefer telecommunications operators for their communications needs instead of creating private networks. In this paper, the use of Next Generation Networks (NGNs) by telecommunications operators to provide services to transnational SG operators for SG applications is evaluated. NGNs are all IP networks which are packet based and use IP to transport the various types of traffic such as data, voice, video, and signalling over converged fixed and mobile networks. The main idea of transnational SG operators is simple. By creating a huge single infrastructure for energy, more than one countries and nations can be powered at once. For this, it is not needed to install very huge power plants. Simply creating a complex network of power grid connections to each participating country is enough. The results of a set of simulation studies are given to show the efficiency of the NGN-based communication infrastructure for SG applications in terms of important network performance metrics. The results show that NGN-based communication infrastructures can carry packets based on their priority levels and bandwidth allocations in order to meet the specific requirements of SG applications.
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Paper Nr: 73
Title:

Feature and Decision Level Audio-visual Data Fusion in Emotion Recognition Problem
Authors:

Maxim Sidorov, Evgenii Sopov, Ilia Ivanov and Wolfgang Minker
Abstract: The speech-based emotion recognition problem has already been investigated by many authors, and reasonable results have been achieved. This article focuses on applying audio-visual data fusion approach to emotion recognition. Two state-of-the-art classification algorithms were applied to one audio and three visual feature datasets. Feature level data fusion was applied to build a multimodal emotion classification system, which helped increase emotion classification accuracy by 4% compared to the best accuracy achieved by unimodal systems. The class precisions achieved by applying algorithms on unimodal and multimodal datasets helped to reveal that different data-classifier combinations are good at recognizing certain emotions. These data-classifier combinations were fused on the decision level using several approaches, which still helped increase the accuracy by 3% compared to the best accuracy achieved by feature level fusion.
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Paper Nr: 81
Title:

A Physics-based Optimization Approach for Path Planning on Rough Terrains
Authors:

Diogo Amorim and Rodrigo Ventura
Abstract: The following paper addresses the problem of applying existing path planning methods targeting rough terrains. Most path planning methods for mobile robots divide the environment in two areas—free and occupied —and restrict the path to lie within the free space. The presented solution addresses the problem of path planning on rough terrains, where the local shape of the environment are used to both constrain and optimize the resulting path. Finding both the feasibility and the cost of the robot crossing the terrain at a given point is cast as an optimization problem. Intuitively, this problem models dropping the robot at a given location (x,y) and determining the minimal potential energy pose (attitude angles and the distance of the centre of mass to the ground). We then applied two path planning methods for computing a feasible path to a given goal: Fast Marching Method (FMM) and Rapidly exploring Random Tree (RRT). Processing the whole mapped area, determining the cost of every cell in the map, we apply a FMM in order to obtain a potential field free of local minima. This field can then be used to either pre-compute a complete trajectory to the goal point or to control, in real time, the locomotion of the robot. Solving the previously stated problem using RRT we need not to process the entire area, but only the coordinates of the nodes generated. This last approach does not require as much computational power or time as the FMM but the resulting path might not be optimal. In the end, the results obtained from the FMM may be used in controlling the vehicle and show optimal paths. The output from the RRT method is a feasible path to the goal position. Finally, we validate the proposed approach on four example environments.
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Paper Nr: 111
Title:

A Formation Control Algorithm by Modified Next-state Approximation to Reduce Communication Requirements in Multirobot Systems
Authors:

Roshin Jacob Johnson and Asokan Thondiyath
Abstract: Multiple robot systems are employed in various applications to get the complex tasks carried out by a group of robots. When Autonomous Underwater Vehicles (AUVs) are employed for underwater missions, they provide higher quality data, more coverage and reduces the mission time, thus resulting in huge cost savings. However, the formation control of such robots depends to a great extent on the communication requirements between the robots. In this paper, we propose a modified next-state approximation algorithm to control the leader follower formation of multiple AUV’s which reduces the communication requirements. The controller drives each follower robot to the next desired position by eliminating the error between the next actual position of follower AUV, computed by considering its current and previous position and its next desired position by using a PID controller. Since this algorithm is independent of time step between states, the amount of information to be transmitted can be reduced by increasing the time steps. The design of the formation controller and its simulation studies for a group of AUVs are presented. The results confirm that the time step increase doesn’t affect the path accuracy and hence the communication requirements get reduced.
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Paper Nr: 115
Title:

Control Algorithm for a Cooperative Robotic System in Fault Conditions
Authors:

Viorel Stoian and Eugen Bobasu
Abstract: This paper expounds a control procedure and a control algorithm with two levels to solve the control problem of a cooperating multi-arm robotic system. This system is composed of a structure like a gripper with n fingers manipulating a usual object. The control system is a hierarchical system. The problems of the inter-coordination and the force distribution are decided by the top tier coordinator which brings together all the appropriate information. This information is directed towards the n inferior level subsystems. The local control is solved by assigning the local controllers based on the inverse model method. The robotic structure is either in a correct position when possible, or by minimising the movements and using the adequate commands to the functional joints, in an acceptable proximity position of the desired co-ordinates. It is also proposed a synthesis of the commands. The paper presents a workspace analysis and an algorithm for the actuators in the terms of a good working for finding the optimal motions by blocking or unblocking some robotic joints.
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Paper Nr: 122
Title:

Socio-cyberphysical System for Proactive Driver Support - Approach and Case Study
Authors:

Alexander Smirnov, Nikolay Shilov and Oleg Gusikhin
Abstract: Recent developments in the areas of decision support, data and decision mining, on-board infotainment systems have produced valuable results that can be used to support people in different aspects of their lives. Infomobile driver support is one of the possible applications of these, what can significant increase the quality of the user experience. The paper presents a developed approach and enabling technologies for implementation of an intelligent driver support system that takes advantages provided by such modern developing technologies as context-based collaborative recommendation systems, proactive information support, smart space, and V2V communication. The developed concept is illustrated via a parking assistance scenario.
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Paper Nr: 132
Title:

A Relative Measurement based Leader-follower Formation Control of Mobile Robots
Authors:

Yu. N. Zolotukhin, K. Yu. Kotov, A. S. Maltsev, A. A. Nesterov, M. A. Sobolev and M. N. Filippov
Abstract: This paper deals with leader-follower formations of nonholonomic mobile robots and introduces a new nonlinear control method for the robot motion in formation. Proposed approach enables to track the target position and is based on using a forced movement along the desired trajectory in the state space. Moreover, this approach requires only relative and local motion sensors data. Simulation results have demonstrated the effectiviness and robustness of the proposed control shemes.
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Paper Nr: 135
Title:

Y-Pod Formation of Swarm Robots using Amber Force Fields
Authors:

Purushotham Muniganti and Albert Oller Pujol
Abstract: In this paper proposes a new idea inspired form molecular dynamics theory, i.e. amber force fields to form a Y-Pod formation of swarm robots. From a molecular dynamics point of view, molecules which contain large amounts of atoms form desired crystallization formations. So, we barrowed this idea and each atom is treated as an atom robot to form the desired pattern. In molecules, bond length and bond angle parameters are chosen from empirical values. However, in our task the chosen simulation tuned the parameters to eventually control the robots in terms of force fields and alignment to overcome cohesiveness and consensus problems. Finally, an implemented virtual leader carried Y-Pod formation to reach the desired destination point.
Paper Nr: 147
Title:

Bio-inspired Morphing Caudal Fin using Shape Memory Alloy Composites for a Fish-like Robot - Design, Fabrication and Analysis
Authors:

William Coral, Claudio Rossi and Irene Perrino Martin
Abstract: In this paper, we present the design and fabrication of a bio-inspired caudal fin actuator for propulsion and maneuvering purposes in a fish-like robot. Shape memory alloy (SMA) composite actuator is customized to provide the necessary work out for the caudal fin. The pocket holes guide, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of cellulose acetate film, sandwiched between two layers of silicone rubber. Instead of using joints, four SMAs are fixed along the soft structure of the caudal fin and bend this to a certain mode shape. The caudal fin actuator was inspired by Largemouth Bass, which uses sub-carangiform mode swimming and the caudal fin during steady swimming and maneuvering.
Paper Nr: 148
Title:

Comparison of Robust Control Techniques for Use in Flight Simulator Motion Bases
Authors:

Mauricio Becerra-Vargas
Abstract: The purpose of this study is to analyse and compare three control strategies based on the inverse dynamics control structure for a six degree of freedom flight simulator motion base driven by electromechanical actuators. All strategies are applied in the outer loop of the inverse dynamic control structure by considering imperfect compensation of the nonlinearities. Imperfect compensation is intentionally introduced in order to simplify the implementation of the inverse dynamic control structure. The first strategy is just a proportional and derivative control, the second is based on Lyapunov stability theory and the third is based on H-Infinity theory. Acceleration step response and smoothness of the actuators driven torques were used to compare the performance of the controllers. The results are based on numerical simulations.
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Paper Nr: 151
Title:

Three-Layered Software Architecture and Its Variability for Teleoperated System
Authors:

Yasuharu Kunii, Yoshiki Matsui and Masaru Furukawa
Abstract: In a teleoperated system, robots are often required to easily change among various modes of operation; further, an efficient development of large-scale teleoperated systems is desired. Thus, we propose a three-layer software architecture implemented using a database node module (DNM). All modules are connected to a DNM, with connections among modules defined as virtual connections. It is possible to change connections during operation via the virtual connection of the DNM, and the DNM can achieve high-speed communication and high-speed connection changes. We examined the evaluation index of our module design using this architecture because module interface and function design influence the architecture. Finally, we confirmed that a robot based on our architecture worked in a real environment.
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Paper Nr: 170
Title:

A Tactile-based Grasping Strategy for Deformable Objects’ Manipulation and Deformability Estimation
Authors:

A. Delgado, C. A. Jara, D. Mira and F. Torres
Abstract: Grasping and manipulating deformable objects with a robot hand has several interesting challenges. Deformable objects, due to its texture and deformability, present different features from rigid ones and that issue can cause uncontrolled movements during grasping and/or manipulation. The paper presents a control strategy for grasping deformable objects, focused on elastic foams, based on tactile information. An adaptation at different elastic properties of the object is achieved, because the deformability degree is estimated during the grasping process. Several experiments are shown in order to demonstrate the reliability of the tactile-based strategy.
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Paper Nr: 171
Title:

A Trajectory Tracking Control of a Skid Steered Mobile Cleaning Robot
Authors:

Seungwoo Jeon Jeon, Wootae Jeong, Soon-Bark Kwon, Cheulkyu Lee and Duckshin Park
Abstract: Cleaning accumulated dusts inside air ventilation ducts of underground facilities is an essential process to improve indoor air quality, especially at the underground facilities such as subway platforms. Therefore, various autonomous mobile duct cleaning robots have been actively studied to be applied at the closed space of the ventilation duct. In this paper, the four wheeled skid steering mobile platform with rotating brush-arms has been developed and proposed an effective skid steering control technique under changeable center of mass (CM) of the platform. The shifted CM of the platform and unstable disturbances acting on the rotating brushes from cleaning surfaces can change the dynamic steering characteristics of the platform. Therefore, this paper also proposes a new integrated backstepping and I-PD controller for stable trajectory tracking of the platform and proves the effects of the controller through simulations.
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Paper Nr: 181
Title:

Impedance Control based Force-tracking Algorithm for Interaction Robotics Tasks: An Analytically Force Overshoots-free Approach
Authors:

Loris Roveda, Federico Vicentini, Nicola Pedrocchi and Lorenzo Molinari Tosatti
Abstract: In the presented paper an analytically force overshoots-free approach is described for the execution of robotics interaction tasks involving a compliant (of unknown geometrical and mechanical properties) environment. Based on the impedance control, the aim of the work is to perform force-tracking applications avoiding force overshoots that may result in task failures. The developed algorithm shapes the equivalent stiffness and damping of the closed-loop manipulator to regulate the interaction dynamics deforming the impedance control set-point. The force-tracking performance are obtained defining the control gains analytically based on the estimation of the interacting environment stiffness (performed using an Extended Kalman Filter). The method has been validated in a probing task, showing the avoidance of force overshoots and the achieved target dynamic performance.
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Paper Nr: 184
Title:

Human Motion Tracking Control for Humanoid Robot based on the Optimized Motion Retargeting
Authors:

Wenjie Wang, Weiwei Yu, Xiansheng Qin, Hongbo Wang, Jie Hong and Yangyang Feng
Abstract: The main objective of this study is to provide a motion retargeting method for mapping the human motion to the humanoid robot. This paper describes the procedure to generate human-like upper limbs motion of a humanoid robot while maintaining balance. The human motions are acquired by the inertial measurement units (IMU). The motion retargeting method is implemented with four steps: kinematics modelling, inverse kinematics computation, enforcing constraints and difference optimization. Our method integrates multiply existing mature technologies to build a human-robot interaction system to imitate the human motion on a robot. Finally, the method is verified on a humanoid robot Nao to generate a human-like motion. Experimental results demonstrate that the method achieves a good kinematic match.
Paper Nr: 188
Title:

Issues and Challenges in Robotic Trimming of CFRP
Authors:

Mohamed Slamani and Jean Francois Chatelain
Abstract: Thanks to their adaptability, programmability, high dexterity and good maneuverability, industrial robots offer more cutting-edge and lower-cost than machine tools to bring molded Carbon Fibre Reinforced Polymers (CFRPs) parts to their final shapes and sizes. However, the quality of CFRP parts obtained with robotic machining must be comparable to that obtained with a CNC machine. In addition, the robot itself has to be very stiff and accurate to provide the same consistency and accuracy as their machine tool counterparts. If the robot is not sufficiently stiff, chatter, overall vibrations and deviations in shape and position of the workpieces will occur. Furthermore, during robotic machining of Carbon Fibre Reinforced Polymer, the anisotropic and highly abrasive nature of CFRPs combined with the higher cutting forces and the lower stiffness of the robot, lead to numerous machining problems. Therefore, robotic machining of CFRPs stills a big challenge and need further research. In this position paper, a methodology has been developed and implemented to identify, understand and quantify the machining errors that can alter parts accuracy during high speed robotic trimming of CFRPs.
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Paper Nr: 191
Title:

Motion Curved Surface Analysis and Composite for Skill Succession using RGBD Camera
Authors:

Kaoru Mitsuhashi, Hiroshi Hashimoto and Yasuhiro Ohyama
Abstract: The skill succession method is almost oral. It is not quantitative but qualitative. Quantitative succession is difficult. In this research, after tracking of a subject's motion using RGBD camera, a subject's motion is visualized as the motion curved surface. Expert and beginner perform the sports and entertainment motion, and the character of the surface is analyzed. The character is the maximum curvature and surface area. In addition, we suggest the composite surface, because one RGBD camera is not all tracking motion by occluding the obstacle or subject’ body parts. Finally, we confirm the validity of skill succession by watching skeleton motion movie and curved surface.
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Paper Nr: 193
Title:

Dynamic Obstacle Avoidance using Online Trajectory Time-scaling and Local Replanning
Authors:

Ran Zhao and Daniel Sidobre
Abstract: In various circumstances, planning at trajectory level is very useful to generate flexible collision-free motions for autonomous robots, especially when the system interacts with humans or human environment. This paper presents a simple and fast obstacle avoidance algorithm that operates at the trajectory level in real-time. The algorithm uses the Velocity Obstacle to obtain the boundary conditions required to avoid a dynamic obstacle, and then adjust the time evolution using the non-linear trajectory time-scaling scheme. A trajectory local replanning method is applied to make a detour when the static obstacles block the advance path of the robot, which leads to failure of implementing time-scaling approach. Cubic polynomial functions are used to describe trajectories, which brings sufficient flexibility in terms of providing higher order smoothness. We applied this algorithm on reaching tasks for a mobile robot. Simulation results demonstrate that the technique can generate collision-free motion in real time.
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Paper Nr: 198
Title:

Salient Foreground Object Detection based on Sparse Reconstruction for Artificial Awareness
Authors:

Jingyu Wang, Ke Zhang, Kurosh Madani, Christophe Sabourin and Jing Zhang
Abstract: Artificial awareness is an interesting way of realizing artificial intelligent perception for machines. Since the foreground object can provide more useful information for perception and informative description of the environment than background regions, the informative saliency characteristics of the foreground object can be treated as a important cue of the objectness property. Thus, a sparse reconstruction error based detection approach is proposed in this paper. To be specific, the overcomplete dictionary is trained by using the image features derived from randomly selected background images, while the reconstruction error is computed in several scales to obtain better detection performance. Experiments on popular image dataset are conducted by applying the proposed approach, while comparison tests by using a state of the art visual saliency detection method are demonstrated as well. The experimental results have shown that the proposed approach is able to detect the foreground object which is distinct for awareness, and has better performance in detecting the information salient foreground object for artificial awareness than the state of the art visual saliency method.
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Area 4 - Signal Processing, Sensors, Systems Modelling and Control

Full Papers
Paper Nr: 48
Title:

Freezing Method Approach to an Asymptotic Stability of the Discrete-time Oscillator Equation
Authors:

Artur Babiarz, Adam Czornik and Michal Niezabitowski
Abstract: The presented research work considers stability criteria of second-order differential equation. The second-order discrete-time oscillator equation is obtained from discretization of second order continuous-time equation using the forward difference operator. The stability criteria are drawn with freezing method and are presented in the terms of the equation coefficients. Finally, an illustrative example is shown.
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Paper Nr: 52
Title:

Inferential Active Disturbance Rejection Control of a Distillation Column using Dynamic Principal Component Regression Models
Authors:

Fahad Al Kalbani and Jie Zhang
Abstract: This paper presents a multivariable inferential active disturbance rejection control (ADRC) method for product composition control in distillation columns. The proposed control strategy integrates ADRC with inferential feedback control. In order to overcome long time delay of gas chromatography in measuring product compositions, static and dynamic estimators for product compositions have been developed. The top and bottom product compositions are estimated using multiple tray temperatures. In order to overcome the colinearity issue in tray temperatures, principal component regression is used to build the estimator. The proposed technique is applied to a simulated methanol-water separation column. It is shown that the proposed control strategy gives good setpoint tracking and disturbance rejection control performance.
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Paper Nr: 66
Title:

Comparison of Two Radar-based Scanning-techniques for the Use in Robotic Mapping
Authors:

Paul Fritsche and Bernardo Wagner
Abstract: This paper will introduce two radar-based scanning-methods and evaluate their application in robotic mapping. Both approaches base upon a rotary joint, but with a fundamentally different angle estimation method to estimate object locations inside the scanning area. The first part of this paper describes the relevant theory behind both techniques and presents our considerations on erroneous influences. The focus of the second part of this paper is laying on experiments. We discuss the results of our experiments and take a look on the usability of both methods for occupancy grid mapping.
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Paper Nr: 89
Title:

Trajectory Tracking Control of Robot Manipulators using Discrete Time-varying Pole Placement Technique
Authors:

Yasuhiko Mutoh, Masakatsu Kemmotsu and Lisa Awatsu
Abstract: For the trajectory tracking control problem of nonlinear systems, the most basic and classic strategy may be applying the linear control technique to a linear time-varying approximate model around some desired trajectory. However, this method is not commonly used because the design of a linear time-varying controller is not simple. The authors proposed the simple design method of the pole placement controller for linear time-varying discrete systems. In this paper, to show the applicability of the proposed linear time-varying discrete pole placement technique to the trajectory tracking control problem of nonlinear systems, we apply this control method to actual 2-link robot manipulator and present the experimental results.
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Paper Nr: 91
Title:

Bayesian Quadrature in Nonlinear Filtering
Authors:

Jakub Prüher and Miroslav Šimandl
Abstract: The paper deals with the state estimation of nonlinear stochastic discrete-time systems by means of quadrature-based filtering algorithms. The algorithms use quadrature to approximate the moments given by integrals. The aim is at evaluation of the integral by Bayesian quadrature. The Bayesian quadrature perceives the integral itself as a random variable, on which inference is to be performed by conditioning on the function evaluations. Advantage of this approach is that in addition to the value of the integral, the variance of the integral is also obtained. In this paper, we improve estimation of covariances in quadrature-based filtering algorithms by taking into account the integral variance. The proposed modifications are applied to the Gauss-Hermite Kalman filter and the unscented Kalman filter algorithms. Finally, the performance of the modified filters is compared with the unmodified versions in numerical simulations. The modified versions of the filters exhibit significantly improved estimate credibility and a comparable root-mean-square error.
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Paper Nr: 108
Title:

LQG/LTR Versus Smith Predictor Control for Discrete-time Systems with Delay
Authors:

Dariusz Horla and Andrzej Krolikowski
Abstract: A simple LQG control with no control cost is considered for discrete-time systems with input delay. In such case the loop transfer recovery (LTR) effect can be obtained especially for minimum-phase systems. The robustness of this control is analyzed and compared with state prediction control whose robustness stability is formulated via LMI. The robustness with respect to uncertain time-delay is considered including the control systems with Smith predictor-based controllers. Computer simulations of a second-order stable, unstable and nonminimum-phase systems with time-delay are given to illustrate the robustness and performance of the considered controllers.
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Paper Nr: 110
Title:

Multiple Sensor Fusion using Adaptive Divided Difference Information Filter
Authors:

Aritro Dey, Smita Sadhu and Tapan Kumar Ghoshal
Abstract: This paper addresses the problem of multiple sensor fusion in situations where the system dynamics suffers from unknown parameter variation. An adaptive nonlinear information filter has been proposed for such multi sensor estimation problems where the process noise covariance becomes unknown as a consequence of unknown parameter variation. The proposed filter, based on the Divided Difference interpolation formula, ensures satisfactory estimation performance by online adaptation of the unknown process noise covariance and makes sensor fusion successful. Efficacy of the proposed filter is demonstrated with the help of a tracking problem in a sensor fusion configuration. Results from Monte Carlo simulation indicate that though the process noise covariance is unknown, the performance of the proposed filter is demonstrably superior to its non adaptive version in the context of joint estimation of parameter and states.
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Paper Nr: 112
Title:

Sign Subband Adaptive Filter with Selection of Number of Subbands
Authors:

Jae Jin Jeong, Seung Hun Kim, Gyogwon Koo and Sang Woo Kim
Abstract: The sign subband adaptive filter (SSAF) algorithm is introduced to reduce performance degradation of least-mean-square-type algorithms due to a correlated input signal or an impulsive noise environments. However, this algorithmh has huge computational complexity when the length of the unknown system is large. In this paper, we focus on reduce computational complexity of the conventional SSAF algorithm and propose an SSAF algorithm which selects number of subbands according to convergence state. The specific bands which contributes to decrease the mean-square deviation are used to update the adaptive filter. Thus, the proposed algorithm reduces the computational complexity compared to the conventional SSAF algorithm. The selection mehtod is derived by analysing the mean-square deviation. Through the computer simulation, simulation results are presented that demonstrate the fast convergence rate of the proposed algorithm and save the computational cost.
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Paper Nr: 190
Title:

Application of Sliding Mode Control to the Ball and Plate Problem
Authors:

David Debono and Marvin Bugeja
Abstract: This paper proposes and investigates the application of sliding mode control to the ball and plate problem. The nonlinear properties of the ball and plate control system are first presented. Then the experimental setup designed and built specifically for the purpose of this research is discussed. The paper then focuses on the implementation and thorough evaluation of the experimental results obtained with two different control schemes: the linear full-state feedback controller and the sliding mode controller. The latter control strategy was selected for its robust and order reduction properties. Finally the control performance of the two controllers is analysed. The sliding controller manages to obtain a faster and more accurate operation for continuously changing reference inputs. The robustness of the proposed control scheme is also verified, since the system’s performance is shown to be insensitive to parameter variations.
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Paper Nr: 215
Title:

Coupling Analysis and Control of a Turboprop Engine
Authors:

C. Le Brun, E. Godoy, D. Beauvois, B. Liacu and R. Noguera
Abstract: The goal of this paper is to describe the different steps of the decentralized control design applied on a turboprop engine. An important part of the present approach is the interaction analysis, which leads to the choice of a decentralized strategy with a full compensator. After designing the control laws, the structured singular value approach has allowed to validate the robustness of these. Control laws have finally been interpolated before implementation on the non-linear simulation model of turboprop engine.
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Short Papers
Paper Nr: 38
Title:

Gaussian Mixture Measurements for Very Long Range Tracking
Authors:

Qian Zhang and Taek Lyul Song
Abstract: Target tracking with very long range is studied in this paper. Such tracking problem has severe measurement nonlinearity that will cause consistency problems and large tracking errors. Gaussian mixture measurements are obtained by dividing the measurement likelihood into several Gaussian components. The Gaussian Mixture Measurement-Integrated Track Splitting (GMM-ITS) is applied to very long range tracking scenarios. The simulation results show that the GMM-ITS can produce consistency in the filtering results crucial to the filter performance. Furthermore, it is also able to estimate the target state accurately with small tracking errors.
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Paper Nr: 46
Title:

An Explicit Bound for Stability of Sinc Bases
Authors:

Antonio Avantaggiati, Paola Loreti and Pierluigi Vellucci
Abstract: It is well known that exponential Riesz bases are stable. The celebrated theorem by Kadec shows that 1/4 is a stability bound for the exponential basis on L2(-p,p). In this paper we prove that a/p (where a is the Lamb- Oseen constant) is a stability bound for the sinc basis on L2(-p,p). The difference between the two values a/p - 1/4, is ˜ 0.15, therefore the stability bound for the sinc basis on L2(-p,p) is greater than Kadec’s stability bound (i.e. 1/4).
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Paper Nr: 49
Title:

Modeling the G-Protein Signaling of the Retina with Fractional Calculus
Authors:

Antal Martinecz and Mihoko Niitsuma
Abstract: The first part of a cone’s signal transduction is investigated from an image processing perspective in order to find out what differentiates (human) vision from computer vision. We found that the activity of cone opsins— visual pigments that are activated by the impact of a photon—can be described as an approximation of a fractional integrator of order 0.1–0.2 on frequencies between 1–30 Hz. We explore how this affects the output signal and provide examples of how this can be used for noise reduction and image processing. We also present a simplified model since these processes require excessive computational power for computer vision modeling.
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Paper Nr: 55
Title:

Optimal H2 Filtering for Linear Stochastic Systems with Multiplicative White Noise Perturbations and Sampled Measurements
Authors:

Vasile Dragan, Samir Aberkane and Ioan-Lucian Popa
Abstract: This paper addresses the problem of optimal H2 filtering for a class of continuous-time stochastic systems with periodic sampled measurements. The class of admissible filters consists of deterministic continuous-time periodic systems with finite jumps. The optimal solution of the considered optimization problem is obtained by integrating a suitably defined generalized continuous-time Riccati equation with finite jumps.
Paper Nr: 60
Title:

HVDC Line Parameters Estimation based on Line Transfer Functions Frequency Analysis
Authors:

Jocelyn Sabatier, Toni Youssef and Mathieu Pellet
Abstract: This paper proposes a method to estimate HVDC line parameters. After a reminder on the transfer functions that characterise the dynamic behaviour of a DC line, link between these transfer functions resonance frequencies and the line parameters is established. This link is then used to estimate the line parameters, the resonance frequencies being determined using the power spectral density of voltage signals at the input and output of the line. A numerical example highlights the efficiency of the proposed method.
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Paper Nr: 83
Title:

Robust Affine Projection Algorithm using Selectively Shrunk Error Component
Authors:

Seung Hun Kim, Jae Jin Jeong, Gyogwon Koo and Sang Woo Kim
Abstract: A novel robust affine projection algorithm (APA) is proposed, which selectively shrinks error components in an error vector according to their individual possibilities of being interrupted by the impulsive noise. In existing robust APAs, if there exists only one error component interrupted by the impulsive noise, all error components of an error vector are shrunk using common step sizes which are inversely proportional to the norm of the error vector. This improper scaling results in performance degradation with a high impulsive noise probability and projection order. In this paper, we derive a modified minimization criterion considering the individual possibilities of error components from a geometric interpretation. For a wide range of impulsive noise probability and a high projection order, the performance of the proposed algorithm is verified in various system identification events including an abrupt system change. The proposed algorithm showed the fastest convergence rate and the lowest steady-state mean square deviation compared to the previous robust APAs and a recent variable step-size affine projection sign algorithm.
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Paper Nr: 92
Title:

Tracking Control Synthesis of Nonlinear Polynomial Systems
Authors:

Bassem Iben Warrad, Mohamed Karim Bouafoura and Naceur Benhadj Braiek
Abstract: In this paper, tracking control of nonlinear polynomial systems is investigated. A nonlinear state feedback is derived using orthogonal functions and Kronecker product. The main objective is to force the controlled system output to follow that of a linear reference model. The useful properties of the considered basis transform the differential equations into algebraic ones depending only on the parameters of the feedback regulator, which can be solved in the least square sense. The efficiency of the proposed control strategy is illustrated by a single-link flexible joint robot.
Paper Nr: 104
Title:

A 2 Dimensional Dynamical Model of Asphalt-roller Interaction during Vibratory Compaction
Authors:

Syed Asif Imran, Sesh Commuri and Musharraf Zaman
Abstract: The quality and longevity of an asphalt pavement is influenced by several factors including, the design of the mix and environmental factors at the time of compaction. These factors are difficult to control during the construction process and often result in inadequate compaction of the pavement. Intelligent Compaction (IC) technologies address this issue by providing continuous real-time estimation of the compaction level achieved during construction. This information can then be used to address quality issues during construction and improve the overall quality of the pavement. One of the goals of IC is the dynamic adjustment of the compaction effort of the vibratory roller in order to achieve uniform density and stiffness of the pavement. However, complex dynamics of the compaction process and lack of computationally tractable dynamical models hamper the development of such controllers of vibratory rollers. In this study, the interaction between the vibratory roller and the underlying pavement is studied. A two-dimensional lumped element model that can replicate the compaction in the field is developed and its parameters are determined using the visco-elastic plastic properties and the shear deformation properties of the asphalt mix. Numerical simulation results show that the model is capable of capturing the coupled vibration dynamics of the asphalt-roller system in both the vertical and longitudinal direction. Comparison of numerical studies with the field compaction data also indicates that the model can be helpful in the development of control algorithms to improve the quality of pavements during their construction.
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Paper Nr: 105
Title:

Calibration of Laser Range Finders for Mobile Robot Localization in ITER
Authors:

Tiago Sousa, Alberto Vale and Rodrigo Ventura
Abstract: Remote maintenance operations in the experimental fusion reactor ITER may require vehicle localization, for which one of the proposed methods is based on a network of Laser Range Finder sensor measurements. This localization method requires an accurate knowledge of each sensor pose (position and orientation). A deviation in sensor pose can compromise localization accuracy thereby recalibration procedure for the sensor poses is often necessary. This paper studies several calibration algorithms based on ICP. Simulation and experimental tests were carried out for different maps and situations regarding sensor pose uncertainty. The conclusion proposes the best suited algorithms for each scenario.
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Paper Nr: 123
Title:

Multiple Model SPGPC for Blood Pressure Control
Authors:

Humberto A. Silva, André Maitelli, Celina Leão and Eurico Seabra
Abstract: Multiple model adaptive control procedures have been considered for a computer-based feedback system, which regulates the infusion rate of a drug (nitroprusside) in order to maintain the blood pressure as close as possible to the desirable value. Transfer function parameters can differ significantly between patients, and also time-dependent, so the development of a suitable algorithm becomes required not only for maintaining steady-state but also the transient specifications. In this paper, based on computer simulations, a multiple model adaptive control procedures show to be successfully applied to blood pressure control, despite the uncertainty related with delays, time constant and gains associated.
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Paper Nr: 127
Title:

Making the Investigation of Huge Data Archives Possible in an Industrial Context - An Intuitive Way of Finding Non-typical Patterns in a Time Series Haystack
Authors:

Yavor Todorov, Sebastian Feller and Roger Chevalier
Abstract: Modern nuclear power plants are equipped with a vast variety of sensors and measurement devices. Vibrations, temperatures, pressures, flow rates are just the tip of the iceberg representing the huge database composed of the recorded measurements. However, only storing the data is of no value to the information-centric society and the real value lies in the ability to properly utilize the gathered data. In this paper, we propose a knowledge discovery process designed to identify non-typical or anomalous patterns in time series data. The foundations of all the data mining tasks employed in this discovery process are based on the construction of a proper definition of non-typical pattern. Building on this definition, the proposed approach develops and implements techniques for identifying, labelling and comparing the sub-sections of the time series data that are of interest for the study. Extensive evaluations on artificial data show the effectiveness and intuitiveness of the proposed knowledge discovery process.
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Paper Nr: 131
Title:

Predictor-based Control of Human Emotions When Reacting to a Dynamic Virtual 3D Face Stimulus
Authors:

Vytautas Kaminskas, Edgaras Ščiglinskas and Aušra Vidugiriene
Abstract: This paper introduces how predictor-based control principles are applied to the control of human emotion – excitement and frustration – signals. We use changing distance-between-eyes in a virtual 3D face as a control signal. A predictor-based control law is synthesized by minimizing control quality criterion in an admissible domain. Admissible domain is composed of input signal boundaries. Relatively high control quality of excitement and frustration signals is demonstrated by modelling results. Input signal boundaries allow decreasing variation of changes in a virtual 3D face.
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Paper Nr: 141
Title:

Nonlinear Control Design of VSC-MTDC Systems based on Backstepping Approach
Authors:

Mohamed Ayari, Mohamed Moez Belhaouane, Xavier Guillaud and Naceur Benhadj Braiek
Abstract: This paper deals with the nonlinear control approach of Voltage Source Converter (VSC) based on MTDC (multi-terminal direct current) transmission systems. A nonlinear control approach based on Backstepping method is proposed for two different control methods: active power and DC voltage. The proposed control approach, based on Lyapunov theory, is capable of analytically obtaining a control laws in order to regulate the active power and dc bus voltage in an MTDC system. Furthermore, the dynamic interactions between the active power nonlinear control design and the DC voltage droop control are examined. Finally, the validity of the proposed control design approach is verified by time-domain simulations under the Matlab/ Simulink environment.
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Paper Nr: 201
Title:

Multicriteria Neural Network Design in the Speech-based Emotion Recognition Problem
Authors:

Christina Brester, Eugene Semenkin, Maxim Sidorov and Olga Semenkina
Abstract: In this paper we introduce the two-criterion optimization model to design multilayer perceptrons taking into account two objectives, which are the classification accuracy and computational complexity. Using this technique, it is possible to simplify the structure of neural network classifiers and at the same time to keep high classification accuracy. The main benefits of the approach proposed are related to the automatic choice of activation functions, the possibility of generating the ensemble of classifiers, and the embedded feature selection procedure. The cooperative multi-objective genetic algorithm is used as an optimizer to determine the Pareto set approximation in the two-criterion problem. The effectiveness of this approach is investigated on the speech-based emotion recognition problem. According to the results obtained, the usage of the proposed technique might lead to the generation of classifiers comprised by fewer neurons in the input and hidden layers, in contrast to conventional models, and to an increase in the emotion recognition accuracy by up to a 4.25% relative improvement due to the application of the ensemble of classifiers.
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Paper Nr: 206
Title:

A Study on Several Machine Learning Methods for Estimating Cabin Occupant Equivalent Temperature
Authors:

Diana Hintea, James Brusey and Elena Gaura
Abstract: Occupant comfort oriented Heating, Ventilation and Air Conditioning (HVAC) control rises to the challenge of delivering comfort and reducing the energy budget. Equivalent temperature represents a more accurate predictor for thermal comfort than air temperature in the car cabin environment, as it integrates radiant heat and airflow. Several machine learning methods were investigated with the purpose of creating an estimator of cabin occupant equivalent temperature from sensors throughout the cabin, namely Multiple Linear Regression, MultiLayer Perceptron, Multivariate Adaptive Regression Splines, Radial Basis Function Network, REPTree, K-Nearest Neighbour and Random Forest. Experimental equivalent temperature and cabin data at 25 points was gathered in a variety of environmental conditions. A total of 30 experimental hours were used for training and evaluation of the estimator's performance. Most machine learning tehniques provided a Root Mean Square Error (RMSE) between 1.51 °C and 1.85 °C , while the Radial Basis Function Network performed the worst, with an average RMSE of 3.37 °C . The Multiple Linear Regression had an average RMSE of 1.60 °C over the eight body part equivalent temperatures and also had the fastest processing time, enabling a straightforward real-time implementation in a car's engine control unit.
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Paper Nr: 207
Title:

Dictionary Learning: From Data to Sparsity Via Clustering
Authors:

Rajesh Bhatt and Venkatesh K. Subramanian
Abstract: Sparse representation based image and video processing have recently drawn much attention. Dictionary learning is an essential task in this framework. Our novel proposition involves direct computation of the dictionary by analyzing the distribution of training data in the metric space. The resulting representation is applied in the domain of grey scale image denoising. Denoising is one of the fundamental problems in image processing. Sparse representation deals efficiently with this problem. In this regard, dictionary learning from noisy images, improves denoising performance. Experimental results indicate that our proposed approach outperforms the ones using K-SVD for additive high-level Gaussian noise while for the medium range of noise level, our results are comparable.
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Paper Nr: 8
Title:

A Comparison of Robust Model Predictive Control Techniques for a Continuous Bioreactor
Authors:

V. E. Ntampasi and O. I. Kosmidou
Abstract: Biotechnology industry is expanded rapidly due to the progress in the understanding of bio-systems and the increased demand for products. Since bioprocess dynamics are almost always affected by physical parameter variations and external disturbances, the need for robust control techniques is of major importance in order to ensure the desired behavior of the process. The overall process equilibrium is guaranteed if all quantities in the bioreactor remain into prescribed ranges. In recent years, closed-loop control methods have been used in order to cope with uncertainty and an important number of constraints imposed by the physical system. For this purpose, predictive control is a quite promising technique. In the present paper three robust model predictive control (RMPC) techniques are used in order to regulate the substrate concentration and the biomass production in a bioreactor. These techniques are applied to a continuous bioreactor in which the pH changes are considered as disturbances while the air pressure is ignored by the process model. For the simulation purposes a linearized model of the system has been used in which the uncertainty is described in the form of a disturbance term. The effectiveness of the methods is illustrated by means of simulation results.
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Paper Nr: 24
Title:

Experimental Modal Analysis based on a Gray-box Model of Flexible Structures
Authors:

Alberto Cavallo, Giuseppe De Maria, Michele Iadevaia, Ciro Natale and Salvatore Pirozzi
Abstract: The main objective of this paper is to propose an experimental modal analysis procedure, based on the use of a gray-box model for flexible structures. The described approach presents interesting advantages with respect to commercial solutions: ease of use due to the low number of parameters to set for an identification session; no need for expert users, even in the presence of particular cases such as double modes, since it does not use a stabilization diagram to be elaborated; use of a gray-box model whose unknown parameters have a clear physical meaning. All these characteristics are discussed in the paper, and the performance of the proposed procedure has been evaluated by using experimental data available from a non-trivial standard benchmark. The results have been compared with those obtained by using a commercial tool.
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Paper Nr: 31
Title:

Determination and Control of the Satellites’ Attitude by using a Pyramidal Configuration of Four Control Moment Gyros
Authors:

Romulus Lungu, Mihai Lungu and Mihai Ioan
Abstract: The paper presents a new architecture for mini-satellites’ attitude control using a cluster consisting of four control moment gyros, in pyramidal configuration, and feedback from the quaternion and angular velocity vectors. The designed control law modifies the cluster’s equivalent gyroscopic moment, the equivalent kinetic moment and the angular velocities’ vector, this leading to the modification of the quaternion vector and to the change of the satellite‘s attitude. Matlab environment is used for the architecture’s software implementation and validation, this being achieved for a mini-satellite involved in a typical motion around its own axis.
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Paper Nr: 44
Title:

Discrete Sliding Mode Control for a VCM Positioning System
Authors:

Kuo-Ming Chang, Huang-Sheng Kung and Yung-Tien Liu
Abstract: In this paper, a discrete control system is implemented for a positioning device using a voice-coil motor (VCM). The VCM positioning system is configured with a proportional-Integrator observer (PIO) and discrete sliding mode controller (DSMC). Since the PIO could estimate system unmeasurable parameters for compensation, the implemented control system subject to uncertainty might feature high robustness. Through experimental examinations of step response for a sliding stage under dry friction and with a mass of 728 g, the position error of 7.3 µm was obtained for a step command of 3 mm. The percentage of position error is 0.25%. Compared with that obtained by using the PID controller is 0.57%, the superiority of the implemented control system is demonstrated.
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Paper Nr: 78
Title:

Design, Analysis and Control of a Semi-active Magnetic Bearing System for Rotating Machine Applications
Authors:

T.-J. Yeh
Abstract: In this paper, a semi-active magnetic bearing system which incorporates both the active and passive magnetic bearings is proposed for rotating machine applications. Particularly, the design, analysis, and control issues of the semi-active system are investigated by using an axial fan as the platform. In the proposed system, while the rotor is levitated axially by the active bearing, its radial and tilting stabilities are guaranteed by the passive bearings. By carefully designing the radial and tilting stiffnesses of the passive bearings and the controller of the active bearing, the system can be successfully operated to the rated speed of 4000rpm. Because the semi-active magnetic system is frictionless and consumes insignificant power in levitation, its total power consumption is 14.7% less than the conventional fan in which mechanical ball bearings are used.
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Paper Nr: 95
Title:

Statistical Linearization and Consistent Measures of Dependence: A Unified Approach
Authors:

Kirill Chernyshov
Abstract: The paper presents a unified approach to the statistical linearization of input/output mapping of non-linear discrete-time stochastic systems driven with white-noise Gaussian process. The approach is concerned with a possibility of applying any consistent measures of dependence (that is those measures of dependence of a pair of random values, which vanish if and only if these random values are stochastically independent) in statistical linearization problems and oriented to the elimination of drawbacks concerned with applying correlation and dispersion (based on the correlation ratio) measures of dependence, based on linearized representations of their input/output models.
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Paper Nr: 114
Title:

Study of Energy Evaluation Control
Authors:

Yasushi Yamamoto, Shinya Hasegawa, Satoru Iwamori and Shigeru Yamaguchi
Abstract: One of the objectives in control theory is to ensure that a control system converges to a target state in the shortest possible time. To achieve that objective, we studied a control method that combines the Lagrangian, the Hamiltonian, and a bang-bang controller. Referred to as energy evaluation control (EEC), this method evaluates the control state using the Lagrangian, and evolves the control output using the Hamiltonian. Here, the Lagrangian and the Hamiltonian are defined for the deceleration field. The control result from the EEC is fast and robust. Moreover, EEC has the same control strategy as the sliding-mode control, and hence can be incorporated within it.
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Paper Nr: 117
Title:

Analysis of Relay Effect on Wireless Power Transfer
Authors:

Mahdi Zarif, Hamed Aliabadi and Sadegh Khaleghi
Abstract: Witricity, the technology of wireless power transfer (WPT) over a limited distance via coupled magnetic resonances in the non-radiative near-field, has been the center of researcher’s attention over the recent years. As the main concern about this technology, there has been great effort to transfer electricity over longer distances using resonant coil (Relay). However, despite all benefits and advantages of the resonant coils, they bring about some undesirable effects on the system which have never been considered to date. This paper provides an analysis on the results of a system with the resonant frequency of 2.8 MHZ.
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Paper Nr: 121
Title:

Diagonal Stability of Uncertain Interval Systems
Authors:

Vakif Dzhafarov (Cafer), Taner Büyükköroğlu and Bengi Yildiz
Abstract: In this paper we consider the problem of diagonal stability of interval systems. We investigate the existence and evaluation of a common diagonal solution to the Lyapunov and Stein matrix inequalities for third order interval systems. We show that these problems are equivalent to minimax problem with polynomial goal functions. We suggest an interesting approach to solve the corresponding game problems. This approach uses the opennes property of the set of solutions. Examples show that the proposed method is effective and sufficiently fast.
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Paper Nr: 138
Title:

Nonlinear System Identification based on Modified ANFIS
Authors:

José Kleiton Ewerton da Costa Martins and Fábio Meneghetti Ugulino de Araújo
Abstract: This article aims to present the nonlinear system identification by the method of modified ANFIS. The modified ANFIS is a structure proposed that is based on the traditional structure of ANFIS with some modifications as shown in the article. The importance of the choice of method parameters and its influence on the system will be discussed. For this, the identification of a coupled system of tanks with nonlinear dynamics is performed. System identification will be performed by changing the inputs and order of the consequent model and then will perform a review of the systems. The results confirm the simplicity of modified ANFIS in comparison with the traditional ANFIS while have good performance in the identification of nonlinear systems.
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Paper Nr: 143
Title:

Estimation of Uniform Static Regression Model with Abruptly Varying Parameters
Authors:

Ladislav Jirsa and Lenka Pavelková
Abstract: A modular framework for monitoring complex systems contains blocks that evaluate condition of single signals, typically of sensors. The signals are modelled and their values must be found within the prescribed bounds. However, an abrupt change of the signal increases the estimated parameters’ variance, which raises uncertainty of the sensor condition although it operates correctly. This increase affects the whole system in evaluation of condition uncertainty. The solution must be fast and simple, because of runtime application requirements. The signal is modelled by a static model with uniform noise, variance increase is tested and if detected, the model memory is cleared. The fast and efficient algorithm is demonstrated on industrial rolling data. The method prevents the parameters’ variance from the artificial increase.
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Paper Nr: 165
Title:

Intelligent Fall Prevention for Parkinson’s Disease Patients based on Detecting Posture Instabilily and Freezing of Gait
Authors:

Jiann-I Pan and Yi-Chi Huang
Abstract: Parkinson’s disease (PD) is a disorder that affects nerve cells in a part of the brain, and results from a progressive loss of dopaminergic and other sub-cortical neurons. Symptoms of Parkinson’s disease may include resting tremor, bradykinesia, rigidity, a forward stooped posture, postural instability, and freezing of gait. As reported by several researchers, the forward stooped posture and freezing of gait are the most critical reasons to make the Parkinson’s disease patients fall. The main objective of this research is to develop a fall prevention system for Parkinson’s disease patients. There are two phases in the fall prevention protocol. The first phase is to detect and recognize the stooped posture and freezing of gait symptoms from the patient’s movement activities. The next phase is to alarm an audio cue to break the block of freezing. An accelerometer based sensor network is designed to sense the movement information. The recorded data are transferred to the smartphone, which served as the core calculator unit, by Bluetooth communication protocol. The input signals are recognized and classified into the target symptoms. The main advantages of this proposed approach includes: (1) the safety: to detect the stooped posture and freezing of gait and to produce audio cue to help the patients to break the block; (2) the portability: not limited at specific locations; and (3) the expendability: easy to update or upgrade by using app install online.
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Paper Nr: 180
Title:

Adaptive Unscented Kalman Filter at the Presence of Non-additive Measurement Noise
Authors:

Manasi Das, Aritro Dey, Smita Sadhu and T. K. Ghoshal
Abstract: This paper proposes an Adaptive Unscented Kalman Filter (AUKF) for nonlinear systems having non-additive measurement noise with unknown noise statistics. The proposed filter algorithm is able to estimate the nonlinear states along with the unknown measurement noise covariance (R) online with guaranteed positive definiteness. By this formulation of adaptive sigma point filter for non-additive measurement noise, the need of approximating non-additive noise as additive one (as is done in many cases) may be waived. The effectiveness of the proposed algorithm has been demonstrated by simulation studies on a nonlinear two dimensional bearing-only tracking (BOT) problem with non-additive measurement noise. Estimation performance of the proposed filter algorithm has been compared with (i) non adaptive UKF, (ii) an AUKF with additive measurement noise approximation and (iii) an Adaptive Divided Difference Filter (ADDF) applicable for non-additive noise. It has been found from 10000 Monte Carlo runs that the proposed AUKF algorithm provides (i) enhanced estimation performance in terms of RMS errors (RMSE) and convergence speed, (ii) almost 3-7 times less failure rate when prior measurement noise covariance is not accurate and (iii) relatively more robust performance with respect to the initial choice of R when compared with the other nonlinear filters involved herein.
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