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Wyświetlanie 1-15 z 23
Tytuł:
Comparison of the adaptive and neural network control for LWR 4+ manipulators: simulation study
Autorzy:
Woliński, Łukasz
Powiązania:
https://bibliotekanauki.pl/articles/140152.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
adaptive control
neural network control
redundant manipulator
Opis:
This paper deals with two control algorithms which utilize learning of their models’ parameters. An adaptive and artificial neural network control techniques are described and compared. Both control algorithms are implemented in MATLAB and Simulink environment, and they are used in the simulation of a postion control of the LWR 4+ manipulator subjected to unknown disturbances. The results, showing the better performance of the artificial neural network controller, are shown. Advantages and disadvantages of both controllers are discussed. The usefulness of the learning algorithms for the control of LWR 4+ robots is discussed. Preliminary experiments dealing with dynamic properties of the two LWR 4+ robots are reported.
Źródło:
Archive of Mechanical Engineering; 2020, LXVII, 1; 111-121
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Intelligent control algorithm for ship dynamic positioning
Autorzy:
Meng, W.
Sheng, L. H.
Qing, M.
Rong, B. G.
Powiązania:
https://bibliotekanauki.pl/articles/229337.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
dynamic positioning
fuzzy control
neural network control
BP algorithm
Opis:
Ship motion in the sea is a complex nonlinear kinematics. The hydrodynamic coefficients of ship model are very difficult to accurately determine. Establishing accurate mathematical model of ship motion is difficult because of changing random factors in the marine environment. Aiming at seeking a method of control to realize ship positioning, intelligent control algorithms are adopt utilizing operator's experience. Fuzzy controller and the neural network controller are respectively designed. Through simulations and experiments, intelligent control algorithm can deal with the complex nonlinear motion, and has good robustness. The ship dynamic positioning system with neural network control has high positioning accuracy and performance.
Źródło:
Archives of Control Sciences; 2014, 24, 4; 479-497
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Verification of applicability of the Trimble RTX satellite technology with xFill function in establishing surveying control networks
Weryfikacja przydatności technologii satelitarnej Trimble RTX z funkcją xFill do zakładania osnów pomiarowych
Autorzy:
Krzyżek, R.
Powiązania:
https://bibliotekanauki.pl/articles/145376.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
osnowa geodezyjna
technologia satelitarna
Trimble RTX
RTK GPS
geodetic control network
RTX
Opis:
The paper presents the results of real time measurements of test geodetic control network points using the RTK GPS and RTX Extended technologies. The Trimble RTX technology uses the xFill function, which enables real measurements without the need for constant connection with the ASG EUPOS system reference stations network. Comparative analyses of the results of measurements using the methods were performed and they were compared with the test control network data assumed to be error-free. Although the Trimble RTX technology is an innovative measurement method which is rarely used now, the possibilities it provides in surveying works, including building geodetic control networks, are satisfactory and it will certainly contribute to improving the organisation of surveying works.
W pracy przedstawiono wyniki pomiarów w czasie rzeczywistym punktów osnowy testowej z wykorzystaniem technologii RTK GPS oraz RTX Extended. W technologii Trimble RTX wykorzystano funkcję xFill, która daje możliwości realnego wykonywania pomiaru bez konieczności stałej łączności z siecią stacji referencyjnych systemu ASG EUPOS. Wykonano analizy porównawcze wyników pomiaru między metodami oraz odniesiono je do danych osnowy testowej, przyjętych za bezbłędne. Choć technologia Trimble RTX jest innowacyjną metodą pomiaru i jeszcze rzadko stosowaną, to możliwości jakie daje w realizacjach prac geodezyjnych, w tym zakładaniu osnów pomiarowych, są bardzo zadawalające i z pewnością przyczyni się do jeszcze lepszej i bardziej ekonomicznej organizacji prac geodezyjnych.
Źródło:
Geodesy and Cartography; 2013, 62, 2; 217-233
2080-6736
2300-2581
Pojawia się w:
Geodesy and Cartography
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Low aerial imagery – an assessment of georeferencing errors and the potential for use in environmental inventory
Autorzy:
Smaczyński, M.
Medyńska-Gulij, B.
Powiązania:
https://bibliotekanauki.pl/articles/145577.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
UAV
GNSS
GCP
geodetic control network
environmental inventory
geodezja
kontrola geodezyjna
fotogrametria
Opis:
Unmanned aerial vehicles are increasingly being used in close range photogrammetry. Real-time observation of the Earth’s surface and the photogrammetric images obtained are used as material for surveying and environmental inventory. The following study was conducted on a small area (approximately 1 ha). In such cases, the classical method of topographic mapping is not accurate enough. The geodetic method of topographic surveying, on the other hand, is an overly precise measurement technique for the purpose of inventorying the natural environment components. The author of the following study has proposed using the unmanned aerial vehicle technology and tying in the obtained images to the control point network established with the aid of GNSS technology. Georeferencing the acquired images and using them to create a photogrammetric model of the studied area enabled the researcher to perform calculations, which yielded a total root mean square error below 9 cm. The performed comparison of the real lengths of the vectors connecting the control points and their lengths calculated on the basis of the photogrammetric model made it possible to fully confirm the RMSE calculated and prove the usefulness of the UAV technology in observing terrain components for the purpose of environmental inventory. Such environmental components include, among others, elements of road infrastructure, green areas, but also changes in the location of moving pedestrians and vehicles, as well as other changes in the natural environment that are not registered on classical base maps or topographic maps.
Źródło:
Geodesy and Cartography; 2017, 66, 1; 89-104
2080-6736
2300-2581
Pojawia się w:
Geodesy and Cartography
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of Network Traffic Congestion Controller with PI AQM Based on ITAE Index
Autorzy:
Fajri, Misbahul
Ramli, Kalamullah
Powiązania:
https://bibliotekanauki.pl/articles/1844457.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
network congestion control
active queue management (AQM)
proportional integral controller
Nelder-Mead simplex method
integral of time-weighted absolute error (ITAE)
Opis:
Establishing the proper values of controller parameters is the most important thing to design in active queue management (AQM) for achieving excellent performance in handling network congestion. For example, the first well known AQM, the random early detection (RED) method, has a lack of proper parameter values to perform under most the network conditions. This paper applies a Nelder-Mead simplex method based on the integral of time-weighted absolute error (ITAE) for a proportional integral (PI) controller using active queue management (AQM). A TCP flow and PI AQM system were analyzed with a control theory approach. A numerical optimization algorithm based on the ITAE index was run with Matlab/Simulink tools to find the controller parameters with PI tuned by Hollot (PI) as initial parameter input. Compared with PI and PI tuned by Ustebay (PIU) via experimental simulation in Network Simulator Version 2 (NS2) in five scenario network conditions, our proposed method was more robust. It provided stable performance to handle congestion in a dynamic network.
Źródło:
International Journal of Electronics and Telecommunications; 2020, 66, 4; 715-721
2300-1933
Pojawia się w:
International Journal of Electronics and Telecommunications
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Nonlinear Structural Acoustic Control with Shunt Circuit Governed by a Soft-Computing Algorithm
Autorzy:
Kurczyk, S.
Pawełczyk, M.
Powiązania:
https://bibliotekanauki.pl/articles/177699.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
Active Noise Control
adaptive control
neural network
vibrating plate
Opis:
Noise control has gained a lot of attention recently. However, presence of nonlinearities in Signac paths for some applications can cause significant difficulties in the operation of control algorithms. In particular, this problem is common in structural noise control, which uses a piezoelectric shunt circuit. Not only vibrating structures may exhibit nonlinear characteristics, but also piezoelectric actuators. In this paper, active device casing is addressed. The objective is to minimize the noise coming out of the casing, by controlling vibration of its walls. The shunt technology is applied. The proposed control algorithm is based on algorithms from a group of soft computing. It is verified by means of simulations using data acquired from a real object.
Źródło:
Archives of Acoustics; 2018, 43, 3; 397-402
0137-5075
Pojawia się w:
Archives of Acoustics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A stabilization method of inhomogeneous ladder networks with nonlinear elements
Autorzy:
Skruch, P.
Powiązania:
https://bibliotekanauki.pl/articles/229983.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
electric ladder network
nonlinear circuit
stabilization
feedback control
Opis:
In the paper, different structures of electric ladder networks are considered: RC, RL, and RLC. Such systems are composed of resistors, inductors and capacitors connected in series. The elements of the network are not identical and have nonlinear characteristics. The network's dynamic behavior can be mathematically described by nonlinear differential equations. A class of robust feedback controls is designed to stabilize the system. The asymptotic stability of the closed-loop system is analyzed and proved by the use of Lyapunov functionals and LaSalle's invariance principle. The results of computer simulations are included to verify theoretical analysis and mathematical formulation.
Źródło:
Archives of Control Sciences; 2011, 21, 3; 313-329
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Policies for Transmit Power Control in the Conditions of Jamming in Clustered Wireless System
Autorzy:
Michalak, Jarosław
Powiązania:
https://bibliotekanauki.pl/articles/1844445.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
clustered network
transmit power control
jamming
wireless system
Opis:
This article presents a consistent solution of Transmit Power Control in centralized (clustered) wireless network with and without jamming. Depending on the policy assumed, appropriate solutions are applied to minimize the power used in a system or to satisfy expected Quality of Service. Because of specific nature of the system there is no optimal solution which can be applied in practice. Correctness and effectiveness of four proposed Transmit Power Control algorithms was presented in the form of computer simulation results in which the system capacity, mean power used and the number of successful links were described.
Źródło:
International Journal of Electronics and Telecommunications; 2020, 66, 4; 679-685
2300-1933
Pojawia się w:
International Journal of Electronics and Telecommunications
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Active Noise Control Algorithm Based on a Neural Network and Nonlinear Input-Output System Identification Model
Autorzy:
Krukowicz, T.
Powiązania:
https://bibliotekanauki.pl/articles/178040.pdf
Data publikacji:
2010
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
active noise control
neural network
system identification
nonlinear phenomena
Opis:
The development of digital signal processors and the increase in their computing capabilities bring opportunities to employ algorithms with multiple variable parameters in active noise control systems. Of particular interest are the algorithms based on artificial neural networks. This paper presents an active noise control algorithm based on a neural network and a nonlinear input-output system identification model. The purpose of the algorithm is an active noise control system with a nonlinear primary path. The algorithm uses the NARMAX system identification model. The neural network employed in the proposed algorithm is a multilayer perceptron. The error backpropagation rule with adaptive learning rate is employed to update the weight of the neural network. The performance of the proposed algorithm has been tested by numerical simulations. Results for narrow-band input signals and nonlinear primary path are presented below.
Źródło:
Archives of Acoustics; 2010, 35, 2; 191-202
0137-5075
Pojawia się w:
Archives of Acoustics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimal Spectrum Utilization and Flow Controlling In Heterogeneous Network with Reconfigurable Devices
Autorzy:
Hashmi, S. S.
Sattar, S. A.
Soundararajan, K.
Powiązania:
https://bibliotekanauki.pl/articles/226380.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
rate-inference optimization
heterogeneous network
flow control
spectrum utilization
Opis:
Fairness provisioning in heterogeneous networks is a prime issue for high-rate data flow, wherein the inter-connectivity property among different communication devices provides higher throughput. In Hetnet, optimal resource utilization is required for efficient resource usage. Proper resource allocation in such a network led to higher data flow performance for real-time applications. In view of optimal resource allocation, a resource utilization approach for a reconfigurable cognitive device with spectrum sensing capability is proposed in this paper. The allocation of the data flow rate at device level is proposed for optimization of network fairness in a heterogeneous network. A dynamic approach of rate-inference optimization is proposed to provide fairness in dynamic data traffic conditions. The simulation results validate the improvement in offered quality in comparison to multi-attribute optimization.
Źródło:
International Journal of Electronics and Telecommunications; 2017, 63, 3; 269-277
2300-1933
Pojawia się w:
International Journal of Electronics and Telecommunications
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Comparison of Intelligent Control Methods for the Ore Jigging Process
Autorzy:
Kulakova, Yelena
Wójcik, Waldemar
Suleimenov, Batyrbek
Smolarz, Andrzej
Powiązania:
https://bibliotekanauki.pl/articles/1844513.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
neural network
ore jiggling
control algorithm
fuzzy logic
correlation
Opis:
Efficient control of the process of jigging ore of small and fine grain allows avoiding the loss of valuable material in production residual. Due to the multi-dimensionality and multi-connectivity of this enrichment process, classical control methods do not allow achieving the maximum technological indicators of enrichment. This paper proposes investigating intelligent algorithms for controlling the jigging process, which determine the key variables - the level of the natural «bed» and the ripple frequency of the jigging machine. Algorithms are developed using fuzzy logic, neural and hybrid networks. The adequacy of intelligent algorithms was evaluated using the following criteria: correlation of expert and model values (R); Root Mean Square Error (RMSE); Mean absolute percentage error (MAPE). To assess the adequacy of the obtained algorithms, a test sample of input variables, different from the training one, was compiled. As a consequence, we determined an algorithm that gives a minimal discrepancy between the calculated and experimental data.
Źródło:
International Journal of Electronics and Telecommunications; 2021, 67, 3; 529-534
2300-1933
Pojawia się w:
International Journal of Electronics and Telecommunications
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Elman neural network for modeling and predictive control of delayed dynamic systems
Autorzy:
Wysocki, A.
Ławryńczuk, M.
Powiązania:
https://bibliotekanauki.pl/articles/229646.pdf
Data publikacji:
2016
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
dynamic models
process control
model predictive control
neural networks
Elman neural network
delayed systems
Opis:
The objective of this paper is to present a modified structure and a training algorithm of the recurrent Elman neural network which makes it possible to explicitly take into account the time-delay of the process and a Model Predictive Control (MPC) algorithm for such a network. In MPC the predicted output trajectory is repeatedly linearized on-line along the future input trajectory, which leads to a quadratic optimization problem, nonlinear optimization is not necessary. A strongly nonlinear benchmark process (a simulated neutralization reactor) is considered to show advantages of the modified Elman neural network and the discussed MPC algorithm. The modified neural model is more precise and has a lower number of parameters in comparison with the classical Elman structure. The discussed MPC algorithm with on-line linearization gives similar trajectories as MPC with nonlinear optimization repeated at each sampling instant.
Źródło:
Archives of Control Sciences; 2016, 26, 1; 117-142
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Building Energy Efficient Wireless Sensor Networks
Autorzy:
Cherepanov, A.
Tyshchenko, I.
Popova, M.
Vakhnin, D.
Powiązania:
https://bibliotekanauki.pl/articles/226609.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
wireless sensor network
energy efficiency
signals
systems
automated control system
Opis:
This article provides an overview of the existing problems in the construction of wireless sensor networks (WSN), in particular the problem of energy efficiency of the system. In many cases, the WSN is set in places where the connection to the stationary power sources is difficult or impossible. Such situations require the use of autonomous energy sources: traditional (batteries) or alternative (solar panels, wind generators, etc.). Due to limitations in the available system power there is obvious need in efficient use of available energy resources.
Źródło:
International Journal of Electronics and Telecommunications; 2017, 63, 1; 45-49
2300-1933
Pojawia się w:
International Journal of Electronics and Telecommunications
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of neural networks for control of district heating
Wykorzystanie sieci neuronowych do regulacji w ciepłownictwie
Autorzy:
Chmielnicki, W. J.
Powiązania:
https://bibliotekanauki.pl/articles/230702.pdf
Data publikacji:
2010
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
sieć neuronowa
regulacja
ciepłownictwo
zastosowanie
neural network
control
district heating
application
Opis:
The annual usage of heat for the demand of heating systems in municipal sector has been estimated as about 650PJ. It is mostly addressed for the demand of central heating systems and hot water consumption. The mode of adopted solutions concerning regulation and control, as well as energy management system, essentially influence its consumption. In the case of residential buildings, the costs of energy constitute the greatest share related to the total cost of building maintenance. Providing buildings with modern digital systems for control and regulation of heating installations is a basic condition enabling their rational usage. In currently employed solutions, algorithms PI or PID are usually applied. However, due to the non-linear properties of heating control systems, they do not secure proper quality. The sequences are often unstable and major control deviations occur. The application of neural networks is an alternative solution to those presently employed. They are especially recommended for adaptive control of non-stationary systems. Such cases occur in heating objects since they demonstrate non-linear properties with a great range of variability of parameters; this especially refers to district heating equipped with flux-through heat exchangers. A compile model of heating system control aided by neural networks is presented. The results of the investigation clearly prove the usefulness of such solutions, cause the quality of control is much better than that one applied in traditional systems. Presently, works on the implementation of the proposed solutions are under way.
Roczne zużycie ciepła na potrzeby ciepłownicze w Polsce w sektorze komunalno-bytowym, szacowane jest na około 650PJ. W znacznej części przeznaczone ono jest na potrzeby centralnego ogrzewania i ciepłej wody użytkowej. Instotny wpły na jego zużycie ma rodzaj przyjętych rozwiązań dotyczących regulacji i sterowania oraz systemów zarządzania energią. W przypadku budynków mieszkalnych koszty energii stanowią największy udział w stosunku do całkowitych kosztów związanych z eksploatacją budynku. Podstawowym warunkiem umożliwiającym racjonalne jej zużycie jest wyposażenie budynku w nowoczesne cyfrowe systemy do regulacji i sterowania instalacji ciepłowniczych. W stosowanych obecnie rozwiązaniach wykorzystuje się zwykle algorytmy Pl lub PlD. Jednak ze względu na nieliniowe właściwości ciepłowniczych obiektów regulacji, nie zapewniają one odpowiedniej jakości. Często przebiegi mają charakter niestabilny i dochodzi do znacznych odchyłek regulacji. Alternatywą do stosowanych obecnie rozwiązań jest wykorzystanie sieci neuronowych. Są one szczególnie zalecane do sterowania adaptacyjnego układów niestacjonarnych. Takie przypadki występują w obiektach cieplnych, gdyż mają one właściwości nieliniowe o bardzo dużym zakresie zmienności parametrów, dotyczy to zwłaszcza węzłów ciepłowniczych wyposażonych w przepływowe wymienniki ciepła. W pracy przedstawiono opracowany model sterowania węzłów ciepłowniczych za pomocą sieci neuronowych. Wyniki badań wyraźnie wskazują na celowość takich rozwiązań, gdyż jakość regulacji jest znacznie lepsza aniżeli w przypadku stosowania układów tradycyjnych. Aktualnie trwają prace nad wdrożeniem zaproponowanych rozwiązań.
Źródło:
Archives of Civil Engineering; 2010, 56, 3; 219-238
1230-2945
Pojawia się w:
Archives of Civil Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Formation control of underwater vehicles using Multi Agent System
Autorzy:
Das, Bikramaditya
Subudhi, Bidyadhar
Pati, Bibhuti Bhusan
Powiązania:
https://bibliotekanauki.pl/articles/229747.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
AUV
Multi Agent System
formation control
switching network topology
mild connectivity
Opis:
This paper proposes the development of a formation control algorithm of multiple acoustic underwater vehicles by employing the behaviour of autonomous mobile agents under a proposed pursuit. A robust pursuit is developed using the distributed consensus coordinated algorithm ensuring the transfer of information among the AUVs. The development of robust pursuit based on characteristics of multi-agent system is for solving the incomplete information capabilities in each agent such as asynchronous computation, decentralized data and no system global control. In unreliable and narrow banded underwater acoustic medium, the formation of AUVs based distributed coordinated consensus tracking can be accomplished under the constant or varying virtual leader’s velocity. Further, the study to achieve tracking based on virtual leader AUV’s velocity is extended to fixed and switching network topologies. Again for mild connectivity, an adjacency matrix is defined in such a way that an adaptive connectivity is ensured between the AUVs. The constant virtual leader vehicle velocity method based on consensus tracking is more robust to reduce inaccuracy because no accurate position and velocity measurements are required. Results were obtained using MATLAB and acquired outcomes are analysed for efficient formation control in presence of the underwater communication constraints.
Źródło:
Archives of Control Sciences; 2020, 30, 2; 365-384
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
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