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Department of Control Systems Engineering
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Catalog Publications
Year 2022
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A robust sliding mode observer for non-linear uncertain biochemical systems
PublicationA problem of state estimation for a certain class of non-linear uncertain systems has been addressed in this paper. In particular, a sliding mode observer has been derived to produce robust and stable estimates of the state variables. The stability and robustness of the proposed sliding mode observer have been investigated under parametric and unstructured uncertainty in the system dynamics. In order to ensure an unambiguous non-linear...
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Novel method of estimation of inertial and dissipative parameters of a railway pantograph model
PublicationAn increase in electric railway vehicles service velocity requires that correct interaction between the pantograph and the catenary is ensured. This implies the need for developing mathematical models of pantographs and catenaries and determining their parameters. The article presents a method to determine parameters of mechanical joints of a railway pantograph based on analysis of pantograph subassemblies in swinging motion. The...
Year 2021
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Current divider-based nanosecond high current pulse measuring systems
PublicationThis paper presents the analysis of the new approach to the measurement methodology of significant values (in order of hundreds of kA) and huge steepness (in order of MA/μs) current pulses based on current dividers along with a comparison of the various types transducers suitability in measuring systems with such extreme parameters. Such dividers are used to extend the measurement ranges of current transducers with limited current...
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Measurement Campaign and Mathematical Model Construction for the Ship Zodiak Magnetic Signature Reproduction
PublicationThe paper presents the partial work done within the framework of the EDA Siramis II project focused on magnetic signature reproduction of ships. Reproduction is understood here as the ability to determine the magnetic anomaly of the local Earth magnetic field in any direction and at any measurement depth due to the presence of the analysed object. The B-91 type hydrographic ship Zodiak was selected as the real case study. The work...
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Metamaterial-Based Sub-Microwave Electromagnetic Field Energy Harvesting System
PublicationThis paper presents the comprehensive analysis of the sub-microwave, radio frequency band resonant metastructures’ electromagnetic properties with a particular emphasis on the possibility of their application in energy harvesting systems. Selected structures based on representative topologies of metamaterials have been implemented in the simulation environment. The models have been analyzed and their substitute average electromagnetic...
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Novel hierarchical nonlinear control algorithm to improve dissolved oxygen control in biological WWTP
PublicationWastewater treatment is a problem known to humankind for centuries. The quality of treated sewage determines the condition of reservoirs around the world. Control of such a complex and nonlinear system as a wastewater treatment plant requires thorough knowledge of the process. The paper presents a hierarchical control system of a Sequencing Batch Reactor (SBR) in Wastewater Treatment Plant (WWTP) taking into account a model based...
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TOWARDS EXPLAINABLE CLASSIFIERS USING THE COUNTERFACTUAL APPROACH - GLOBAL EXPLANATIONS FOR DISCOVERING BIAS IN DATA
PublicationThe paper proposes summarized attribution-based post-hoc explanations for the detection and identification of bias in data. A global explanation is proposed, and a step-by-step framework on how to detect and test bias is introduced. Since removing unwanted bias is often a complicated and tremendous task, it is automatically inserted, instead. Then, the bias is evaluated with the proposed counterfactual approach. The obtained results...
Year 2020
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Accurate Computation of IGBT Junction Temperature in PLECS
PublicationIn the article, a new method to improve the accuracy of the insulated-gate bipolar transistor (IGBT) junction temperature computations in the piecewise linear electrical circuit simulation (PLECS) software is proposed and described in detail. This method allows computing the IGBT junction temperature using a nonlinear compact thermal model of this device in PLECS. In the method, a nonlinear compact thermal model of the IGBT is...
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An Automatic Self-Tuning Control System Design for an Inverted Pendulum
PublicationA control problem of an inverted pendulum in the presence of parametric uncertainty has been investigated in this paper. In particular, synthesis and implementation of an automatic self-tuning regulator for a real inverted pendulum have been given. The main cores of the control system are a swing-up control method and a stabilisation regulator. The first one is based on the energy of an inverted pendulum, whereas the second one...
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Approximation of Fractional Order Dynamic Systems Using Elman, GRU and LSTM Neural Networks
PublicationIn the paper, authors explore the possibility of using the recurrent neural networks (RNN) - Elman, GRU and LSTM - for an approximation of the solution of the fractional-orders differential equations. The RNN network parameters are estimated via optimisation with the second order L-BFGS algorithm. It is done based on data from four systems: simple first and second fractional order LTI systems, a system of fractional-order point...
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Autonomous Ship Utility Model Parameter Estimation Utilising Extended Kalman Filter
PublicationIn this paper, a problem of autonomous ship utility model identification for control purposes is considered. In particular, the problem is formulated in terms of model parameter estimation (one-step-ahead prediction). This is a complex task due to lack of measurements of the parameter values, their time-variability and structural uncertainty introduced by the available models. In this work, authors consider and compare two utility...
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Bezzałogowy kołowy pojazd elektryczny do automatycznego wychodzenia z poślizgów
PublicationPojazdy bezzałogowe znajdują zastosowanie w wielu dziedzinach współczesnego świata. Pojazdy autonomiczne wraz z algorytmami wspomagającymi kierowanie pojazdami skupiają uwagę wielu zespołów inżynierskich. Jednym z ważniejszych aspektów bezpieczeństwa na drogach jest wspomaganie zapobiegania i wychodzenia z poślizgów w dynamicznym środowisku. Artykuł przedstawia projekt oraz wykonanie bezzałogowego pojazdu kołowego zdolnego do automatycznego...
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Compensation of supply current harmonics, reactive power, and unbalanced load current balance in the closed-loop control of a shunt active power filter
PublicationThis paper presents the compensation tasks performed by a shunt active power filter, including compensation of harmonic currents, reactive power, and an unbalanced load current. The paper demonstrates novel control of the shunt active power filter in a closed-loop system. The control algorithm was verified by performing simulations and compared the simulated results with those obtained in an open-loop control system. All simulations...
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Control of nonlinear and linearized model of self-balancing electric motorcycle
PublicationSelf-Balancing Electric Motorcycle (SBEM) is a dynamic and nonlinear electro-mechanical system. In this paper, the process of mathematical modelling and line-arization of SBEM is presented. The model of the control system in Matlab envi-ronment is implemented. The control system using the PID controller is designed. The operation of particular structures of the PID controller on the simulation model is compared. Due to simulation...
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Design aspects of a low-cost prosthetic arm for people with severe movement disabilities
PublicationIn this paper the main aspects of mechanical design behind the low-cost prosthetic arm are presented. The fundamentals of a proper design has been defined to obtain functional 3D printed 5 degree of freedom (DOF) prosthesis. The designed prosthetic arm is a part of the hybrid interface with eye tracking movement control. The main focus was to create affordable but usable prosthesis which corresponds in size and weights to the human...
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Design of optimal state feedback controller with observer for multidimensional electrical system
PublicationFrom the control point of view, two-input-two-output RC electrical system is a linear and multidimensional system. In this paper, integral control and closed-loop observer are verified whether they can be used and designed. To verify this, Kalman tests are made. These structures are presented and discussed. Integral Control is tested with some base disturbances impact and checked whether it can handle them. The estimated values...
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Designing control strategies of aeration system in biological WWTP
PublicationThe paper presents the complete design processes of a novel aeration control systems in the SBR (Sequencing Batch Reactor) wastewater treatment plant (WWTP). Due to large energy expense and high influence on biological processes, the aeration system plays a key role in WWTP operation. The paper considers the aeration system for a biological WWTP located in the northeast of Poland. This system consists of blowers, the main collector...
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Explainable AI for Inspecting Adversarial Attacks on Deep Neural Networks
PublicationDeep Neural Networks (DNN) are state of the art algorithms for image classification. Although significant achievements and perspectives, deep neural networks and accompanying learning algorithms have some important challenges to tackle. However, it appears that it is relatively easy to attack and fool with well-designed input samples called adversarial examples. Adversarial perturba-tions are unnoticeable for humans. Such attacks...
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Fuzzy Multi-Regional Fractional PID controller for Pressurized Water nuclear Reactor
PublicationThe paper presents the methodology for the synthesis of a Fuzzy Multi-Regional Fractional Order PID controller (FMR-FOPID) used to control the average thermal power of a PWR nuclear reactor in the load following mode. The controller utilizes a set of FOPID controllers and the fuzzy logic Takagi-Sugeno reasoning system. The proposed methodology is based on two optimization parts. The first part is devoted to finding the optimal...
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Improving the Quality of Magnetic Signature Reproduction by Increasing Flexibility of Multi-Dipole Model Structure and Enriching Measurement Information
PublicationThe paper presents the construction of a multi-dipole model that allows reproducing magneticsignatures of ferromagnetic objects. The virtual object used in the paper is an ellipsoid, which is the sourceof synthetic data. To make the situation more realistic, noise is added to the synthetic data. Two significantimprovements compared to previous work are presented. Three-axial magnetometers are introduced insteadof uniaxial magnetometers....
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Model of aeration system at biological wastewater treatment plant for control design purposes
PublicationThe wastewater treatment plant (WWTP) is a dynamic, very complex system, in which the most important control parameter is the dissolved oxygen (DO) con-centration. The air is supplied to biological WWTP by the aeration system. Aera-tion is an important and expensive activity in WWTP. The aeration of sewage ful-fils a twofold role. Firstly, oxygen is provided as the main component for biolog-ical processes. Secondly, it supports...
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Modelowanie bezpiecznika rozłącznikowego w układach formowania impulsów wielkiej mocy
PublicationProblem modelowania bezpieczników o dużej dynamice wyłączania prądu jest zagadnieniem szeroko opisywanym w literaturze. Układy takie mogą być wykorzystane w szczególności do formowania impulsów wysokiego napięcia o wartościach rzędu setek kV, charakteryzujących się czasem trwania rzędu ułamka μs. W niniejszej pracy przedstawiono empiryczny model bezpiecznika wielotopikowego, rozszerzony w oparciu o wyniki badań eksperymentalnych.
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Neural Architecture Search for Skin Lesion Classification
PublicationDeep neural networks have achieved great success in many domains. However, successful deployment of such systems is determined by proper manual selection of the neural architecture. This is a tedious and time-consuming process that requires expert knowledge. Different tasks need very different architectures to obtain satisfactory results. The group of methods called the neural architecture search (NAS) helps to find effective architecture...
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Proces zmiany sprzedawcy energii elektrycznej w Polsce dla odbiorcy w gospodarstwie domowym
PublicationW publikacji przedstawiono proces zmiany sprzedawcy energii elektrycznej dla odbiorcy w gospodarstwie domowym, prowadzony w detalicznym segmencie rynku energii. Szczególny nacisk położono na proces bazujący na generalnej umowie dystrybucji dla usługi kompleksowej. Odniesiono się do wszystkich, istotnych regulacji mających zastosowanie do poruszanych kwestii, ze szczególnym uwzględnieniem zapisów instrukcji ruchu i eksploatacji...
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Realization, programming and controlling of the Stewart-Gough platform
PublicationThis paper presents realizaon, programming, and controlling of a low cost Stewart-Gough plaorm (SGP) with rotary actuators. The realized SGP is applied in a ball & plate control system. Developed dedicated software consists of embedded and applicaon soware for both the SGP posioning system and the ball & plate control. system. A ball posion is being obtained using computer vision. The paper contains tests results for both an SGP...
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Self-Supervised Learning to Increase the Performance of Skin Lesion Classification
PublicationTo successfully train a deep neural network, a large amount of human-labeled data is required. Unfortunately, in many areas, collecting and labeling data is a difficult and tedious task. Several ways have been developed to mitigate the problem associated with the shortage of data, the most common of which is transfer learning. However, in many cases, the use of transfer learning as the only remedy is insufficient. In this study,...
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Skuteczność nowoczesnych algorytmów optymalizacji czerpiących inspirację z procesów naturalnych
PublicationZe względu na nieistnienie uniwersalnego algorytmu optymalizacji rozwiązującego wszystkie problemy naukowo techniczne opracowywanie nowych i wydajniejszych obliczeniowo algorytmów optymalizacyjnych wciąż jest popularnym zadaniem. Przeglądając literaturę z dziedziny optymalizacji można zauważyć trend tworzenia „wymyślnych” algorytmów opartych na procesach naturalnych. W artykule sprawdzono skuteczność nowo powstałych algorytmów...
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Supervisory fuzzy control system for biological processes in sequencing wastewater batch reactor
PublicationThe paper proposes the design of the supervisory heuristic fuzzy control system applied to a Sequencing Batch Reactor (SBR) in the Wastewater Treatment Plant (WWTP). Based on real data records and the biological process and aeration system models, a control system for biological processes has been designed. The supervisory control system performs management of the reactor work cycle, determines the phase length, controls the sludge...
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Unidirectional DC/DC Converter with Voltage Inverter for Fast Charging of Electric Vehicle Batteries
PublicationThe paper proposes the adaptation of the industrial plant’s power network to supply electric vehicle (EV) fast-charging converters (above 300 kW) using renewable energy sources (RESs). A 600 V DC microgrid was used to supply energy from RESs for the needs of variable speed motor drives and charging of EV batteries. It has been shown that it is possible to support the supply of drive voltage frequency converters (VFCs) and charging...
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Wpływ uwarunkowań rzeczywistych na pracę równoległego filtru aktywnego sterowanego ze sprzężeniem od prądu zasilającego
PublicationW artykule przedstawiono wpływ uwarunkowań rzeczywistych na pracę równoległego filtru aktywnego i zdolność kompensacji prądów harmonicznych. Zbadano wpływ opóźnień czasowych wynikających z implementacji cyfrowej sterowania, wpływ impedancji zwarciowej sieci zasilającej oraz błędów generowania napięcia przekształtnika na jakość kompensacji filtru. Badania symulacyjne przeprowadzono dla trzech układów sterowania: zamkniętego, otwartego...
Year 2019
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A comprehensive approach to double inverted pendulum modelling
PublicationThe problem of mathematical modelling and indication of properties of a DIP has been investigated in this paper. The aim of this work is to aggregate the knowledge on a DIP modelling using the Euler-Lagrange formalism in the presence of external forces and friction. To indicate the main properties important for simulation, model parameters identification and control system synthesis, analytical and numerical tools have been used....
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Analiza rezonansowego układu emisji impulsów pola elektromagnetycznego
PublicationW literaturze przedmiotu są opisane właściwości emiterów impulsów pola elektromagnetycznego w postaci układów bazujących na antenach wysokonapięciowych HVR (ang. High Voltage Radiator) [2, 5]. W celu podniesienia skuteczności emisji poprzez wydłużenie czasu trwania impulsu oraz zwiększenie jego amplitudy możliwe jest zastosowanie systemów rezonansowych dostrojonych do parametrów sygnału kształtowanego w układzie formowania impulsu...
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Application of method of differential magnetometric system for detection of sunken objects
PublicationThis paper presents a magnetometric system with scalar sensors mounted on two independent platforms, which is used to detect sunken shipwrecks. Increasing the distance between the sensors allows for more precise measurement of the difference in the magnetic induction module than in the case of sensors mounted e.g. on the aeroplane’s wings. This type of system makes it possible to enlarge detection range of the sunken wrecks.
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Comparison of properties of the new electro-mechanical model and circumferential model of the inductive-dynamic drive
PublicationThe article presents a new electromechanical model of inductive-dynamic drive. The model is implemented in two environments: Maxwell for analyzing electrodynamic phenomena including moving of the disc and Ansys which allows for stress analysis on the basis of the volume forces imported from Maxwell. Additionally, a model validation by comparing with the existing circumferential model was carried out.
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Deep neural network architecture search using network morphism
PublicationThe paper presents the results of the research on neural architecture search (NAS) algorithm. We utilized the hill climbing algorithm to search for well-performing structures of deep convolutional neural network. Moreover, we used the function preserving transformations which enabled the effective operation of the algorithm in a short period of time. The network obtained with the advantage of NAS was validated on skin lesion classification...
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Design of control algorithms for mobile robots in an environment with static and dynamic obstacles
PublicationThis article proposes the construction of autonomous mobile robots and designing of obstacle avoidance algorithms for them. Nowadays, mobile robots are gaining more and more popularity on the customer as well as industrial market, for example as automatic vacuum cleaners or lawnmowers. Obstacle avoidance algorithms play an important role in performance of this types of robots. The proposed algorithms were designed for builds with...
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DIAGNOSIS OF MALIGNANT MELANOMA BY NEURAL NETWORK ENSEMBLE-BASED SYSTEM UTILISING HAND-CRAFTED SKIN LESION FEATURES
PublicationMalignant melanomas are the most deadly type of skin cancer but detected early have high chances for successful treatment. In the last twenty years, the interest of automated melanoma recognition detection and classification dynamically increased partially because of public datasets appearing with dermatoscopic images of skin lesions. Automated computer-aided skin cancer detection in dermatoscopic images is a very challenging task...
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Improving SBR Performance Alongside with Cost Reduction through Optimizing Biological Processes and Dissolved Oxygen Concentration Trajectory
PublicationAuthors of this paper take under investigation the optimization of biological processes during the wastewater treatment in sequencing batch reactor (SBR) plant. A designed optimizing supervisory controller generates the dissolved oxygen (DO) trajectory for the lower level parts of the hierarchical control system. Proper adjustment of this element has an essential impact on the efficiency of the wastewater treatment process as well...
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MACHINE LEARNING SYSTEM FOR AUTOMATED BLOOD SMEAR ANALYSIS
PublicationIn this paper the authors propose a decision support system for automatic blood smear analysis based on microscopic images. The images are pre-processed in order to remove irrelevant elements and to enhance the most important ones - the healthy blood cells (erythrocytes) and the pathologic (echinocytes). The separated blood cells are analyzed in terms of their most important features by the eigenfaces method. The features are the...
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Marine autonomous surface ship - control system configuration
PublicationThis paper addresses the problem of marine autonomous surface ship (MASS) control. The contribution of the paper is the development of a control system configuration, done assuming fully autonomous MASS operation under distinct operational conditions. The overview of hardware and software selection is included.
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Mechatronics design, modelling and controlling of the Stewart-Gough platform
PublicationThis paper presents a mechatronics design of a low cost Stewart-Gough platform (SGP) with rotary actuators. The designed SGP is supposed to be applied in a ball & plate control system. The synthesis of the ball & plate control system is also within the subject of the paper. A mechatronics design process of the SGP was conducted with computer-aided design (CAD) software. Unique analytical solutions of an inverse kinematics problem...
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Metody strojenia regulatorów typu PID z wykorzystaniem technologii syntezy regulatorów od stanu
PublicationUkłady sterujące typu PID są jednymi z najbardziej popularnych regulatorów wykorzystywanych w układach regulacji. W związku z tym znanych jest szereg metod doboru wartości ich parametrów (nastaw). Obok różnych metod inżynierskich czy analitycznych strojenia tego typu regulatorów, dostępne są również podejścia bazujące na optymalizacji. Wskaźnikiem jakości znajdującym w nich zastosowanie jest np. całka z kwadratu uchybu. W artykule...
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Mixed integer nonlinear optimization of biological processes in wastewater sequencing batch reactor
PublicationWastewater treatment plays a key role for humanity. The waste entering lakes, rivers, and seas deteriorates daily quality of life. Therefore, it is very important to improve the efficiency of wastewater treatment. From a control point of view, a biological wastewater treatment plant is a complex, non-linear, multidimensional, hybrid control system. The paper presents the design of the optimizing hierarchical control system applied...
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Model konstrukcyjny i sterowanie robotami mobilnymi w środowisku z przeszkodami
PublicationW dzisiejszych czasach mobilne roboty autonomiczne zyskują coraz większą popularność, zarówno w środowiskach przemysłowych jak i w konsumenckich. Mają one głównie na celu ułatwianie pracy człowieka poprzez przejęcie części jego obowiązków. Z racji różnorodności środowisk, w jakich mogą one pracować, korzystają z algorytmów omijania przeszkód w celu osiągnięcia swobody poruszania się. Artykuł przedstawia model konstrukcyjny oraz...
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Optymalizacja parametrów obciążenia generatora magnetokumulacyjnego
PublicationW pracy przedstawiono wyniki symulacji komputerowej generatora magnetokumulacyjnego (GM) obciążonego cewką indukcyjną. Badania symulacyjne przeprowadzono w celu optymalizacji parametrów cewki obciążenia generatora dla wybranej konstrukcji modelu GM. Badano wpływ indukcyjność i rezystancji obciążenia na współczynnik wzmocnienia prądu w układzie oraz na energię pola magnetycznego zgromadzoną w obciążeniu.
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Optymalizujące, krzepko dopuszczalne sterowanie systemami sieciowymi z zastosowaniem do systemów wodociągowych
PublicationCelem rozprawy doktorskiej było rozwiązanie problemu naukowego zdefiniowanego jako krzepko dopuszczalne sterowanie hydrauliką systemu wodociągowego. Wielkościami sterującymi były prędkości obrotowe pomp a wielkościami sterowanymi napory hydrauliczne w wybranych węzłach systemu. Do rozwiązania problemu sterowania tym systemem, wykorzystano technikę sterowania predykcyjnego oraz algorytmy genetyczne i krzepką predykcje wyjść systemu...
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Overhead wires detection by FPGA real-time image processing
PublicationThe paper presents design and hardware implementation of real-time image filtering for overhead wires detection divided on image processing and results presentation blocks. The image processing block was separated from the whole implementation, and its delay and hardware complexity was analysed. Also the maximum frequency of image processing of the proposed implementation was estimated.
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Predykcyjne sterowanie równoległym filtrem aktywnym ze sprzężeniem od prądu zasilającego
PublicationArtykuł przedstawia nowatorską strategię predykcyjnego sterowania równoległym energetycznym filtrem aktywnym (EFA). Proponowane sterowanie zawiera sprzężenie zwrotne od prądu zasilającego i wiąże zalety sterowania w układzie otwartym oraz zamkniętym – szybkość reakcji na zmianę prądu odbioru i bardzo wysoką skuteczność kompensacji. Wysoka jakość prądu kompensacyjnego wynika również z zastosowania w sterowaniu algorytmów predykcyjnych,...
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Projekt systemu sterowania dwukołowym robotem balansującym
PublicationW niniejszym artykule rozważony został problem sterowania dwukołowym robotem balansującym. Celem zaprezentowanych prac było zaprojektowanie systemu sterowania tego typu obiektem z wykorzystaniem metod nowoczesnej teorii sterowania. W ramach syntezy, bazując na wyprowadzonym w oparciu o zasady dynamiki Newtona modelu, dobrana została struktura systemu sterowania w postaci regulatora wykorzystującego sprzężenie zwrotne od stanu oraz...
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Quadrotor Flight Controller Design Using Classical Tools
PublicationA principal aspect of quadrocopter in-flight operation is to maintain the required attitude of the craft’s frame, which is done either automatically in the so-called supervised flight mode or manually during man-operated flight mode. This paper deals with the problem of flight controller (logical) structure and algorithm design dedicated for the man-operated flight mode. The role of the controller is to stabilise the rotational...