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When availability is synonym to safety in the context of automated driving, redundancy is mandatory. But how much redundancy is necessary and sufficient? This paper proposes a holistic approach in building safety relevant systems leading to suppression of unnecessary redundancies. A case study for an electromechanical steering system is conducted. The interaction of the steering system with other...
This paper deals with the experimental results of implementing a fault tolerant control (FTC) in a classical ball-on-plate control framework. The work builds on the fact that a robust nominal controller is found to be insufficient in accommodating a sensor fault generated by the presence of a second ball. Invariant sets are used to monitor and detect occurrence of faults in the system and a switching...
We consider a plant affected by multiple faults (modeled through a piecewise affine formalism). Using a bank of finite-window observers and an artificially-induced feedback delay we provide an exact fault detection and isolation (FDI) mechanism, integrated into the overall fault tolerant control scheme. We use zonotopic characterizations for the sets of interest in order to provide explicit conditions...
We investigated an approach to a stabilizing nonlinear regulator construction in weakly nonlinear singularly perturbed control system. The control design had two stages. First of all control system was decomposed into the two linear subsystems with reduced dimensions and appropriate composite linear control was constructed. Then nonlinear correction of composite linear control was made. The proposed...
In this paper, an unknown input observer design is proposed for input disturbance estimation in a magnetic levitation process. The observer is designed using a control-based strategy which has been recently introduced. The method is shown to be very efficient for this estimation problem, with results both in simulation and in real time.
Accurate ground area detection is one of the most important tasks in various stereo vision based applications, such as autonomous driving or assistive technologies for visually impaired. Correct assertion of the ground geometry improves obstacle detection algorithms by eliminating false positive locations in image. In this paper we provide an application oriented evaluation on the correlation of the...
This paper presents a study of human behavior related to different marketing stimuli based on pupillometry data. The consumer's gaze points on products of interest are acquired with a remote eye tracker and the obtained heatmaps and timestamps are used for further analysis. An application for recording user's visual attention on web pages and advertising slides is implemented. A sensor for electrodermal...
Monte Carlo Tree Search (MCTS) is frequently used for online planning and decision making in large space problems, where the move maximizing a reward score is chosen as the optimal solution. As many problems have more than one objective, this paper presents a multi-objective version of MCTS. The algorithm employs a non-linear scalarization function, the Chebyshev metric based function, as a basis...
The research on developing assistive devices for visually impaired people greatly relies on image processing techniques. Extensive effort is made on detecting the obstacles in front of the user. Beside the normal obstacles that the user can bump into, another category of obstacles, negative obstacles must also be detected. Negative obstacles are usually represented by holes in the ground or regions...
This paper presents a voltage control strategy for a DC load powered by a three phase inverter connected to a Permanent Magnet Synchronous Generator (PMSG). The DC load consists of a DC capacitor in parallel with the inverter and the unknown current load. The control strategy is designed based on Simple Adaptive Control (SAC) technique. The structure is a cascade controller designed in rotor reference...
The paper presents basic control algorithms for vehicle platooning prototype car. The car is designed to be used in vehicle platooning research, namely in studying longitudinal control algorithms for vehicle platooning. It employs various sensors and devices that allow indoor research of platoon behavior. Therefore, the control algorithms can be designed and analyzed before implementing them within...
Nowadays, the control systems based on communication networks are used various industries such as manufacturing, automotive, aerospace, power generation and distribution, with many advantages and a couple of disadvantages. The latter can seriously affect the performances and the stability of each control system in the network and of the complex system as a whole. Moreover, it is well known that packet...
This paper addresses the design of a novel model-based control method for modern multi-mega-watt wind turbines using output regulation control scheme. The objective is to alleviate the extreme and fatigue loads on the moving components of the turbine structure (e.g., turbine tower, drivetrain, blades) whilst maximum energy is harvested from the approaching wind. The preview wind field information...
Starting from a hypothetical open shop production quantity estimation problem with weakly formulated objective function, this paper comparatively discusses a manual heuristic solution and an IBM-ILOG based numerical solution. Problem complexity is managed by specific partitioning strategies in the construction of heuristic solution instances. The study may serve as starting point in the systematic...
Multivariable processes are frequently found in continuously operated plants as in chemical, pulp or metallurgical industry. These processes are frequently operated in closed-loop to achieve a secure operation and/or to meet production objectives. Hence, for reasons of plant safety and in order not to violate product quality performing experiments for system identification can be forbidden in the...
New software applications for linear multivariable system identification are presented. The incorporated algorithms use subspace-based techniques (MOESP, N4SID, or their combination) to find a standard discrete-time state-space description, and optionally the covariance matrices and Kalman predictor gain, using input and output (I/O) trajectories. For flexibility, separate applications are offered...
Presents the introductory welcome message from the conference proceedings. May include the conference officers' congratulations to all involved with the conference event and publication of the proceedings record.
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