Table Of ContentAdvances in Intelligent Systems and Computing 743
Roman Szewczyk
Cezary Zieliński
Editors
Małgorzata Kaliczyńska
Automation
2018
Advances in Automation, Robotics and
Measurement Techniques
Advances in Intelligent Systems and Computing
Volume 743
Series editor
Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland
e-mail: [email protected]
Theseries“AdvancesinIntelligentSystemsandComputing”containspublicationsontheory,
applications,anddesignmethodsofIntelligentSystemsandIntelligentComputing.Virtually
alldisciplinessuchasengineering,naturalsciences,computerandinformationscience,ICT,
economics,business,e-commerce,environment,healthcare,lifesciencearecovered.Thelist
oftopicsspansalltheareasofmodernintelligentsystemsandcomputing.
The publications within “Advances in Intelligent Systems and Computing” are primarily
textbooksandproceedingsofimportantconferences, symposiaandcongresses.Theycover
significantrecentdevelopmentsinthefield,bothofafoundationalandapplicablecharacter.
Animportantcharacteristicfeatureoftheseriesistheshortpublicationtimeandworld-wide
distribution. Thispermitsarapid andbroaddissemination ofresearch results.
Advisory Board
Chairman
Nikhil R. Pal,Indian Statistical Institute,Kolkata, India
e-mail: [email protected]
Members
Rafael Bello Perez,UniversidadCentral “Marta Abreu”deLasVillas,Santa Clara, Cuba
e-mail: [email protected]
Emilio S.Corchado, University of Salamanca, Salamanca, Spain
e-mail: [email protected]
HaniHagras, University of Essex, Colchester, UK
e-mail: [email protected]
LászlóT. Kóczy, SzéchenyiIstván University, Győr,Hungary
e-mail: [email protected]
VladikKreinovich, University of Texasat ElPaso, ElPaso, USA
e-mail: [email protected]
Chin-Teng Lin, National ChiaoTung University,Hsinchu, Taiwan
e-mail: [email protected]
Jie Lu,University of Technology,Sydney,Australia
e-mail: [email protected]
Patricia Melin,Tijuana Institute of Technology,Tijuana, Mexico
e-mail: [email protected]
Nadia Nedjah,State University of RiodeJaneiro,RiodeJaneiro, Brazil
e-mail: [email protected]
Ngoc ThanhNguyen, Wroclaw University of Technology,Wroclaw,Poland
e-mail: [email protected]
Jun Wang, TheChineseUniversity of HongKong,Shatin, HongKong
e-mail: [email protected]
More information about this series at http://www.springer.com/series/11156
ń
Roman Szewczyk Cezary Zieli ski
(cid:129)
ł ń
Ma gorzata Kaliczy ska
Editors
Automation 2018
Advances in Automation, Robotics
and Measurement Techniques
123
Editors
RomanSzewczyk MałgorzataKaliczyńska
Industrial Research Institute for Automation Industrial Research Institute for Automation
andMeasurements PIAP andMeasurements PIAP
Warsaw Warsaw
Poland Poland
Cezary Zieliński
Industrial Research Institute for Automation
andMeasurements PIAP
Warsaw
Poland
ISSN 2194-5357 ISSN 2194-5365 (electronic)
Advances in Intelligent Systems andComputing
ISBN978-3-319-77178-6 ISBN978-3-319-77179-3 (eBook)
https://doi.org/10.1007/978-3-319-77179-3
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Foreword
Inthetwenty-firstcentury,wewitnessanenormousincreaseintherateofspreading
of novel technologies and reduction of time for their development. This results in
rapid changes both in industrial production and in consumers’ lives.
The most advanced material production technology in the middle ages, the
technology of production of Damascus steel, was developed for over two hundred
years. Subsequently, it was exploited for about five hundred years, but it was used
bynomorethanfiftymillionpeople.Firstpassengerflightoccurredabouttenyears
afterthefirstsuccessfulflightperformedbytheWrightbrothersin1903.Ittookthe
next 80 years until the total number of passengers exceeded fifty million. The
augmentedrealitycomputergamePokemonGo,whichhadbeenreleasedon6July
2016,eightdayslaterwasalreadyusedbyoverfiftymillionpeople.Thisshowsthe
change in both the rapidity of development of new technologies and the swiftness
oftheirspread.ThenewproductionparadigmassociatedwithINDUSTRY4.0will
only increase the fastness of those changes.
Automation,roboticsandmeasuringtechniquesarethekeyelementsofrecently
developed industrial technologies supporting the INDUSTRY 4.0 approach. To
conform to radical changes associated with transforming technologies, both sci-
entists and engineers have to adopt interdisciplinary approach to the development
and implementation of new products and processes. This approach utilizes theo-
reticalknowledge,numericalmodellingandsimulation.Asaresult,cyber-physical
systemsarecreated,whereinformationtechnologyandphysicaldevicesaremerged
into synergistic systems demonstrating unprecedented efficiency and hence
profitability.
Westronglybelievethatthepaperspresentedinthiscollectionwillbeusefulfor
both researchers of technical sciences and engineers solving practical problems in
the new world of INDUSTRY 4.0.
Roman Szewczyk
December 2017 Cezary Zieliński
Małgorzata Kaliczyńska
v
Contents
Control and Automation
Additive Manufacturing – A New Challenge for Automation
and Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Andrzej Nycz, Mark Noakes, and Maciej Cader
Discrete Transfer Function Models for Non Integer Order
Inertial System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Krzysztof Oprzędkiewicz
Fractional-Order PI Controller with Anti-windup
Compensation for First Order Delay System . . . . . . . . . . . . . . . . . . . . . 26
Talar Sadalla, Dariusz Horla, Wojciech Giernacki,
and Piotr Kozierski
Real-Time PLC Implementations of Fractional Order Operator . . . . . . 36
Krzysztof Oprzędkiewicz, Edyta Gawin, and Tomasz Gawin
Resource Management System for HPC Computing . . . . . . . . . . . . . . . 52
Ewa Niewiadomska-Szynkiewicz and Piotr Arabas
Autonomous Stand for 3D Printing and Machine Vision System . . . . . . 62
Tymoteusz Lindner, Daniel Wyrwał, and Arkadiusz Kubacki
Methods of Automatic Artifact Removal in Neurobiological Signals . . . 72
Konrad A. Ciecierski
Use of Electrooculography (EOG) and Facial Expressions
as Part of the Brain-Computer Interface (BCI)
for Controlling an Electric DC Motor . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Arkadiusz Kubacki, Piotr Owczarek, and Tymoteusz Lindner
vii
viii Contents
Temperature Forecasting for Energy Saving in Smart Buildings
Based on Fuzzy Cognitive Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Katarzyna Poczęta, Łukasz Kubuś, Alexander Yastrebov,
and Elpiniki I. Papageorgiou
Comparative Analysis of MP-Based Solvers to Optimize
Distribution Problems in Logistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Jarosław Wikarek, Paweł Sitek, and Tadeusz Stefański
Reachability and Observability of the Fractional Linear
Systems with State and Output Feedbacks. . . . . . . . . . . . . . . . . . . . . . . 116
Tadeusz Kaczorek
Real-Time and Low Phase Shift Noisy Signal Differential
Estimation Dedicated to Teleoperation Systems . . . . . . . . . . . . . . . . . . . 132
Mateusz Saków
Transport Delay and First Order Inertia Time Signal
Prediction Dedicated to Teleoperation . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Mateusz Saków and Karol Miądlicki
Complex Approach to the Control of Car Body Buffering
in the Paint Shop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Sara Alszer, Jolanta Krystek, and Szymon Bysko
Communication and Control Software Development
for Experimental Unmanned Aerial System – Selected Issues . . . . . . . . 162
Dariusz Rzonca, Sławomir Samolej, Dariusz Nowak,
and Tomasz Rogalski
Analysis of the Positivity of Descriptor Continuous-Time Linear
Systems by the Use of Drazin Inverse Matrix Method . . . . . . . . . . . . . . 172
Kamil Borawski
A Cascade PD Controller for Heavy Self-balancing Robot. . . . . . . . . . . 183
Michał Okulski and Maciej Ławryńczuk
A System for Weeds and Crops Identification Based
on Convolutional Neural Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Łukasz Chechliński, Barbara Siemia̧tkowska, and Michał Majewski
Output Controllability Problem of Fractional Discrete-Time
Systems with Multiple Delays in State and Control Vector . . . . . . . . . . 203
Rafał Kociszewski
Duality Principle for Positive Discrete-Time Fractional
Systems with State Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Rafał Kociszewski
Contents ix
Control Program Development in CPDev Using SFC
Language, HMI and Runtime Environment. . . . . . . . . . . . . . . . . . . . . . 223
Dariusz Rzonca, Andrzej Stec, and Bartosz Trybus
A Diophantine Set-Driven Approach to Part Sets Cycle Time
Scheduling and Repetitive Flow Balancing. . . . . . . . . . . . . . . . . . . . . . . 233
Grzegorz Bocewicz, Izabela Nielsen, and Zbigniew Banaszak
Implementation of IT Solutions for the Quality Management
System Based on ISO 13485 (2016) Standard in a Biomedical
Company in Poland . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Marcin Dębowski, Roman Szewczyk, and Alicja Gudanowska
Model-Based Research on Ultracapacitors . . . . . . . . . . . . . . . . . . . . . . . 254
Adrian Chmielewski, Piotr Piórkowski, Robert Gumiński,
Krzysztof Bogdziński, and Jakub Możaryn
Particle Filtering in Servo Drive Velocity Control
with Fractional-Order PI Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Talar Sadalla, Piotr Kozierski, Dariusz Horla, Wojciech Giernacki,
and Szymon Drgas
Decentralized Stabilization of Descriptor Fractional Positive
Discrete-Time Linear Systems with Delays. . . . . . . . . . . . . . . . . . . . . . . 276
Łukasz Sajewski
Hybrid Brain-Computer Interface (BCI) Based
on Electrooculography (EOG) and Center Eye Tracking. . . . . . . . . . . . 288
Arkadiusz Kubacki
Control Software Development Methodology for Programmable
Sawmill Appliances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
Mateusz Wietecha and Bartosz Trybus
Some Problems of Aerodynamic and Lateral-Jet Blended
Control for the Surface-to-Air Missile . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Robert Głębocki, Mariusz Jacewicz, and Rafał Ożóg
A Comparison Between Isolated and Non-isolated Dual
Inductor-Fed DC/DC Boost Converters . . . . . . . . . . . . . . . . . . . . . . . . . 317
Jakub Dawidziuk and Adam Krupa
A Comparison Between Two Current-Fed Step-up
DC/DC Converters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Jakub Dawidziuk and Adam Krupa
x Contents
Hybrid Energy Storage Based on Ultracapacitor
and Lead Acid Battery: Case Study. . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Ewa Jankowska, Karol Kopciuch, Magdalena Błażejczak,
Włodzimierz Majchrzycki, Piotr Piórkowski, Adrian Chmielewski,
and Krzysztof Bogdziński
Energy Consumption Optimal Control of the Train Movement. . . . . . . 350
Andrzej Myśliński, Zbigniew Nahorski, Katarzyna Szulc,
and Weronika Radziszewska
Web Service Enrichment for Sensors Exposal: Case Study
for Crisis Management Systems Purposes of the C2-SENSE Project . . . 360
Jan Piwiński and Rafał Kłoda
Stability Conditions for the New Model of Fractional
Discrete-Time Linear Scalar Systems with One Delay . . . . . . . . . . . . . . 370
Andrzej Ruszewski
The Investigations of Hydraulic Heave Compensation System . . . . . . . . 380
Arkadiusz Jakubowski and Andrzej Milecki
Control of a Servopneumatic Drive Using a Microcontroller . . . . . . . . . 392
Krzysztof Nowak and Małgorzata Łaganowska
New Parameter Identification Method for the Fractional Order,
State Space Model of Heat Transfer Process . . . . . . . . . . . . . . . . . . . . . 401
Krzysztof Oprzędkiewicz and Klaudia Dziedzic
Test Stand Research on ICE Engine Powered
by an Alternative Fuel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
Adrian Chmielewski, Robert Gumiński, Artur Małecki,
Tomasz Mydłowski, and Krzysztof Bogdziński
Robotics
Optimality in Control for Wheeled Robot . . . . . . . . . . . . . . . . . . . . . . . 431
Zenon Hendzel
Robotic Systems Implementation Based on FSMs . . . . . . . . . . . . . . . . . 441
Cezary Zieliński, Maksym Figat, and René Hexel
The Design and Application of Wireless 3D Tool for Offline
Programming of Soldering Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Dominik Rybarczyk and Andrzej Milecki
Identification and Evaluation of a Model of an Orthotic
Robot Based on Experimental Research. . . . . . . . . . . . . . . . . . . . . . . . . 462
Karol Bagiński, Jakub Wierciak, and Wojciech Credo
