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About this book

These proceedings address a broad range of topic areas, including telecommunication, power systems, digital signal processing, robotics, control systems, renewable energy, power electronics, soft computing and more.

Today’s world is based on vitally important technologies that combine e.g. electronics, cybernetics, computer science, telecommunication, and physics. However, since the advent of these technologies, we have been confronted with numerous technological challenges such as finding optimal solutions to various problems regarding controlling technologies, signal processing, power source design, robotics, etc.

Readers will find papers on these and other topics, which share fresh ideas and provide state-of-the-art overviews. They will also benefit practitioners, who can easily apply the issues discussed here to solve real-life problems in their own work. Accordingly, the proceedings offer a valuable resource for all scientists and engineers pursuing research and applications in the above-mentioned fields.

Table of Contents

Frontmatter

Computer Science

Frontmatter

New Neuromorphic AI NM500 and Its ADAS Application

This article deals with an ADAS (Advanced Driver Assistance System) application using newly developed neuromorphic artificial intelligent chip NM500. Neuromorphic artificial intelligence is distinguished from other AI by its particular hardware structure and parallel algorithms of learning and recognition. Thus, neurons of NM500 can learn and recognize patterns extracted from any data sources with less energy and complexity than modern microprocessors. The proposed application can control the vehicle speed by recognizing the traffic information images marked on road. We have built a small-scaled vehicle model to discuss the real-time performance as well as hardware implementation with NM500. Taking advantages of NM500, the system simply consists of a low-priced surveillance camera attached in the front windshield of a vehicle and an Arduino kit, which processes the video signal from the camera and speed control signal.

Jungyun Kim

Analyzing l1-loss and l2-loss Support Vector Machines Implemented in PERMON Toolbox

This paper deals with investigating l1-loss and l2-loss l2-regularized Support Vector Machines implemented in PermonSVM – a part of our PERMON toolbox. The loss functions quantify error between predicted and correct classifications of samples in cases of non-perfectly linearly separable classifications. In numerical experiments, we study properties of Hessians related to performance score of models and analyze convergence rate on 4 public available datasets. The Modified Proportioning and Reduced Gradient Projection algorithm is used as a solver for the dual Quadratic Programming problem resulting from Support Vector Machines formulations.

Marek Pecha, David Horák

Hybrid Fuzzy Neural Model Based Dempster-Shafer System for Processing of Diagnostic Information

The paper presents a technique of data fusion obtained from the various sensors. The technique is proposed as important in reliable control over state of technical objects. It is based on adaptive models, which are combinations of fuzzy neural systems and network models implementing Dempster-Shafer computational methodology of evidence combining. The structure of fuzzy neural network is presented to compute basic belief assignments. The structure of hybrid network model based on synthesis of the fuzzy neural system and adaptive net of evidence combining is proposed. It is shown that presented idea provides probabilistic inference based on multi-sensor data even when belief assignments are missed. This advantage is achieved due to experimental based training. As well, linear convergence is proved for training.

Alexander I. Dolgiy, Sergey M. Kovalev, Andrey V. Sukhanov, Vitezslav Styskala

ANFIS and Fuzzy Tuning of PID Controller for STATCOM to Enhance Power Quality in Multi-machine System Under Large Disturbance

STATCOM is one of the FACTS devices that are used in power systems. The algorithms used to control the STATCOM often use PID controller. However, there are a lot of elements in the network and have complex configurations and their dynamic model is highly non-linear, and convention PID controller are not robust for their stability control. In this paper, we propose the intelligent controllers for STATCOM based on dynamic model of the system and two control schemes have been developed: (i) Fuzzy-PID self-tuning controller (Hybrid F-PID); (ii) Adaptive neuro-fuzzy inference system – PID (ANFIS-PID) controller. The operating performance of the studied system is using the popular benchmark three-machine nine-bus system. The two-axis four-order model of synchronous generator (SG) is used. Time-domain scheme based on a nonlinear system model subject to a three-phase short-circuit fault at the load connected bus is utilized to examine the effectiveness of the proposed control schemes. It can be concluded from the simulation results that ANFIS has provide the best results for controlling STATCOM to enhance power quality in power system as compared to the conventional control strategies under large disturbance.

Huu Vinh Nguyen, Hung Nguyen, Kim Hung Le

Proposal of Electrode System for Measuring Level of Glucose in the Blood

The paper describes the development of electrode system and blood glucose measuring circuit for glucose analysis. Measuring blood glucose levels is today one of the standards of medical procedures that determine the physiological state of a person. The task of the work was to implement the measuring system, to test the functionality of the whole system, the measurement tests were carried out and the measured data were subsequently processed statistically. In designing and constructing the electrode system, the resistive principle of measurement of non-electrical quantities was applied because the system focuses on the measurement of the concentration of a certain substance in the liquid. These are electrolytic sensors using gold electrodes. The part that deals with the construction of the electrical measuring circuit has determined the conditions that the circuit must meet. For this reason, a micro-ammeter was designed to provide the source voltage, measure the current and convert it back to a suitable magnitude. The current measured by the circuit is proportional to the concentration of glucose in the solution. Glucose oxidase enzyme was used to distinguish glucose molecules in the blood and determine its concentration, which, together with the supply of the required voltage, provides useful chemical reactions. Based on the processed data, it is possible to evaluate the constructed system and lay the foundations for further development of the issue.

Klara Fiedorova, Martin Augustynek

Substitution Rules with Respect to a Context

In this paper, we deal with Leibniz’s rule of substitution of identicals, and describe how the rule can be applied in the TIL-Script language. The main goal is to introduce the algorithm of valid application of the substitution rules in all the three kinds of context that we distinguish in the TIL-Script language. The language is a computational variant of TIL, which is a hyperintensional, partial typed -calculus. Hyperintensional, because the meaning of TIL -terms are procedures producing functions rather than the denoted functions themselves. Partial, because TIL is a logic of partial functions, and typed, because all the entities of TIL ontology receive a type. Based on the results of context recognition the algorithm makes it possible to validly apply the substitution rules and derive relevant new pieces of analytic information.

Michal Fait, Marie Duží

Fuzzy Model Predictive Control for Discrete-Time System with Input Delays

In this paper, we present a robust fuzzy model predictive control (RFMPC) for a class of discrete-time system with input delays. The system is represented into a Takagi-Sugeno (T-S) discrete fuzzy model. Based on the Lyapunov functions theory, some required sufficient conditions are established in terms of linear-matrix inequalities (LMIs). The provided conditions are obtained through a fuzzy Lyapunov function candidate and a non-PDC control law, which can guarantee that the resulting closed-loop fuzzy system is asymptotically stable. A numerical example is provided to illustrate the effectiveness of the control algorithm.

Sofiane Bououden, Ilyes Boulkaibet, Mohammed Chadli, Ivan Zelinka

An Improvement of Fuzzy-Based Control Strategy for a Series Hydraulic Hybrid Truck

This paper has proposed and investigated a fuzzy-based power management strategy for a light-duty series hydraulic hybrid truck (SHHT). In this approach, a fuzzy-based controller will use the vehicle speed and acceleration commands as the inputs to predict the desired accumulator pressure in order to satisfy the dynamic constraints in efficient manner. The performance of the proposed power management was then evaluated on a high fidelity SHHT model, which is developed in Matlab/Simulink, under typical driving cycles. The simulation results demonstrated that with the proposed supervisory controller, the SHHT system achieves better fuel economy improvement and dynamic performance for both urban and highway driving conditions.

Tri-Vien Vu, Bach H. Dinh, Anh-Minh Duc Tran, Chih-Keng Chen, Trung-Hieu Vu

A New Approach Newton-Raphson Load Flow Analysis in Power System Networks with STATCOM

Load flow analysis is an important tool used by engineers to ensure stable operation of the power system, it is also used in load forecasting, planning, and economic scheduling. In this paper, we propose an improved solution of load flow analysis in the power systems incorporating STATCOM using the Newton-Raphson method. A software based on MATLAB Compiler Runtime (MCR) based on the proposed method is developed to analyze the power system load flow with and without STATCOM. The software has been tested on IEEE 30-bus, and IEEE 57-bus test system. The results have proved the correctness of the proposed method, reliability of the software and high computation speed.

Dung Vo Tien, Radomir Gono, Zbigniew Leonowicz

Neural Network for Smart Adjustment of Industrial Camera - Study of Deployed Application

Since machine vision is gaining more and more interest lately, it is necessary to deal with correct approaches to visual data acquisition in industry. As a particular part of this complex problematics, a technique for the industrial camera exposure time and image sensor gain tuning is presented in this contribution. In comparison to other approaches, a human expert photographer is used instead of explicitly defined cost function. His knowledge is transformed into an artificial expert system represented by a feedforward neural network. The expert system then provides the suitable exposure time and image sensor gain to gather sharp and balanced images.

Petr Dolezel, Daniel Honc

Risk Assessment Approach to Estimate Security of Cryptographic Keys in Quantum Cryptography

Increased interest in quantum cryptography is observed in recent years. Although this technique is characterized by a very high level of security, there are still challenges of quantum key distribution that should be solved. One of the most important problem remains security mechanisms for the key distillation process which can be effectively controlled by end users. This article presents a new idea for security assessment of cryptographic key based on the risk management in quantum cryptography. This proposal assumes the estimation of risk level using two components: likelihood and impact. The likelihood can be defined by the probability of eavesdropping during the quantum bit estimation. The impact is associated with the effect of key reduction in the all steps of key distillation process. Using this novel approach end users of quantum cryptography will be able to control both efficiency and security level of cryptographic keys.

Marcin Niemiec, Miralem Mehic, Miroslav Voznak

Wavelet Transform Decomposition for Fetal Phonocardiogram Extraction from Composite Abdominal Signal

This paper deals with the extraction of the fetal and maternal component from the composite abdominal phonocardiogram (PCG). The main method used for this task is the discrete wavelet transform. For the initial tests, we used synthetic PCG data incorporating the maternal heart sound interference. Based on the results, we suggested the suitable wavelet and the level of decomposition for fetal and maternal PCG extraction.

Radana Kahankova, Radek Martinek

A CUDA Approach for Scenario Reduction in Hedging Models

A CUDA kernel is proposed in this paper for acceleration of the computation of a dynamic hedging model. This is a very useful tool in segregated fund modelling. Current approaches delve on scenario reduction techniques in order to extract meaningful information from a large data set. Parallel programming allows these models to be effectively evaluated within a critical time frame. The GPU execution times shows significant improvement over CPU approaches.

Donald Davendra, Chin-mei Chueh, Emmanuel Hamel

Using a Strain Gauge Load Cell for Analysis of Round Punch

This article is focused on the using a strain gauge load cell in a professional defense. In the described experiment, we measured a round punch. The round punch is one of the striking techniques that is used in a professional defense. The professional defense is a very important part of physical security and safety. Nowadays, it is necessary to protect our life and property. We can see many robberies, thefts, murders, vandalism, rapes and many others criminals. The physical security and safety give us effectively possibilities to protect us. In this article, we will describe one of the striking techniques – the round punch (also called a slap). We measured a force during our experiments with the help of a strain gauge load cell L6E-C3-300kg. A total of 194 people took part in our experiment. Then we found dependences on input parameters – a body mass, body height and gender. In previous experiments, we measured a direct punch with the help of the same device. We presented the results in previous articles.

Dora Lapkova

Geometrical Computational Method to Locate Hypocenter by Signal Readings from a Three Receivers

The information about hypocenters is essential for engineering tasks to predict a danger created by earthquakes. A nonlinearity in the earthquake location problem, a one-sided distribution of seismic receivers lead to a search of solutions improving hypocenter location accuracy. The original earthquake location method has been developed by using a physical and geometrical representation of the time difference between first signals from seismic waves registered by three different receivers. Data processing is performed applying algorithms of a computational geometry. The solution error is formulated in terms of an analytical geometry. Thus the method differs from traditional approaches, which are based on a standard statistic error. Taking into account the promising testing results we guess that the geometrical method can be as an additional computational technique or as a tool to get the trial hypocenter, which is an input parameter of standard software for hypocenter determining.

Alexander D. Krutas, Tatyana A. Smaglichenko, Alexander Smaglichenko, Maria Sayankina

An Intelligent Question-Answer System over Natural-Language Texts

The success of automated reasoning techniques over large natural-language texts heavily relies on a fine-grained formal analysis of these texts. While there is common agreement that the analysis should be hyperintensional, most automatic reasoning systems are still based on intensional logic. In this paper, we introduce a hyperintensional system of reasoning and answering. We apply Tichy’s Transparent Intensional Logic (TIL) which comes with a procedural (as opposed to truth-conditional) semantics. Our goal is to analyse empirical questions that come attached with a presupposition.

Marie Duží, Bjørn Jespersen

An Efficient Reduced Basis Construction for Stochastic Galerkin Matrix Equations Using Deflated Conjugate Gradients

In this article, we examine an efficient solution of the stochastic Galerkin (SG) matrix equations coming from the Darcy flow problem with uncertain material parameters on given interfaces. The solution of the SG system of equations, here represented as matrix equations, is usually a very challenging task. A relatively new approach to the solution of the SG matrix equations is the reduced basis (RB) solver, which looks for the low-rank representation of the solution. The construction of the RB is usually done iteratively and consists of multiple solutions of systems of equations. We aim to speed up the process using the deflated conjugate gradients (DCG). Other contributions of this work are a modified specific construction of the RB without the need of Cholesky factor and an adaptive choice of the candidate vectors for the expansion of the RB. The proposed approach allows an efficient parallel implementation.

Michal Béreš

An Investigation on Signal Comparison by Measuring of Numerical Strings Similarity

The counter algorithm has been presented to detect pairs of similar numerical strings in order to distinguish between a subset of identical signals and other signals. The pair of similar signals is determined using the matrix of the algorithm. Two elements of the matrix estimate the similarity degree in contrast to the ordinary applied a single value of correlation coefficient. The matching of signal images with the matrix elements has been made on an example of impulse signals. Using this data type we compare the outcomes of two methods: a counter based technique and the correlation method. The difference between the method proposed and the correlation method is discussed.

Alexander Smaglichenko, Tatyana A. Smaglichenko, Arkady Genkin, Boris Melnikov

Optimization

Frontmatter

A Lightweight SHADE-Based Algorithm for Global Optimization - liteSHADE

In this paper, a novel lightweight version of the Successful-History based Adaptive Differential Evolution (SHADE) is presented as the first step towards a simple, user-friendly, metaheuristic algorithm for global optimization. This simplified algorithm is called liteSHADE and is compared to the original SHADE on the CEC2015 benchmark set in three dimensional settings – 10D, 30D and 50D. The results support the idea, that simplification may lead to a successful and understandable algorithm with competitive or even better performance.

Adam Viktorin, Roman Senkerik, Michal Pluhacek, Tomas Kadavy, Roman Jasek

Pupil Localization Using Self-organizing Migrating Algorithm

In this paper, we propose a new method for pupil localization in images. The main contribution of the proposed method is twofold. Firstly, the method is based on the proposed eye model that takes into account physiological properties of eyes (i.e. reflects the properties of pupil, iris, and sclera). Secondly, the correct shape and the position of the model are determined using an evolutionary algorithm called Self-Organizing Migrating Algorithm (SOMA). Thanks to these ideas, the proposed method is faster than the state-of-the-art methods without reduction of accuracy. We evaluated the algorithms on two publicly available data sets in remote tracking scenarios (namely BioID [7] and GI4E [11]).

Radovan Fusek, Petr Dobeš

Differential Evolution Algorithms Used to Optimize Weights of Neural Network Solving Pole-Balancing Problem

Differential evolution (DE) has been successfully used to solve difficult optimization problems. Every year, novel DE algorithms are developed to outperform the previous versions. The JADE is a famous DE algorithm using a mutation strategy current-to-pbest and the adaptation of control parameters. The SHADE has been developed to eliminate some bottlenecks of the JADE, especially its tendency to a premature convergence. The performance of these algorithms has been demonstrated on various benchmarks. The goal of this work is to compare the performance of the selected DE algorithms which are used to optimize the weights of the artificial neural network solving the pole-balancing problem.

Jan Vargovsky, Lenka Skanderova

The Use of Radial Basis Function Surrogate Models for Sampling Process Acceleration in Bayesian Inversion

The Bayesian approach provides a natural way of solving engineering inverse problems including uncertainties. The objective is to describe unknown parameters of a mathematical model based on noisy measurements. Using the Bayesian approach, the vector of unknown parameters is described by its joint probability distribution, i.e. the posterior distribution. To provide samples, Markov Chain Monte Carlo methods can be used. Their disadvantage lies in the need of repeated evaluations of the mathematical model that are computationally expensive in the case of practical problems.This paper focuses on the reduction of the number of these evaluations. Specifically, it explores possibilities of the use of radial basis function surrogate models in sampling methods based on the Metropolis-Hastings algorithm. Furthermore, updates of the surrogate model during the sampling process are suggested. The procedure of surrogate model updates and its integration into the sampling algorithm is implemented and supported by numerical experiments.

Simona Domesová

An Optimised Hybrid Group Method in Data Handling (GMDH) Network

A novel modular optimized hydrid Group Method in Data Handling (GMDH) network is proposed in this paper. A standard GMDH network is optimized using the Discrete Differential Evolution (DDE) algorithm for an optimized network structure, and Singular Value Decomposition (SVD) is further used for coefficient calculations of the network. The developed DE-GMDH algorithm is tested for fitness accuracy, memory usage and maximal error on a manufacturing problem.

Donald Davendra, Petr Martinek

A Better Indexing Method for Closest Open Location Policy in Forklift Warehouse Operation

Due to rapid development in logistic industry, there has been growing concern over cold warehouse operation. Four fundamental elements that affect the efficiency in warehouse management include travel, search, pick up, set up. Travel time composes the highest proportion in the group hence recent studies are in favor of promoting time travel in indexing pallet location for COL policy. In fact, because picking also plays an essential role in reducing operating cost, methods optimized both travel and picking are definitely more thorough. This paper aims to point out potential measures by imposing a better indexing method for closest open location policy to address storage location assignment problems, along with the simulation of the forklift moving products in warehouse in order to generate more reliable data. The efficiency of these strategies ensures warehouse can be operated in the most efficient way.

Duy Anh Nguyen, Truong Thinh Pham, Viet Duong Nguyen

On-Line Efficiency-Optimization Control of Induction Motor Drives Using Particle Swarm Optimization Algorithm

This paper proposes a method for optimizing the power efficiency of induction motor drives based on the Particle Swarm Optimization algorithm. The power efficiency is improved by adjusting the current magnetization component for a given load torque so that total loss of copper and iron could be minimized. To verify the effectiveness of the proposal method, the simulation in MATLAB/SIMULINK has been implemented and compared with the conventional Rotor Flux Oriented Control. The result shows that the proposed method has improved the power efficiency of the IM drives under the light load regime with a considerable loss reduction.

Sang Dang Ho, Pavel Brandstetter, Cuong Tran Dinh, Thinh Cong Tran, Minh Chau Huu Nguyen, Bach Hoang Dinh

Introducing the Run Support Strategy for the Bison Algorithm

Many state-of-the-art optimization algorithms stand against the threat of premature convergence. While some metaheuristics try to avoid it by increasing the diversity in various ways, the Bison Algorithm faces this problem by guaranteeing stable exploitation – exploration ratio throughout the whole optimization process. Still, it is important to ensure, that the newly discovered solutions can affect the overall optimization process. In this paper, we propose a new Run Support Strategy for the Bison Algorithm, that should enhance the utilization of newly discovered solutions, and should be suitable for both continuous and discrete optimization.

Anezka Kazikova, Michal Pluhacek, Tomas Kadavy, Roman Senkerik

Optimizing Automated Storage and Retrieval Algorithm in Cold Warehouse by Combining Dynamic Routing and Continuous Cluster Method

The effectiveness of a storage and retrieval system in cold warehouse is assessed based on operating cost. In this paper, the cost savings is consider base on the optimization two criteria: optimization of the travel distance and time consuming or in other words, focus on building the advantage algorithm to determining storage location and planning path. A warehouse layout is designed for 480 storage locations on 16 pallet racking, separated by 4 storage aisles and 1 pick aisle. The storage and retrieval of goods is carried out by 2 forklift trucks. The system will be deals with the problem of deadlocks and traffic jams. In order to solve this issue, each vehicle will be assigned different permissions for access to each storage location in the warehouse and the window time algorithm is applied to avoid conflicts between vehicles. On the other hand, Continuous Cluster Method will be used to decrease the travel time. The algorithm is compared to using a single vehicle for a similar storage space to see efficiency. The results show that the algorithm is optimized up to 30% compare with traditional policy.

Ngoc Cuong Truong, Truong Giang Dang, Duy Anh Nguyen

Dependency of GPA-ES Algorithm Efficiency on ES Parameters Optimization Strength

In this work, the relation between number of ES iterations and convergence of the whole GPA-ES hybrid algorithm will be studied due to increasing needs to analyze and model large data sets. Evolutionary algorithms are applicable in the areas which are not covered by neural networks and deep learning like search of algebraic model of data. The difference between time and algorithmic complexity will be also mentioned as well as the problems of multitasking implementation of GPA, where external influences complicate increasing of GPA efficiency via Pseudo Random Number Generator (PRNG) choice optimization.Hybrid evolutionary algorithms like GPA-ES uses GPA for solution structure development and Evolutionary Strategy (ES) for parameters identification are controlled by many parameters. The most significant are sizes of GPA population and sizes of ES populations related to each particular individual in GPA population. There is also limit of ES algorithm evolutionary cycles. This limit plays two contradictory roles. On one side bigger number of ES iterations means less chance to omit good solution for wrongly identified parameters, on the opposite side large number of ES iterations significantly increases computational time and thus limits application domain of GPA-ES algorithm.

Tomas Brandejsky

A Modified Bat Algorithm to Improve the Search Performance Applying for the Optimal Combined Heat and Power Generations

Cogeneration technology known as combined heat and power generations can achieve much more energy-efficient than separately generating electricity and useful heat for electric/heat demand loads. Thus, the economic dispatch of cogeneration systems is very complex optimization problems in power systems because many complicated constrains for combined demands of heat and power loads as well as operating zone of cogeneration units have to take into consideration. In this paper, a Modified Bat Algorithm (MBA) with three improvements has been proposed to solve the optimal operation of combined heat and power generations (OOCHPG). To evaluate the effectiveness of the proposed ideas, both Conventional Bat Algorithm (CBA) and MBA have been applied for a test case of 7 generations and the results have proved that the proposed MBA is persuasively superior to CBA and other methods reported in the literature in terms of optimal value quality, low fitness evaluations and fast convergence. Consequently, the proposed MBA is an efficient method for solving OOCHPG problem.

Bach H. Dinh, An H. Ngo, Thang T. Nguyen

Prediction of Hourly Vehicle Flows by Optimized Evolutionary Fuzzy Rules

The prediction of traffic situation at different time periods is essential for intelligent management of transportation systems and represents a key concept of smart cognitive environments. Road traffic is a complex dynamic system with many stochastic elements and many internal and external dependencies. Real–world traffic patterns in large cities are very complicated to model and simulate analytically. Road traffic monitoring, on the other hand, can be easily achieved by inexpensive sensing and monitoring systems and is often readily available. It can be even obtained as a by–product of other transportation services, for example, toll collection. In this work, we use a modified version of a recent machine–learning method, evolutionary fuzzy rules, to learn location–specific estimators of hourly traffic flow at specific locations.

Pavel Krömer, Jana Nowaková, Martin Hasal, Jan Platoš

A New Simple, Fast and Robust Total Least Square Error Computation in E2: Experimental Comparison

Many problems, not only in signal processing, image processing, digital imaging, computer vision and visualization, lead to the Least Square Error (LSE) problem or Total (Orthogonal) Least Square Error (TLSE) problem computation. Usually the standard least square error approximation method is used due to its simplicity, but it is not an optimal solution, as it does not optimize the orthogonal distances, but only the vertical distances. There are many problems for which the LSE is not convenient and the TLSE is to be used. Unfortunately, the TLSE is computationally much more expensive. This paper presents a new, simple, robust and fast algorithm for the total least square error computation in $$E^2$$ .

Michal Smolik, Vaclav Skala, Zuzana Majdisova

On the Self-organizing Migrating Algorithm Comparison by Means of Centrality Measures

In this article we continue in our research which combines three different areas - swarm and evolutionary algorithms, networks and coupled map lattices control. Main aim of this article is to compare networks obtained from best and worst self-organizing migrating algorithm runs. All experiments were done on well known CEC 2014 benchmark functions. For each selected function we picked 30 best and 30 worst runs, converted each run into a network, counted selected properties and compared the results. All obtained results are reported in this article.

Lukas Tomaszek, Patrik Lycka, Ivan Zelinka

A Brief Overview of the Synergy Between Metaheuristics and Unconventional Dynamics

This brief review paper focuses on the modern and original hybridization of the unconventional dynamics and the metaheuristic optimization algorithms. It discusses the concept of chaos-based optimization in general, i.e. the influence of chaotic sequences on the population diversity as well as at the metaheuristics performance. Further, the non-random processes used in evolutionary algorithms, and finally also the examples of the evolving complex network dynamics as the unconventional tool for the visualization and analysis of the population in popular optimization metaheuristics. This work should inspire the researchers for applying such methods and take advantage of possible performance improvements for the optimization tasks.

Roman Senkerik

Telecommunications

Frontmatter

An Examination of Outage Performance for Selected Relay and Fixed Relay in Cognitive Radio-Aided NOMA

In this paper, we consider impacts of relay selection scheme on primary network performance in cognitive radio (CR) assisted non-orthogonal multiple access (NOMA). We suggest relay selection model to improve the outage performance at primary network. In this model, the fixed power allocation in NOMA is deployed to achieve considered simulation results. To completely study the profits of the NOMA scheme, we derive closed-form formula for the outage probability. We find that the CR-NOMA enhances its performance as suitable selection of relay intending to forward signal to NOMA users. It is shown several performance comparison in such CR-NOMA as varying the target rates at relay and destination. Numerical results are extensively studied to confirm that our proposed CR-NOMA outperforms the other designs in terms of outage probability.

Tam Nguyen Kieu, Hong Nhu Nguyen, Long Nguyen Ngoc, Tu-Trinh Thi Nguyen, Jaroslav Zdralek, Miroslav Voznak

Throughput Analysis of Power Beacon-Aided Multi-hop Relaying Networks Employing Non-orthogonal Multiple Access with Hardware Impairments

In this paper, we evaluate throughput of a power beacon-aided multi-hop relaying networks employing non-orthogonal multiple access (NOMA). In the proposed protocol, the source data are sent to the destination via the multi-hop transmission model. In addition, the source and relay nodes have to harvest energy the radio frequency (RF) signals generated by a power beacon. For performance evaluation, we derive an exact closed-form expression of throughput for the proposed scheme over Rayleigh fading channel and under impact of imperfect transceiver hardware. We finally perform simulation results to verify the theoretical results.

Phu Tran Tin, Pham Minh Nam, Tran Trung Duy, Phuong T. Tran, Tam Nguyen Kieu, Miroslav Voznak

Optimum Selection of the Reference Signal for Correlation Receiver Applied to Marker Localization

The localization of RFID transponders is very popular task today in industrial RFID applications. One of the special applications of RFID is the localization and identification of the underground facility networks by special RFID transponders called markers. This paper describes an optimum selection of reference signal for the correlation receiver applied to RSSI based localization of the inductive coupled RFID markers. The reference responses of the marker are generated by using the model of localization device created in Matlab – Simulink software package. The analysis takes into account the quality factor of the marker resonant circuit. The results show that the correlations coefficients between any two marker responses are not significantly dependent on the marker parameters.

Martin Vestenický, Peter Vestenický

Comparing of Transfer Process Data in PLC and MCU Based on IoT

An article is based on comparing of data processing within PLC and MCU with using Cloud platforms. The last advances in computation and communication technologies are taking shape in the form of IoT (Internet of Things), M2M (Machine to Machine) technology, Industry 4.0 and Cyber Physical Systems. Internet of Things connects an enormous number of devices. Devices within IoT need small number of sensors and control data, but with numerous messages. Today Cloud services work with the volume of these data and support large scale IoT systems. In this paper we would like to represent a comparison of solutions Industrial and Commercial IoT. The proposed systems use one of the newest communication protocols MQTT.

Antonin Gavlas, Jiri Koziorek, Robert Rakay

Protecting Gateway from ABP Replay Attack on LoRaWAN

This paper discusses the problem of replay attacks with the ABP (Activation By Personalisation) authentication method on the LoRaWAN infrastructure and proposes effective gateway protection. To solve the problem, an experiment is replicated that simulates the attacker and is embedded in a real infrastructure environment. Subsequently, a detector is proposed and implemented based on knowledge of attacker’s steps. The paper brings a proposed and verified detection algorithm that is implemented directly on the gate with an attack incident report. The aim of this approach is to prevent server-side spoofing and dosing attack on the end-device.

Erik Gresak, Miroslav Voznak

Development of a Distributed VoIP Honeypot System with Advanced Malicious Traffic Detection

The number of active users using Voice over IP (VoIP) services has an increasing tendency. With an expanding number of users, there is also a rapid increase in the number of hackers interested in attacking the VoIP communication system. This paper aims at detecting malicious SIP traffic and also deals with the security of the VoIP architecture issue. It is not a trivial matter to secure the VoIP system because exploiting the vulnerabilities of IP based telecommunication systems have increased. It is crucial to develop a tool that would be able to detect these attacks, analyse collected data, monitor attackers progress and to prepare an effective way of how to defend against VoIP attackers. That was the primary motivation why we have decided to develop our honeypot solution which can detect attacks on VoIP infrastructure, and it is adapted to the new security threats and which is designed according to the needs of the telecommunications market. Our VoIP honeypot is implemented purely in JAVA programming language and is capable of capturing and processing various types of attacks. The whole project is based on a Linux distribution, ready for the easiest deployment because it is prepared as a virtual machine image.

Ladislav Behan, Lukas Sevcik, Miroslav Voznak

Proposal and Implementation of Probe for Sigfox Technology

The paper deals with designing and implementation of a probe that measures the quality of Sigfox radio network coverage. This probe consists of the mobile application for Android operation system, Sigfox RF module, and Bluetooth module. Finding the coverage quality is solved by wireless communication between mobile device and Sigfox module, which sends Sigfox message. The developed solution mainly offers a possibility to display base stations on a map and show a list of all measurements. The probe represents a tool, which is intended primarily to find areas with weak or non-existent Sigfox network coverage and as the authors know, the presented solution is unique so far.

Jakub Jalowiczor, Miroslav Voznak

IoT Approach to Street Lighting Control Using MQTT Protocol

This article shows modern approach to street light control based on Ethernet network with Message Queuing Telemetry Transport (MQTT) protocol with ideas of Internet of Things (IoT). The real implementation of such a luminaire is shown, with following testing on BroadbandLIGHT polygon. We demonstrates advantages of our solution, which meet requirements of future cities, today many times called as a smart city. It obvious that this approach to connection and controlling of public light system allows fast expansion of Smart technologies and related services. In experimental part we primary discus requirements and influence of technology to network bandwidth. The original benefit of the study is to verify the functionality of IoT approach to street lighting control using real-time MQTT protocol. The realized experiments clearly confirmed the usability of the real-world public lighting infrastructure to cover the intravilan city with SMART technologies.

Radim Kuncicky, Jakub Kolarik, Lukas Soustek, Lumir Kuncicky, Radek Martinek

Materials

Frontmatter

Temperature Dependence of Microstructure in Liquid Aluminosilicate

The structure of liquid Al2O3.2SiO2 (AS2) have been investigated by means molecular dynamics simulation with the Born-Mayer potential at different temperatures. The structural characteristics are analyzed via the partial radial distribution functions, coordination number, bond angle and bond length distributions. The results show that, the structure of the liquid aluminosilicate consist the basic structural units TOx (T = Al, Si; x = 3, 4, 5). The fraction of TOx units have a small change, in which the shape and size of the basic structural units are identical and do not depended on temperature. Calculations also show that calculated data agree well with the experimental ones.

Mai Van Dung, Le The Vinh, Vo Hoang Duy, Nguyen Kieu Tam, Tran Thanh Nam, Nguyen Manh Tuan, Truong Duc Quynh, Nguyen Van Yen

Study on Effect of Parameters on Friction Stir Welding Process of 6061 Aluminum Alloy Tubes

This paper presents the experimental results on friction stir welding (FSW) with 6061 aluminum alloy cylinder. This operation is implemented on a universal milling machine with specialized holder and the stepless spindle speed which can be adjusted by using frequency converter.Two pieces of aluminum tube with the same dimensions $$ (\phi 100\,\text{mm} \times 5\,\text{mm} \times 40\,\text{mm}) $$ are facing machined and located in mandrel by screw clamp in order to be concentric and stable. The mandrel is installed on a continuously variable transmission with various speeds. The model was designed to find out the best value of each technical parameters such as tool speed, traverse speed, welding shoulder radius. This paper also presents the effect of technical parameters to the tensile strength, normal force and the welding force of FSW.

Van Vu Nguyen, Hoang Linh Nguyen, Tan Tien Nguyen, Thien Phuc Tran, Sang Bong Kim

Convergence Study of Different Approaches of Solving the Hartree-Fock Equation on the Potential Curve of the Hydrogen Fluoride

The aim of the paper is to compare the convergence of chosen numerical methods, namely the Direct Inversion of the Iterative Subspace and the Inexact Restoration Method, for solving the nonlinear eigenvalue problem occurring in the electronic structure calculations. We have selected the Hartree-Fock approximation where the behavior of the energy functional is known. The numerical experiments are performed on the modeling of the potential curve of the Hydrogen fluoride molecule. The results will be used as a clue for the development of optimization methods in the area of the Density Functional Theory.

Martin Mrovec

Control Systems

Frontmatter

Network Traffic Anomaly Detection in Railway Intelligent Control Systems Using Nonlinear Dynamics Approach

The work presents an approach for anomaly detection in network traffic based on nonlinear dynamics techniques. The main attention is paid to nonlinear-dynamical models of telecommunication traffic in the distributed network subsystems of railway intelligent control systems. In the considered system, telecommunication traffic is presented in time series form. The time series is used as the basis for reconstructed nonlinear dynamic system with chaotic behavior. The calculation algorithms for embedding dimension, correlation dimension and spectrum of Lyapunov exponents are given. The computational implementations for assessment of dynamical characteristics reconstructed from noisy time series of network traffic are presented. Anomaly detection algorithm based on Lyapunov exponents calculation is presented for nonlinear system generating network traffic.

Maria A. Butakova, Andrey V. Chernov, Sergey M. Kovalev, Andrey V. Sukhanov, Stanislav Zajaczek

Advanced Methods of Detection of the Steganography Content

In this paper, we deal with the classification of the steganography content. Some illegal activities can perform steganography for stealing the secret information from a company internal network. Therefore, we must be prepared to protect our data. To detect steganography content, we have counter-technique known as steganalysis. There are different types of steganalysis, based on the existence of the original artifact (cover work) or if we know which algorithm embed a secret message. For practical use, most important are methods of blind steganalysis, that can be applied to the most compact and ordinary cover work - JPEG image files. This paper describes the methodology to the issues of JPEG image steganalysis. It is crucial to understand the behavior of the targeted steganography algorithm. Then we can use it is weaknesses to increase the detection capability and success of classification. We are primarily focusing on breaking the DCT steganography algorithm OutGuess2.0 and secondary on breaking the F5 algorithm. We are analyzing the ability of the detector, which utilizes the calibration process, blockiness calculation, and shallow neural network to identify the presence of steganography message in the suspected image. This approach is an improvement over our previous researches. Contribution and new results are discussed.

Jakub Hendrych, Lačezar Ličev

Robust Servo Controller Design Based on Linear Shift Invariant Differential Operator

This paper proposes a robust servo controller deign for MIMO systems based on a linear shift invariant differential (LSID) operator and its inverse operator on Schwartz space using the internal model principle (IMP). To do this task, the followings are done. First, the basic concept idea of LSID operator and its invertible operator are described. Furthermore, the IMP is rearranged based on LSID operator and the IMP is modified by the properties of the LSID operator. Second, an extended system operated by the LSID operator to a given MIMO system with the given reference is obtained. Third, the controllability checking of extended systems is done. Fourth, a state feedback law is obtained by solving the pole assignment problem with all the poles of the extended system. Fifth, The proposed controller is applied for controlling the sideslip angle and yaw rate of a 4-wheel steering vehicle as a MIMO system with 2 inputs of steering angles of front and rear wheels and two outputs of the sideslip angle and yaw rate. Finally, simulation results are shown to verify the effectiveness of the proposed controller.

Dae Hwan Kim, Sang Bong Kim

Servo Controller Design and Fault Detection Algorithm for Speed Control of a Conveyor System

This paper proposes a servo controller design and fault detection algorithm for speed control of a conveyor system. Firstly, modeling for a conveyor system is described. Secondly, the robust servo controller based on polynomial differential operator is applied to track the trapezoidal velocity profile reference input. Thirdly, a fault detection algorithm based on Extended Kalman Filter (EKF) is proposed. From the EKF, the estimated angular velocity indicates the encoder failure. The estimated friction indicates the mechanical failure. Fault isolation is obtained by the friction bound. Finally, the simulation and experimental results are shown to verify the effectiveness of the proposed algorithm.

Trong Hai Nguyen, Nguyen Thanh Phuong, Hung Nguyen

A Control System for Power Electronics with an NXP Kinetis Series Microcontroller

This article describes the design and implementation of a Power Electronics Control System, which is based on the selected NXP Kinetis series microcontroller, the KV58 family. The introduction describes the specific requirements of the Power Electronics for the Control System and units. The properties of the selected microcontroller, topology design and realization are described in the following sections. The experimental results and application of the proposed Control System are shown in the final part of this article.

Daniel Kouřil, Martin Sobek, Petr Chamrád

A MIMO Robust Servo Controller Design Method for Omnidirectional Automated Guided Vehicles Using Polynomial Differential Operator

This paper proposes a MIMO robust servo controller design method for a three wheeled Omnidirectional Automated Guided Vehicles (OAGVs) with a disturbance to track desired references using a polynomial differential operator. The process for designing the proposed controller can be described as follows: Firstly, modeling of the MIMO three-wheeled OAGV are presented. Secondly, a new extended system is obtained by applying the polynomial differential operator to the state space model and the output velocity error vector. Thirdly, the proposed controller for the given plant is designed by using the pole assignment method. By applying an inverse polynomial differential operator, a servo compensator is obtained. Finally, in order to verify the effectiveness of the proposed controller, the numerical simulation results are shown. The simulation results show that the proposed controller has good tracking performance under a step type of disturbance and the complicated higher order reference signals such as ramp and parabola. These simulation results are compared with those of the adaptive controller proposed by Bui, T. L. in 2013. The proposed controller shows the better tracking performance than the adaptive controller.

Van Lanh Nguyen, Sung Won Kim, Choong Hwan Lee, Dae Hwan Kim, Hak Kyeong Kim, Sang Bong Kim

Model Reference Adaptive Control Strategy for Application to Robot Manipulators

The geometric nonlinearities, strong couplings, and the dependence on the inertia payload in the system dynamics of the robot manipulators lead to the difficulty in achieving good control performance. Conventional control methods cannot compensate for the payload variation effect. On the other hand, the mathematical model of the robot systems is extremely complicated and consumes an excessive amount of time in computing the robot dynamics. Moreover, deriving an exact mathematical model of the manipulator is very difficult. To handle the above issues, the model reference adaptive controller for motion control applied to robot manipulators is presented in this paper. The control law is based on the decentralized linear joint control strategy. In this approach, the control law does not require the exact model of the joint. Experiments are conducted on the 4-DOF robot manipulator to demonstrate the practicality and feasibility of the proposed control scheme, and the results are compared to those of the Ziegler-Nichols method-based PID controller and those of the model-independent controller based on time-delay estimation technique. The comparison results show that the control performance of the proposed scheme is better than that of the other controllers.

Manh Son Tran, Suk Ho Jung, Nhat Binh Le, Huy Hung Nguyen, Dac Chi Dang, Anh Minh Duc Tran, Young Bok Kim

Stabilization of Time-Varying Systems Subject to Actuator Saturation: A Takagi-Sugeno Approach

This paper investigates the problem of control design for a class of time-varying parameter systems subject to input and state constraints. The aim is to synthesize a control strategy by combining a descriptor approach and a dynamic state feedback control laws. This ensures the closed-loop system stability with respect to the given saturation constraints on the control input. The optimization problem is formulated in terms of linear matrix inequality constraints (LMIs). Nonlinear vehicle model is used to highlight the effectiveness of the proposed approach.

Sabrina Aouaouda, Mohammed Chadli

Observer Based Control for Systems with Mismatched Uncertainties in Output Matrix

This paper presents a new analysis method to design an observer- based control for a class of mismatched uncertain time-delay system with mismatched uncertainties in the output matrix. One of the contributions is to estimate the current true value of the system state variables, avoiding the effect of the delayed and noised measurement output. Linear matrix inequality (LMI) approach is used to design the observer-based control. The control and observer gains matrices are characterized using the solution of the LMI existence condition.

Van Van Huynh, Tran Thanh Phong, Bach Hoang Dinh

Nonlinear Disturbance Observer with Recurrent Neural Network Compensator

This paper proposes a nonlinear disturbance observer with recurrent neural network compensator applicable to nonlinear systems that is velocity controlled. In the proposed method, the recurrent neural network is trained to generate nonlinear velocity defined as the difference between the measured velocity of joints and a nominal linear velocity calculated via a linear model from the reference input to the velocity control system. The training results is evaluated based on the leave-one-out method, and it is shown that the RNN can be well-trained to estimate the nonlinear velocity. Then, a common DOB can be estimate disturbance from the nominal linear velocity restored by the trained RNN output and the velocity measurement. The validity of the proposed method is evaluated by simulation for a vertically-articulated two-link manipulator, comparing a conventional disturbance observer. The simulation result showed that the proposed disturbance observer can be comparable to a conventional DOB that works in an ideal condition where all the parameters of the manipulator are known, while the data needed to construct the proposed DOB is only the velocity measurement and its reference.

Shihono Yamada, Jun Ishikawa

Parameters Estimation for Sensorless Control of Induction Motor Drive Using Modify GA and CSA Algorithm

This paper presents methods for estimating CB-MRAS model parameters such as K1(CB), K2(CB), K3(CB), Ti(CB), KLm, KTr by binary Genetic Algorithm (GA), real number GA, modify GA, and CucKoo Search Algorithm (CSA). The first part of the paper is the vector model of the induction motor and the CB-MRAS model for estimating parameters by the above algorithms; the second part is the detailed way to implement the algorithms; the third part is simulation and as a result of the simulation, the results show that it is possible to estimate the parameters of this model by the modify GA or CSA algorithm.

Thinh Cong Tran, Pavel Brandstetter, Cuong Dinh Tran, Sang Dang Ho, Minh Chau Huu Nguyen, Pham Nhat Phuong

Study on Algorithms and Path-Optimization for USV’s Obstacle Avoidance

An unmanned surface vessel indispensable tasks to avoid obstacles when it moves in real environment. In order to solve this problem, it has been classified stationary obstacles and moving obstacles as well as offering many different algorithms each type. Because the structure of the unmanned surface vessel is indispensable in two main components: Guidance and Control, in which Guidance will receive waypoints for creating the desired trajectory and then combine the current location of ship to calculate and provide input data for Control to drive the ship following the desired trajectory. Therefore an obstacle avoidance algorithms are integrated in the block Guidance to provide the most suitable input data for the controller is essential. In addition, some cases because the priority of avoiding the collision lead to the path will be long and inefficient. This paper will use the Line of Sight (LOS) algorithm with the lookahead distance to design the Guidance as well as propose an obstacle avoidance algorithm to integrate with it. Besides proposing a method to optimize the way while avoiding obstacles. The results as well as the effectiveness of the proposed method will be shown in the MATLAB/SIMULINK simulation.

Ngoc-Huy Tran, Nguyen Nhut-Thanh Pham

Visual Servoing Controller Design Based on Barrier Lyapunov Function for a Picking System

This paper proposes a visual servoing controller design based on Barrier Lyapunov function for a picking system. Visual servoing uses feedback data provided by the camera to control the movement of a picking system in a closed loop system. Visual servoing requires an object in the field of view of the camera in order to control the picking system. To improve the visual servoing controller, the image-based visual servoing and the position-based visual servoing are presented. To apply this method an offline trajectory is developed to perform the image-based visual servoing and the position-based visual servoing tasks for the picking system. Two different control approaches i.e. the visual servoing controller with the limit orientation using the Barrier Lyapunov function and the visual servoing controller with a quadratic Lyapunov function are presented. The proof of asymptotic stability is presented and simulation results from two visual servoing controllers are presented to verify the effectiveness of the proposed controller.

Jong Min Oh, Jotje Rantung, Sung Rak Kim, Sang Kwun Jeong, Hak Kyeong Kim, Sea June Oh, Sang Bong Kim

Designing a PID Controller for Ship Autopilot System

Many means of transportation in these days have autopilot system – a modern system made from the ultimate growth of technology that can handle a partial or a complete control and help the drivers get relaxed and restored for a long drive, especially in aeronautics and maritime in which a trip usually lasts for plenty of hours and a normal man cannot control the whole system for such long duration, due to mental and physical fitness issues. Thus, in this paper, we are going to present a popular controller in autopilot system – named “PID controller” – including its fundamentals, its mathematical models and its performance for both theoretical and practical result. In experimentation, we used the controller to navigate a ship model along a predefined tour and tested at a pool in order to compare and evaluate, as well as promote solutions to deal with the drawbacks.

Dinh Due Vo, Viet Anh Pham, Phung Hung Nguyen, Duy Anh Nguyen

The Rotor Initial Position Determination of the Hi-Speed Switch-Reluctance Electrical Generator for the Steam-Microturbine

The article focuses on the control of the hi-speed switch-reluctance electrical machine, which works in conjunction with a steam microturbine. The use of sensorless control is efficient in the case under consideration. We described the use of test pulses in the electric generator phases to determine the rotor position. We study the matters of rotor position determination, the method accuracy and its implementation opportunity. The results of mathematical modeling of the initial rotor position determination are given.

Pavel G. Kolpakhchyan, Vladimir I. Parshukov, Boris N. Lobov, Nikolay N. Efimov, Vadim V. Kopitza

Stability and Chaotic Attractors of Memristor-Based Circuit with a Line of Equilibria

This report investigates the stability problem of memristive systems with a line of equilibria on the example of SBT memristor-based Wien-bridge circuit. For the considered system, conditions of local and global partial stability are obtained, and chaotic dynamics is studied.

N. V. Kuznetsov, T. N. Mokaev, E. V. Kudryashova, O. A. Kuznetsova, R. N. Mokaev, M. V. Yuldashev, R. V. Yuldashev

Mechanical Engineering

Frontmatter

Behavior of Five-Pad Tilting–Pad Journal Bearings with Different Pivot Stiffness

In this paper, two different five-shoe tilting-pad journal bearings, namely rocker-backed pivot and spherical pivot with different pivot stiffness have been characterized with different working conditions. For the spherical pivot bearing, elastic shims and displacement restriction component are introduced to recognize the role of the variable stiffness of pivot. The copper is used for the material of the shim. An analysis of the dynamic behavior of the two bearings using a thermo-elasto-hydrodynamic model is presented first. This model considers the flexibility for both pad as well as pivot and a simple thermal model only for the fluid film temperature to accurately calculate the performance of bearings. The model also accounts for pivot stiffness of pads. The predicted dynamic coefficients of the two bearings were compared with the experimentally measured ones. The results show that the pivot stiffness or the pivot flexibility plays an important role in the dynamic coefficients estimation.

Phuoc Vinh Dang, Steven Chatterton, Paolo Pennacchi

Dynamic Characteristics of a Non-symmetric Tilting Pad Journal Bearing

Because tilting-pad journal bearings are more stable and efficient than conventional bearings, they have been commonly applied to many rotating machinery applications. Most of the studies about steady state and dynamic characteristics of tilting-pad journal bearings are usually evaluated by means of thermo hydrodynamic models assuming nominal dimensions for the bearing. However machining errors could lead to actual bearing geometry and dimensions different from the nominal ones. In particular for tilting-pad journal bearing the asymmetry of the bearing geometry is the principal cause of unexpected behavior. In this paper a theoretical analysis on dynamic characteristics of a five-pad tilting-pad journal bearing is investigated with non-nominal geometry, that is, different thickness for each pad. The dynamic coefficients of a five-pad tilting-pad journal bearing with a nominal diameter of 100 mm, length-to-diameter ratio (L/D) of 0.7 are evaluated versus rotor rotational speed, load direction and static load. Then, the analytical results of the non-nominal bearing are compared to those of a bearing having nominal (i.e. ideal) geometry.

Phuoc Vinh Dang, Steven Chatterton, Paolo Pennacchi

Energy

Frontmatter

DCM Boost Converter in CPM Operation for Tuning Piezoelectric Energy Harvesters

The power extraction from piezoelectric energy harvesters is considered an important alternative to the employment of batteries when powering ultra-low power circuits. However, the amount of extracted power and the frequency range where extraction is possible remain as key challenges for practical implementations. In this paper, a boost rectifier in Current Programmed Mode (CPM) able to emulate a complex load at its input terminals is presented. This circuit is validated through circuit simulation using PSIM9. From the results, the circuit is capable of extracting the maximum available power from a piezoelectric harvester, modeled by an electric equivalent circuit, at its first resonant frequency. This is achieved by the emulation of an RC network at the harvester’s terminals by controlling the peak current through its inductance.

Andrés Gomez-Casseres, David Florez, Darío Cortes

Effect of Weighting Coefficients on Behavior of the DTC Method with Direct Calculation of Voltage Vector

Direct torque control and vector control are modern ways of controlling AC machines that allow an electric drive to achieve a very fast response. This paper deals with the method of direct torque control of an induction motor, which is called Direct Torque Control with Direct Calculation of Voltage Vector (DVC-DTC). The method is dependent on the setting of the coefficients referred to as k1 and k2, so the aim of this contribution is to show how their setting affects the behavior of a drive. A DSC-based implementation of this method has been developed using a modern control system with the TMS320F28335 digital signal controller from Texas Instruments. The first part of this paper includes a theoretical description of the method. The second part describes the courses of the most important quantities, which were measured for different settings of the weighting coefficients. The experimental results were obtained by measuring a real drive in laboratory conditions.

Jakub Baca, Martin Kuchar, Petr Palacky

A New Protocol for Energy Harvesting Decode-and-Forward Relaying Networks

This paper investigates radio frequency energy harvesting decode-and-forward (DF) multi-relay networks with hybrid power transfer architecture, i.e. time switching (TS) combines with power splitting (PS). Specifically, this system consists of one source, one destination and multiple energy constraint relay nodes which help to the source transfer information to the destination over Nakagami fading channels. In order to improve the performance and reduce the load of this considered network, an efficient protocol for this system is proposed based on adaptive power splitting ratio adjustment and best relay selection. We aim to evaluate the performance of this considered system by deriving the closed-form expressions for the outage probability (OP) based on the statistical characteristics of signal-to-noise ratio (SNR). In addition, the results show that this scheme outperforms the random relay selection scheme, including transmit SNR, number of relays, active energy and fading severity factor. Our analysis is also verified by Monte Carlo simulation.

Duy-Hung Ha, Dac-Binh Ha, Jaroslav Zdralek, Miroslav Voznak, Tan N. Nguyen

Average Bit Error Probability Analysis for Cooperative DF Relaying in Wireless Energy Harvesting Networks

Thanks to the benefits of energy harvesting (EH) in cooperative decode-and-forward (DF) relaying networks, we decided to consider a CRN deploying time-switching based relaying protocol (TSR) to study EH. To clearly evaluate the system performance, we derive the expressions for outage probability at high end-to-end signal-to-noise ratio (SNR), ergodic capacity, and the average bit error probability (ABEP). After finishing the performance analysis, we provide Monte-Carlo simulations to prove the performance and the correctness of the obtained numerical results.

Hoang-Sy Nguyen, Thanh-Sang Nguyen, Tan N. Nguyen, Miroslav Voznak

LCCT vs. LLC Converter - Analysis of Operational Characteristics During Critical Modes of Operation

Following the invention of resonant power converters, lots of new topologies with significant improvements considering increase of efficiency and power density are arising. The main procedure how to optimize operational characteristics is through the modification of converter´s main circuit. In this paper, circuit topology of LLC resonant DC-DC converter and half-bridge LCCT resonant DC-DC converter are comparatively studied for target application, which is modular architecture of power supply. Simulation models of LLC and LCCT circuits are created using magnetic and thermal models of individual components using PLECS simulation software. Based on the circuit investigation within critical operational conditions, short-circuit and overload states are analysed, because of the selection procedure of the proper topology for the modular power supply system. For these purposes extended range of output power, flat characteristic of efficiency, and low ripple current and/or voltage will be necessary.

Michal Pridala, Michal Frivaldsky, Pavol Spanik

Control Renewable Energy System and Optimize Performance by Using Weather Data

There is no doubt that renewable energy (RE) is now playing a key role in our daily life and has become more popular thanks to many advantages such as environment friendly, unlimited sources and so on, variable of applications. Obviously, the only one obstacle we must face is the dependence upon weather conditions which have been, so far, the unpredictable variants of most RE systems. Hence, in this paper, we propose a new algorithm using weather forecast and historical weather data in order to optimize performance of RE systems. Basically, this algorithm is not only making full use of weather data base but also helping us decide whether to discharge the load or have it operated on high performance at least in the next three hours. We have already embedded it into our RE system combining with Darius wind turbine and photovoltaic (PV) system, the result is showed below.

Duy Tan Nguyen, Duy Anh Nguyen, Lien Son Chau Hoang

Analysis of Efficiency and THD in 7-Level Voltage Inverters with Reduced Number of Switches

This paper focuses on analyzes of theoretical efficiencies and total harmonic distortions of modern topologies of 7-level voltage inverters with reduced number of switches. Three different topologies of 7-level voltage inverters controlled with subharmonic PWM methods were built and analyzed in the Matlab/Simulink environment. The results are focused mainly on determining the THD of the output phase voltage and total power losses of the presented topologies. These parameters are used to determine the optimal circuit topology and modulation technique for control of the 7-level voltage inverter.

Ales Havel, Martin Sobek, Petr Chamrad

Waste Management - Weighing-Machine Automation

Nowadays the environment is polluted in different ways. One of these is the wrong disposal. A considerably ineffective method of disposal of waste can be the storage at a designated site of so-called landfills that have a significant adverse effect on the environment. Most of the larger cities suffer from these aspects of inefficient waste management, which is why the landfill is mostly on the periphery. Due to rapid population growth, this situation is only getting worse. A possible solution is reuse of waste by so-called recycling to a utility product. Effective and efficient recycling is required for many people. Which individual materials will be separated and further processed into a utility product. A possible solution is to automate these tasks using current information technologies.

Zdenek Slanina, Rostislav Pokorny, Jan Dedek

Optimization of Voltage Model for MRAS Based Sensorless Control of Induction Motor

Omission of the speed sensor in induction motor based electric drive is very actual topic because of cost savings. When omitting the speed sensor, induction machine mathematical model that does not require information about rotor speed has to be used, such as voltage model. The quality of control then depends on the model stability and accuracy of induction motor parameter identification. This paper strives to discuss most important quantities that influence stability and accuracy of the voltage model.

Ondrej Lipcak, Jan Bauer

Capability of Predictive Torque Control Method to Control DC-Link Voltage Level in Small Autonomous Power System with Induction Generator

In a small autonomous power system, the electric power is usually produced by means of an electric machine operated as a generator. The often used one is an induction generator. The generator supplies the DC-link through the controlled converter (voltage source inverter – VSI). The appliances connected to the same DC-link consume power and therefore the DC-link capacitor is discharged. To maintain the decreasing DC-link voltage level, the same power amount must be delivered by the generator. In case of the induction generator, its control is specific as no external source for machine excitation is present. To obtain the torque value desired by the DC link voltage PID controller, the generator is usually controlled by the field-oriented control (FOC) method or direct torque control (DTC) method. However, the model predictive control (MPC) method has been utilized for electric machine control in recent time. The paper explores the possibility of employing the predictive torque control (PTC), which is often used implementation of MPC in this type of applications. The PTC method ability to control the DC-link voltage in a small autonomous power system has been verified experimentally on a laboratory system with induction generator.

Pavel Karlovsky, Jiri Lettl

Feasibility Structural Analysis of Engineering Plastic Reel Module for Carrying Wound High-Voltage Electric Transmission Line

Current wooden reel modules are frequently used to carry high-voltage electric transmission lines by winding them around the reel module. But the wooden reel has been reported to have several problems for users and manufacturers, such as high manufacturing cost, heavy structure, and difficulty in recycling, so that it is necessary to make them from other light-weight materials with sufficient strength. One of the alternative materials is engineering plastic, and a new design process for reel modules should be developed for the engineering plastic material to minimize the total development duration. In this study, a numerical approach using a finite-element model of the reel module was used to ensure structural rigidity requirement over the maximum payload, 4,000 kgf, as well as the equivalent impact load from more than 10-cm free fall. The candidate finite-element model of the reel module was simulated for more than the maximum payload, and a structural static analysis was conducted for the equivalent impact force derived from free-fall motion with the center of the reel module fixed. Both simulation results revealed that the candidate reel model made from engineering plastic has satisfactory static rigidity compared with the current wooden reel module.

Jungyun Kim, Ho-Young Kang, Young-Geon Song, Chan-Jung Kim

Improving Fault Tolerant Control to the One Current Sensor Failures for Induction Motor Drives

This paper presents a solution to deal with a fault of stator current sensors of induction motor (IM) drives by improving the fault tolerant control (FTC) method. The proposed FTC unit including the scheme of three current sensors and their associated observers is used to keep the IMs in the stable operation with any faulty sensor conditions. It consists of three parts: a fault detector, a fault locator, and a stator current reconfiguration. The paper has proposed a new model to estimate stator currents from the differential equations of rotor currents and stator currents for the fault detector. To verify the proposed approach, the simulation in MATLAB/Simulink has been applied and the result has demonstrated the effectiveness of our proposed method.

Cuong Dinh Tran, Pavel Brandstetter, Sang Dang Ho, Thinh Cong Tran, Minh Chau Huu Nguyen, Huy Xuan Phan, Bach Hoang Dinh

Impact of Parameter Variation on Sensorless Indirect Field Oriented Control of Induction Machine

A method is taken to the control of induction motor based electric drives without the aid of shaft mounted speed or position sensors. This method is called sensorless control. This paper describes a set of three observers used to estimate rotor speed and rotor flux angle which is needed to perform the Park transformation in Indirect Field Oriented Control (IFOC). The validity of the proposed method has been verified by simulation in Matlab and experimentation with frequency inverter controlled by digital signal controller (DSC). The accuracy of the speed estimate relies on the parameters of the machine, such as rotor time constant and stator resistance. These parameters variation causes an estimation error of the motor speed. This error could result in the decrease of control performance. This paper describes the effect of the motor parameters variation on angular velocity estimation.

Andrej Kacenka, Pavol Makys, Lubos Struharnansky

Validation the FEM Model of Asynchronous Motor by Analysis of External Radial Stray Field

The paper deals with the validation of the FEM model of asynchronous motor by using the basic diagnostic method of an external magnetic field. The basic parameter to be analyzed is the induced voltage generated on the coil, which senses the external stray field of the asynchronous motor in its radial direction. Fast Fourier Transformation is used to evaluate the individual components of the spectrum according to common diagnostic procedures. Verification of the FEM model is performed by measuring the radial external field on a real asynchronous motor in the laboratory, where machine failures such as a broken rotor bar or eccentricity are also simulated. The electrical and mechanical parameters of the FEM model of motor correspond with the real machine in the laboratory.

Petr Kacor, Petr Bernat

Outage and Intercept Probability Analysis for Energy-Harvesting-Based Half-Duplex Relay Networks Assisted by Power Beacon Under the Existence of Eavesdropper

In this paper, we propose a half-duplex relaying schemes for wireless sensor networks, in which both source node and relay node are equipped with energy harvesting technology and assisted by a power beacon (PB) to supply energy for their transmission duty. In this network, the security and privacy issues are significant due to the possible eavesdropping by surrounding users. Motivated by this observation, we carefully investigate the security and reliability performance of the proposed systems under the existence of an eavesdropper in the nearby environment. Here, the security performance and the reliability performance are represented by outage probability (OP) and intercept probability (IP), respectively. The power-splitting energy harvesting protocol is applied in our analysis. We rigorously derive the closed-form expressions of both OP and IP of the system and study the effect of various parameters, including power-splitting factors, channel parameters, transmit power, and noise power, on these performance factors. Finally, Monte Carlo simulation results are also performed to confirm the correctness of all theoretical analysis derived.

Tan N. Nguyen, Phuong T. Tran, Nguyen Dao, Miroslav Voznak

Design of Electrical Regulated Drainage with Energy Harvesting

This paper deals with the process of designing electrical regulated drainage, which has been done by the authors in the past years. It is focused especially on the development of power sources. Electrical drainage is used for the protection of underground devices (pipelines) from the corrosive effects of stray currents. The drainage is connected between the pipeline and railway or tramway rails. This electrical regulated drainage can work without an external power source. Power supply from the power network or a battery is possible; however, users often come with the requirement that there should not be such a source. For this reason, energy harvesting systems were developed to get energy from current flowing through the drainage and voltage on the drainage, using them for the control circuits of the drainage. This paper describes the construction and laboratory testing of circuits developed for energy harvesting.

Vaclav Kolar, Roman Hrbac, Tomas Mlcak, Jiri Placek

Analysis of Appliance Impact on Total Harmonic Distortion in Off-Grid System

Smart Grid is name for Off-Grid system controlled by intelligent data analysis, predictive models and real-time adjustments. They are one of the possible future options of power engineering with focus on energy supply decentralization at various scales from small configurations used in single house or cabin to the large systems operating on scale of small village or part of town. Power sources of this systems are predominantly renewable power sources which are lower and have stochastic nature. This leads to lower short-circuit power which is one of key characteristics of such system. Outcome of this is possible difficulties of sustainable power quality (PQ). In our, paper we present an analysis on the lowest possible level, where we examined impact of appliance towards response of PQ parameters in this case, total harmonic distortion of the voltage (THDV). From the results of analysis, we can say there are several types of appliances that affect THDV more and these appliances must be taken into account if we want to maintain certain level of THDV.

Michal Petružela, Vojtěch Blažek, Jan Vysocký

Influencing of Current Sensors by an External Magnetic Field of a Nearby Busbar

Based on several identified erroneous current measurements using clamping current measuring transformers, a methodology for detecting the influence of near busbar magnetic field to current sensors was designed and tested. With a 600 A current in the busbar, the ammeters and current sensors showed a current of up to 11 A, even if they did not cover any conductor. The error was dependent on the position of the current sensor and also the distance. Measurement errors were detected by some sensors even more than 50 cm from the busbar. To compare individual ammeters and current sensor a method was proposed to measure and calculate relative error value in percent of current range per kiloampere of interfering busbar current.

Tadeusz Sikora, Jan Hurta

A Model for Predicting Energy Savings Attainable by Using Lighting Systems Dimmable to a Constant Illuminance Level

The objective of this paper is to demonstrate the feasibility of predicting electric energy savings achievable by using dimmable interior lighting systems. The prediction model uses an artificial interior lighting system which can be dimmed to a constant illuminance level and takes into account the contribution of daylight entering the space through side and top daylight openings, i.e. windows and skylights. The basic motivation for setting up this prediction model was the requirement raised by interior lighting system designers who need to know the net economic effect of dimmable lighting systems and to use the figures in discussions with the investor during the design project preparation stage. The prediction model developed gives transparent and unambiguous evidence of the economic benefit of using lighting systems.

T. Novak, J. Sumpich, J. Vanus, K. Sokansky, R. Gono, J. Latal, P. Valicek

Strategy of Metropolis Electrical Energy Supply

It is shown that the globalization of the electrical energy systems does not provide a reliable power supply for built environment in case of natural and man-made disasters, which can cause massive damage. The article propose the strategy of building a metropolis power supply on a “Smart City” concept. Implementation of this strategy through the use of decentralized power supply based on renewable energy sources, new high-reliability approach provided by the principle of (n-2) and the use of storage devices will ensure reliable power supply of the metropolis, and improve the ecology of the built environment.

Valery Beley, Andrey Nikishin, Dmitriy Gorbatov

Robotics

Frontmatter

Attitude Control of Jumping Robot with Bending-Stretching Mechanism

This article proposes an attitude control method to stabilize the posture of a jumping robot with bending-stretching mechanism as its leg mechanism. The proposed method is based on nonlinear out-put zeroing control, and the motion of the trunk part is used to control the posture of the leg mechanism. To show the validity of the proposed method, three computer simulations have been carried out. One is to see the response to an impulse-like disturbance while the robot is stabilizing its posture, another is to see the tracking performance of the angle of the leg mechanism to the time-varying reference, and the last one is to see the ability for the angle of leg mechanism to be stabilized at the upright posture during bending-stretching motion. As the results, it is proved that the proposed method will effectively help the robot to ensure its stability in all three situations.

Chea Xin Ong, Yurika Nomura, Jun Ishikawa

Geometric Foot Location Determination Algorithm for Façade Cleaning Robot

The purpose of this paper is to construct a foot location determination algorithm for façade cleaning robot. To accomplish the façade cleaning, some geometrical constraints are considered: The module robot moves along with the line of a window frame. Distance of one step has to be shorter than the robot’s motion range. The cleaning units cover all area from top edge to bottom of the window frame. These conditions are discussed in this paper. After that, the algorithm satisfying these conditions are constructed by geometrical equations with respect to each situation. In particular, the situations fall into four scenes with initial location, middle area, final location as well as left foot location. The effectiveness of the algorithm is verified via a numerical simulation.

Shunsuke Nansai, Hiroshi Itoh

Smart Manipulation Approach for Assistant Robot

This work deals with a smart visual assisted manipulation algorithm, for an assistant robot. The algorithm is divided in two parts: Object visual position feedback, and whole body motion computation. The object position feedback is based on image analysis to define coordinates in R3 space, and provide a reference to the robot about the object localization. The whole body motion computation deals with hand motion planning, and body motion to improve the reach of the hand, and broaden arm workspace. Consequently, grasping the object, picking it up, and bringing it to a goal position. An image analysis method is proposed, by using triangle similarity, knowing in advance object geometric conditions, and distance from camera to the object. A novel motion modified D-H parameters were used to build the workspace. Simulation and experimental results are discussed in order to validate our proposal.

Yeyson Becerra, Jaime Leon, Santiago Orjuela, Mario Arbulu, Fernando Matinez, Fredy Martinez

Computational Study on Upward Force Generation of Gymnotiform Undulating Fin

Gymnotiform is a type of fish swimming which uses only a long anal fin as the main propeller. In the real gymnotiform fish, the fin undulates with the counter-propagating motion for the movement of upward and downward while the body still rigid. There are some studies about this type of motion which apply the experiment and the digital particle image velocimetry (DPIV) method. In the robotics field, computational fluid dynamics (CFD) is extremely outstanding with the accuracy, fast and thorough display the impact of fluid on objects. This paper proposes a model of CFD to determine about 2 types of counter-propagating motion.

Van Hien Nguyen, Canh An Tien Pham, Van Dong Nguyen, Hoang Long Phan, Tan Tien Nguyen

Modular Design of Gymnotiform Undulating Fin

In the field of underwater robot, gymnotiform undulating fin inspired a number of research group over the world. A variety of design has been consequently created and developed with the design of multi-actuators. However, this type of design has the remarkable downsides. That is to say, the complex mechanical design and control, the deterioration of motors’ quality should not be underestimated. In this study, a modular design of gymnotiform undulating fin is created in order to avoid the aforementioned problem. This design aims to simplify the mechanism of the fin, reduce the number of actuators and the size of the fin. For this reason, a camshaft is designed to transmit momentum of a motor to all fin-rays in this model.

Van Dong Nguyen, Canh An Tien Pham, Van Hien Nguyen, Thien Phuc Tran, Tan Tien Nguyen

Path Following Control of Automated Guide Vehicle Using Camera Sensor

The development of techniques for path following control of vehicles has become an important and active research topic in the face of emerging markets for advanced autonomous guided vehicles (AGVs). This paper presents a two-layer control architecture for path following of a AGV using camera sensor. The AGV is a tricycle wheeled mobile robot with three wheels, two fixed wheels and one driving steering wheel. Camera sensor is used to measure the tracking position error and heading angle error. Based on these errors, a controller that integrates two control loops, inner loop and outer loop, is designed. The outer loop control is based on fuzzy logic framework and the inner loop control is based on two conventional PID controllers. The effectiveness of the proposed control system is demonstrated through simulations and experiments.

Dae Hwan Kim, Sang Bong Kim

Binary Classification of Terrains Using Energy Consumption of Hexapod Robots

The terrain classification problem is a relevant task in autonomous robots, which can help in the control locomotion and motion planning of autonomous robots. We conduct several experiments in different environments, where a hexapod walking robot covers some specific terrains. In this paper, we present an experimental analysis of the binary terrain classification problem using the most important variable (current signal) related to the energy consumption of the robot. The current signal is a sequential data that evolves in time, therefore our problem is limited to develop a machine learning method for classifying this signal according to the terrain. We analyze the problem using the Long Short-Term Memory (LSTM) model, which is a Recurrent Neural Networks that has obtained good performance for time-series classification. We evaluated several binary scenarios, where each scenario presents two different types of terrains. Our results show that the LSTM model trained only with information related to the current signal is able to distinguish binary situations of terrain.

Valeriia Iegorova, Sebastián Basterrech

The Movement of Swarm Robots in an Unknown Complex Environment

This paper presents a method for swarm robots catching multiple moving targets without colliding any dynamic obstacles and other robots in an unknown complex environment. An imaginary map, including multi-layers corresponding to the number of robots, is built in which the starting position, the target, the obstacles, and the robot denoted by the highest position, the lowest position, the small hills, and the spherical ball on the map. The PSO algorithm was proposed to lead the robot to move on the map toward the given targets safely. Simulation results are also presented to show the feasibility of the method.

Quoc Bao Diep, Ivan Zelinka

Image Processing

Frontmatter

Contour Detection Method of 3D Fish Using a Local Kernel Regression Method

This paper proposes a fish contour detection method using a local kernel regression method. To do this task, the followings are done. Firstly, 3D depth map of a fish is obtained by using Kinect camera sensor. Secondly, edge of the fish in 3D depth map is transformed into numerous points. Thirdly, all information is removed except the edge points. However, recognition points for recognizing the fish are appropriately left because there are only points left to distinguish between background and fish. Fourthly, the points are recognized as contour of the fish by using the local kernel regression method. Finally, experiment results using Kinect camera sensor are shown to verify the validity of the proposed method compared to Canny method.

Jong Min Oh, Sung Rak Kim, Sung Won Kim, Nam Soo Jeong, Min Saeng Shin, Hak Kyeong Kim, Sang Bong Kim

Camera Based Tests of Dimensions, Shapes and Presence Based on Virtual Instrumentation

This article focuses on the use of machine vision for the needs of automated inspections based on virtual instrumentation using a visualization tool called Vision Builder for Automated Inspection (VBAI) - National Instruments (NI). The experimental part presents a real application for camera tests of dimensions, shapes and presence. The application deals with sorting of nuts and washers M6 to M12, wherein the result is a list of the total number of nuts, washers and the number of individual indexes of nuts, washers and faulty objects and inspection status. The original contribution of the article is to demonstrate the use of machine vision based on virtual instrumentation by means of VBAI on a real industrial machine vision application.

Lukas Soustek, Radek Martinek, Lukas Snajdr, Petr Bilik

A 3D Scanner Based on Virtual Instrumentation Implemented by a 1D Laser Triangulation Method

This paper deals with the design and implementation of a 3D scanner based on 1D laser triangulation method. Virtual instrumentation principles and tools were used in the design. NI myRIO embedded device was utilized to control the scanner hardware and graphical development environment LabVIEW was used to develop a control application for the scanner and to develop GUI for a PC platform. Purpose of implemented scanner is to demonstrate the principle of 3D scanners and 1D laser triangulation method to students of virtual instrumentation class. First part of this paper provides concise theoretical information about 3D scanners, 1D laser triangulation method and virtual instrumentation principles. Second part focuses on mechanical, hardware and software design and implementation of realized scanner.

Jindrich Brablik, Radek Martinek, Marek Haluska, Petr Bilík

Backmatter

Additional information