Trajectory tracking in 2D under fuzzy controller with variable sampling

AbstractThe paper deals with an effective approach of the robust controller design based on the fuzzy logic, and algorithms for variable sampling of trajectory points to improve the control performance of trajectory tracking. The proposed controller design and sampling algorithms are verified in the case study of the selected mechatronic system. All presented results are reached in co-simulation of two different modeling environments, Matlab-Simulink and MSC Adams. MSC Adams is used for the dynamics of the mechatronic system and Matlab-Simulink for the control part of the co-simulation, respectively

Advanced Information System for Safety-Critical Processes

The paper deals with the design and implementation of an intelligent modular information system (IMIS) for modeling and predictive decision making supervisory control of some important critical processes in a nuclear power plant (nuclear reactor) using selected soft computing methods. The developed IMIS enables monitoring critical states, safety impact analysis and prediction of dangerous situations. It also recommends the operator possibilities how to proceed to ensure safety of operations and humans and environment. The proposed complex IMIS has been tested on real data from a nuclear power plant process primarily used as supervisory information for decision making support and management of critical processes. The core of the proposed IMIS is a general nonlinear neural network mathematical model. For prediction of selected process variables an artificial neural network of multilayer perceptron type (MLP) has been used. The effective Levenberg-Marquardt method was used to train the MLP network. Testing and verification of the neural prediction model were carried out on real operating data measurements obtained from the NPP Jaslovske Bohunice

New Software Tool for Modelling and Control of Discrete-Event and Hybrid Systems Using Petri Nets

The main aim of the proposed paper is to design a new software tool for modelling and control of discrete-event and hybrid systems using Arduino and similar microcontrollers. To accomplish these tasks a new tool called PN2ARDUINO based on Petri nets is proposed which is able to communicate with the microcontroller. Communication with the microcontroller is based on the modified Firmata protocol hence the control algorithm can be implemented on all microcontrollers that support this type of protocol. The developed software tool has been successfully verified in control of laboratory systems. It can also be used for education and research purposes as it offers a graphical environment for designing control algorithms for hybrid and mainly discrete-event systems. The proposed tool can improve education and practice in the field of cyber-physical systems (Industry 4.0)

Trajectory tracking in 2D under fuzzy controller with variable sampling

The paper deals with an effective approach of the robust controller design based on the fuzzy logic, and algorithms for variable sampling of trajectory points to improve the control performance of trajectory tracking. The proposed controller design and sampling algorithms are verified in the case study of the selected mechatronic system. All presented results are reached in co-simulation of two different modeling environments, Matlab-Simulink and MSC Adams. MSC Adams is used for the dynamics of the mechatronic system and Matlab-Simulink for the control part of the co-simulation, respectively

FPGA as a tool for hardware realization of feedback control

The presented paper deals with the development of robust control algorithm based on reflection vectors methodology. This approach of controller design is guaranteeing stability, robustness and high performance. The presented method was successfully tested for stable, unstable and strong oscillating processes and for systems with parametrical model uncertainty. The proposed algorithm can be effectively realized using field-programmable gate array (FPGA) structure as it is shown in the case study – the hardware realization using FPGA technology for DC motor. All presented simulations and co-simulations were realized in MATLAB-Simulink

Educational Case Studies for Pilot Engineer 4.0 Programme: Monitoring and Control of Discrete-Event Systems Using OPC UA and Cloud Applications

The current trend in industry is the digitalisation of production processes using modern information and communication technologies, a trend that falls under the fourth industrial revolution, Industry 4.0. Applications that link the world of information technologies (IT) and operational technologies (OT) are in particular demand. On the basis of information from practice, it can be stated that there is a shortage of specialists in the labour market for the interconnection of PLCs with information and communication technologies (cloud, web, mobile applications, etc.) in Slovakia and neighbouring countries. However, this problem is beginning to affect other countries in Europe as well. The main objective of the work was to prepare case studies suitable for educational purposes, which would address the modelling and control of a virtual discrete-event system using a PLC program and its subsequent interfacing to a cloud application. Within the scope of the work, three case studies were prepared to demonstrate the control of discrete-event system using different programming systems and their communication with the developed cloud applications. These applications are to be used for data monitoring and emergency intervention of the discrete-event system. The characteristics of the prepared case studies, which combine operational and informational technologies, predestines them for use in the sphere of education of engineers for digitalisation of production processes. They can also be helpful in research on the creation of digital twins, which represent a type of symmetry between real and virtual systems

PetriNet Editor + PetriNet Engine: New Software Tool For Modelling and Control of Discrete Event Systems Using Petri Nets and Code Generation

Petri nets are an important tool for creation of new platforms for digitised production systems due to their versatility in modelling discrete event systems. For the development of modern complex production processes for Industry 4.0, using advanced mathematical models based on Petri nets is an appropriate and effective option. The main aim of the proposed article is to design a new software tool for modelling and control of discrete event systems using Arduino-type microcontrollers and code generation techniques. To accomplish this task, a new tool called “PetriNet editor + PetriNet engine” based on Petri nets is proposed able to generate the code for the microcontroller according to the modelled Petri net. The developed software tool was successfully verified in control of a laboratory plant. Offering a graphical environment for the design of discrete event system control algorithms, it can be used for education, research and practice in cyber-physical systems (Industry 4.0)

Lemna minor Bioassay Evaluation Using Computer Image Analysis

This article deals with using computer vision in the evaluation of the Lemna minor bioassay. According to the conventional method, the growth of Lemna minor mass is determined from the number of leaves grown. In this work, instead of counting individual leaves, we propose measuring the area occupied by the leaves using computer vision and compare the new approach with the conventional one. The bioassay is performed according to the ISO 20079 standard as a 168 h growth inhibition test; the aim of the experiment was to quantify the negative effects on the vegetative growth using two parameters—the number of leaves and the area occupied by the leaves. The method based on image processing was faster and also more precise since it enabled us to detect the negative effect of the tested substance on leave size, not only on their number. It can be concluded that the toxic effect has shown to be more significant when considering the leaves area rather than the number of leaves. Moreover, mistakes caused by human factor during leaves counting are eliminated using the computer vision based method