Genotypic variability of morphological characteristics of English oak (Quercus robur L) acorn

This paper deals with the acorn morphology (length, diameter and mass) analyzed in seventeen English oak genotypes (Quercus robur L)from the English Oak Clonal Seed Orchard Banov Brod (Srem,Vojvodina). The highest values of acorn mass and length were measured in genotype 5. The largest diameters were measured in genotypes 6 and 21. Genotype 35 had the lowest acorn mass, length and diameter. The results from this study should serve as guidelines for the selection of trees yielding fruits possessing the desirable morphological characteristics

HYBRID GPS/SINS SYSTEM - AN OVERVIEW

This paper describes a hybrid navigation system consisting of an integrated GPS/INS system. The integration of the navigation systems has been performed to improve the accuracy of the navigation parameters and it is a current trend in the world. The need for continuous navigation, during the change of position of the GPS receiver, during the closing time of the GPS receiving antenna, and during the appearance of interference, has imposed a solution that is achieved by the integration of GPS / INS. The role of SINS, which is part of the integrated GPS / INS navigation system, is to determine the navigation parameters at intervals between two adjacent measurements of GPS receivers, i.e., at times when there is no GPS navigation information for any reason. In this way, GPS and INS, when used together, complement and correct each other, significantly increasing the reliability and accuracy of the hybrid navigation system

DESIGN OF FIRST ORDER DIFFERENTIATOR WITH PARALLEL ALL-PASS STRUCTURE

In this paper a new method for design of the first order differentiator is presented. The proposed differentiator consists of two parallel branches, i.e. direct path and IIR all-pass filter. The described design method allows one to obtain solution with minimum mean relative error at the desired region by controlling the ratio of phase response extremes. A small relative magnitude error, as well as a low phase error, at low frequencies is condition for good time domain behaviour. The obtained differentiator can be realized by means of only two multipliers, hence being a good choice for real time applications. The proposed solution provides a lower magnitude error than several known differentiators with similar phase error

EFFECTIVE COMBINING OF COLOR AND TEXTURE DESCRIPTORS FOR INDOOR-OUTDOOR IMAGE CLASSIFICATION

Although many indoor-outdoor image classification methods have been proposed in the literature, most of them have omitted comparison with basic methods to justify the need for complex feature extraction and classification procedures. In this paper we propose a relatively simple but highly accurate method for indoor-outdoor image classification, based on combination of carefully engineered MPEG-7 color and texture descriptors. In order to determine the optimal combination of descriptors which is characterized by efficient extraction, compact representation and high accuracy, we conducted comprehensive empirical tests over several color and texture descriptors. The optimal descriptors combination was used for training and testing of a binary SVM classifier. We have shown that the proper descriptors preprocessing before SVM classification has significant impact on the final result. Comprehensive experimental evaluation shows that the proposed method outperforms several more complex indoor-outdoor image classification techniques on a couple of public datasets

DATA COLLECTION TOOL FOR PROCESS IDENTIFICATION USING PLC AND KEPWARE TOOLS

In this paper, we are using the Kepware tools as a data collection tool to collecting data for identifying the process and making the mathematical models is described in this paper. The connection to the process was made using a programmable logic controller like a real time DAQ (Data Acquisition Board and System) device, database and a client application developed for these purposes. Special attention is paid to the possibility of collecting a large amount of process data as the same moment time of data sampling

THE WINDER DANCER POSITION CONTROL MODEL USING DIFFERENT PID CONTROL STRUCTURES AND MICROLOGIX PLC

In the cable industry, improper regulation of the winding speed of the conductor cable, i.e. the position of the tensioner (dancer) leads to improper stretching of the conductor, which significantly affects the characteristics of the final product. Winding speed control is directly related to tensioning which is an additional problem. This paper presents a system for control a cable winding device using a linear PID controller with and without control signal limitation. The system parameters were determined using integral time-weighted absolute error (ITAE) criteria and realized using a conventional PLC controller

DIGITAL MODEL PREDICTIVE CONTROL OF THE THREE TANK SYSTEM BASED ON LAGUERRE FUNCTIONS

The application of the model predictive control (MPC) based on discrete-time Laguerre functions is presented in this paper. A nonlinear three-tank hydraulic system is used as an object to which the proposed algorithm is applied. The paper also presents the method of For the verification of the proposed control method, digital simulations are performed using Matlab.linearization of the nonlinear system, as well as the procedure for the controller design

FUZZY LOGIC-BASED CONTROL OF THREE-DIMENSIONAL CRANE SYSTEM

The control of three-dimensional (3D) crane system represents one of the most widely challenging control problems. 3D crane system is used for lifting and moving loads horizontally, as well as lowering and realizing the gripper to the original position. In this paper fuzzy logic-based control of three-dimensional crane (3D) system is presented. Hence the system produces oscillations during moving loads, the main objective of the designed controller is to control the swing angle. As a plant for controller design, the bond graph model of 3D crane system is used. To verify the effectiveness of the proposed control method, several digital simulations with concrete values of parameters are performed using Matlab. The simulations results show that the proposed fuzzy logic control produce better performance in regard to the reduction of undesired oscillations.Key words: bond graph, 3D crane, Dymola, fuzzy control, modeling and simulation, Matlab/Simulin

A NEW TYPE OF DISCRETE EULER-LAGRANGE EQUATION WITH APPLICATIONS IN OPTIMAL CONTROL

A new type of discrete Euler-Lagrange equation, suitable for generalization, is presented in this paper. Several forms of this equation can be found in references. They have different differential operators as well as combinations of them. The equation given in this paper uses only one differential operator providing easy generalizations of Euler-Lagrange equation. In the paper, generalizations for the case of more variables and more ordered differences in the functional which is optimized, are derived. The application in determining optimal control of a discrete system is also given

DATA DENOISING PROCEDURE FOR NEURAL NETWORK PERFORMANCE IMPROVEMENT

This paper will present training data denoising procedure for neural network performance improvement. Performance improvement will be measured by evaluation criterion which is based on a training estimation error and signal strength factor. Strength factor will be obtained by applying denoising method on a default training signal. The method is based on a noise removal procedure performed on the original signal in a manner which is defined by the proposed algorithm. Ten different processed signals are obtained from the performed method on a default noisy signal. Those signals are then used as a training data for the nonlinear autoregressive neural network learning phase. Empirical comparisons are made at the end, and they show that the proposed denoising procedure is an effective way to improve network performances when the training set possesses the significant noise component