Eugen Bobasu*, Monica Roman*, Dorin Sendrescu*
*Department of Automatic Control, University of Craiova, A.I. Cuza, no. 13, 200585, Craiova, Romania, {ebobasu, monica, dorins}@automation.ucv.ro

Abstract: The paper presents the Bond Graph modelling and the feedback linearizing technique applied to an inverted pendulum system. First, the Bond Graph model of the inverted pendulum system is achieved. Next, by using the feedback linearizing technique, a nonlinear control law is obtained. This nonlinear control method provides an alternative solution to existing classical linear methods. For the implementation of the nonlinear control law we supposed that all states are measurable. Some numerical simulation results for the controlled system are also presented.
Keywords: Bond Graph, Modelling, Feedback linearization, Inverted pendulum.

Dorian Cojocaru*, Giuseppe Boccolato**, Ionut Dinulescu**, Alice Predescu**, Florin Manta**, Sorin Dumitru**
*Mechatronics Department, Faculty of Automation, Computers and Electronics, University of Craiova, Romania (e-mail: cojocaru@robotics.ucv.ro) **PhD Students, Mechatronics Department, University of Craiova, Romania, (e-mail: gboccolato@robotics.ucv.ro)

Abstract:This paper presents the simulation, implementation and control problem for a class of hyper redundant manipulators – the tronconic tentacle arms. A tentacle robot changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any position and orientation in 3D space. A tentacle arm prototype was designed and the practical realization is now running. A solution for kinematics of this arm is presented.
Keywords: robot arm, tentacle, robot control, modeling.

Ileana Hamburg*, Judith Terstriep**, Steffi Engert***, Christiane Lindecke****
*Institute for Work and Technology-FH Gelsenkirchen, Germany, (e-mail: hamburg@iat.eu) ** Institute for Work and Technology-FH Gelsenkirchen, Germany, (e-mail:terstriep@iat.eu) *** University of Duisburg-Essen, Germany, (e-mail: steffi.engert@uni-due.de) **** “Arbeitszeitberatung Dr. Lindecke“, (e-mail: christiane.lindecke@web.de)

Abstract: This paper presents various up-to-date findings on Life Long Learning strategies on SMEs from studies and EU projects undertaken or coordinated by the authors. SMEs are caught up in a specific LLL-dilemma: to be competitive they need highly qualified innovative staff, but at the same time they face problems in implementing LLL: lack of strategy and resources. This paper proposes various approaches to solutions in these fields, such us: strategic approaches based on SME specifics, Communities of Practice, the SME typical connections between formal and informal learning, learning and knowledge-management, learning and workplace environment, regional clusters as well as the specific contribution web 2.0/education 2.0 can make concerning these issues.
Keywords: E-Learning, life-long learning, working environments, SME, working environment.

Dan Mancas*, Ileana Hamburg**, Ecaterina–Irina Grosu***, Nicolae–Iulian Enescu*
*Faculty of Automation, Computers and Electronics, University of Craiova, Craiova, Romania, (e-mail: {dmancas, nenescu} @ucv.ro) **Institut Arbeit und Technik, Gelsenkirchen, Germany, (e-mail: hamburg@iat.eu) ***CS AEIC SA, Craiova, Romania, (e-mail: catya_ace@yahoo.com)

Abstract: In this paper, an evaluation of the network routing algorithms is made. Problems that arise in routing are treated, each presented in different scenarios in order to obtain a result in comparing different topologies. The comparison analysis is pursuing obtaining a result over the performance of the network. In order to measure performance, the costs of a network and the delays are aimed. After that, the topology effect is presented. In matter of performance, topology and blocking problems are strongly related. So an analysis of the blocking probability is also presented. As conclusions, solutions for the presented scenarios and also for other important scenarios are given. In all these algorithms the time problem was not yet consider until now, so the average execution time is finally analyzed.
Keywords: routing algorithm, evaluation, traffic, topology, cost, delay, capacity, load, execution time.

Dan Marghitu*, Dorian Cojocaru**
*Auburn University, AL 36849, USA (Tel: 334-844-3335; e-mail: marghdb@auburn.edu). **University of Craiova, Craiova 200440, Romania, (Tel: 251-438-198, e-mail:cojocaru@robotics.ucv.ro)

Abstract: A model is presented for the impact of a robotic kinematic element in planar motion. The model consists of a system of nonlinear differential equations which considers the collisions as well as frictional effects at the contacting end, and allows one to predict the rigid and elastic body motion after the impact. The mode functions are selected such that the method can be made computationally as simple as possible, without compromising accuracy. To describe the impact between the kinematic link and the rigid surface the classical Hertzian contact theory and elastoplastic indentation theory are used.
Keywords: impact, exible kinematic link, vibrational modes, nonlinear contact force.

Gheorghe Marian*, Ileana Hamburg**, Nicolae Enescu*, Marius Marian***
*Computer and Communication Engineering Department, Faculty of Automation, Computers and Electronics, Bvd. Decebal, Nr. 107, 200440, Craiova, Dolj, ROMANIA, (e-mail: marian@cs.ucv.ro, nenescu@cs.ucv.ro) **Institute for Work and Technology, FH Gelsenkirchen, Germany, Munscheid, Germany, (e-mail: hamburh@iat.eu) ***Automatic Control Department, Faculty of Automation, Computers and Electronics Bvd. Decebal, Nr. 107, 200440, Craiova, Dolj, ROMANIA, (e-mail: marius.marian@cs.ucv.ro)

Abstract: To realize the multimedia presentation for a product is necessary to know some programming languages that permit multimedia description. For description of the functionality of a product only by using mouse, without programming knowledge’s, was created, using Borland Delphi as IDE, the software program named XMLCreator. The program generates a XML file which contains the description of a product. The XML file resulted from XMLCreator is interpreted by XMLInterpreter program created in FLASH technology.
Keywords: Delphi, XMLCreator, XMLInterpreter, XML, FLASH, Multimedia.

Ecaterina–Irina Grosu*, Dan Mancas**, Nicolae–Iulian Enescu***, Ileana Hamburg****,
*CS AEIC SA, Craiova, Romania, (e-mail: catya_ace@yahoo.com) **Faculty of Automation, Computers and Electronics, University of Craiova, Romania, ( e-mail: dmancas@ucv.ro) *** Faculty of Automation, Computers and Electronics, University of Craiova, Romania, ( e-mail enenescu@cs.ucv.ro) ****Institut Arbeit und Technik, Gelsenkirchen, Germany, (e-mail hamburg@iat.eu)

Abstract: Starting with the first interpreter written in 1972 and then the de facto standard model for Prolog, the story of this logic language is continuing even today, integrating itself in the new techniques. As nowadays the complexity of software systems is increasing and the attention is on extensions and tailoring for more flexibility, the implementation in such a language is a proposal that may reach efficiency faster than object-oriented languages. In this idea, different open source projects regarding compiling and interpreting of this language were launched and their development will be presented in the paper.
Keywords: architecture, software, efficiency, performance, programming, compiler, language.

Hamid Medjahed*,** , Dan Istrate*, Jérôme Boudy**, François Steenkeste***, Bernadette Dorizzi**
*LRIT ESIGETEL, 1 Rue du Port de VALVINS, 77 215 AVON-FONTAINEBLEAU Cedex, France (e-mail: {hamid.medjahed, dan.istrate}@esigetel.fr). ** EPH TelecomSudParis, 9 rue Charles FOURIER, 91011 Every, France, (e-mail:{Jerome.boudy, Bernadette.dorizzi}@it-sudparis.eu). *** U558 INSERM, TOULOUSE, France, (e-mail: steenkeste.f@chu-toulouse.fr)

Abstract: In this paper, we explore automatic in-home healthcare monitoring by conducting a study of professionals who currently perform in-home healthcare monitoring, by combining and synchronizing various telemonitoring modalities, under a data synchronization and multimodal data fusion platform FL-EMUTEM (Fuzzy Logic Multimodal Environment for Medical Remote Monitoring). This platform incorporates algorithms that process each modality and providing a technique of multimodal data fusion which can ensures a pervasive in-home health monitoring for elderly people based on fuzzy logic.
Keywords: Data fusion, Fuzzy logic, Healthcare telemonitoring, Telemedicine, Signal processing.

Romulus Militaru *, Liviu-Adrian Calin**, George-Cristian Calugaru ***, Adrian-Lorel Georgescu***
*Department of Applied Mathematics, University of Craiova, Romania (e-mail: militaruromulus@yahoo.com) **Faculty of Mathematics and Computer Science, University of Craiova, Romania, (e-mail:adi.calin.nds@gmail.com) ***Faculty of Automatics, Computers and Electronics, University of Craiova, Romania, (e-mail: {calugaru.george.nds, georgescu.adrian.nds}@gmail.com)

Abstract: Numerical Engineering Software is a dedicated solution for numerical calculations. The project contains many numerical methods that have been optimized and can represent the basis for numerical solving of real life technical problems. An earlier version of Numerical Engineering Software was presented in the previous number of this journal. This paper is dedicated to the presentation of the new abilities of Numerical Engineering Software which can appeal to a larger number of users and can result in improved processing of data. The new version consists of a slightly modified structure, mainly regarding the fifth chapter which now deals with systems of differential equations and Sturm-Liouville problems. The project consists of five chapters: Matrix Algebra, Polynomial Approximations, Roots of Equations, Numerical Integration and Differential Equations.
Keywords: numerical calculus, linear systems, polynomial interpolation, eigenvalues and eigenvectors, differential equations, mathematical software.

Alina Patelli*, Lavinia Ferariu*
*Department of Automatic Control and Applied Informatics, “Gh. Asachi” Technical University, Iasi, Romania

Abstract: Multivariable nonlinear systems identification is addressed, in the following, by means of enhanced multiobjective evolutionary optimisation. The paper suggests a customised genetic programming algorithm that generates nonlinear linear in parameter models, according to a mathematical pattern that has been proven to be a universal approximator. In order to efficiently exploit the parameter wise linearity, the authors propose a symbiosis between the genetic operators and a local optimisation procedure based on QR decomposition. This hybridisation provides simultaneous structure selection and parameter computation, whilst facilitating the unsupervised exploration of the search space. Model assessment is conducted relative to accuracy and parsimony evaluation criteria. The latter has been specifically tailored to encourage the gradual elimination of insignificant model regressors, while preserving the ones which best capture the nonlinear dynamics of the plant, thus rendering the suggested method suitable for identifying multivariable systems, even in the presence of extraneous lags. In order to make the proposed approach compatible with the particular requirements of the identification problem, within the framework of automatic control, the authors have introduced two additional enhancements, namely a dynamic clustering procedure and an adaptive migration mechanism. The performances of the suggested algorithm are revealed by three applications of different complexities: an academic test case featuring an increased number of inputs with time delay and a complex nonlinear industrial plant.
Keywords: genetic programming, multiobjective optimisation, nonlinear systems identification, multivariable systems.

Cristina Floriana Resceanu*
*University of Craiova, Faculty of Automation, Computers and Electronics, (e-mail: {cristina} @robotics.ucv.ro)

Abstract: The fault tolerant locomotion of legged robots, in static gait, is a gait which maintains its stability even if a fault event occurred to one of their legs. This paper presents a strategy for generating fault tolerant locomotion of a quadruped robot. The failure considered in this paper is a locked joint failure. The kinematic condition of fault tolerant locomotion is derived for straight line walking of quadruped robot on even terrain. An algorithm for fault tolerant locomotion in straight line is described. Keywords: fault, quadruped, walking, robot, locomotion.

Ionut Cristian Resceanu*, George-Cristian Calugaru**, Cristina Floriana Resceanu*
*Mechatronics Department, Faculty of Automation, Computers and Electronics, University of Craiova (e-mail: {resceanu, cristina} @robotics.ucv.ro) **Faculty of Automation, Computers and Electronics, University of Craiova (e-mail: calugaru.george.nds@gmail.com)

Abstract: This paper presents the Quanser SRV-02 plant controlled with a new Smith predictor structure combined with PID controllers. The new Smith predictor enhances the system robustness and minimizes the disturbance influence. The structure also achieves Smith dynamic prediction compensations for the delays of the network. The Smith predictor structure used in the control process hides the predictor model of the network delay into the transmission process thus making the network delay measuring or estimation irrelevant. The new Smith predictor structure is ideal for processes characterized by stochastic delays.
Keywords: networked control systems, network delay, Smith predictor.

Roxana Stanica*, Emil Petre**
*S.C. BATM Systems S.R.L., Craiova, Romania (e-mail: rstanica@batmsystems.ro) ** Department of Automatic Control, University of Craiova, Romania (e-mail: epetre@automation.ucv.ro)

Abstract: By using Operations, Administration and Maintenance (OAM) tools, service providers can measure and ensure Service Level Agreements (SLA). This paper presents two protocols for monitoring and troubleshooting the network, and their structure that is based on OAM tool. The OAM structure permits the configuration of different parameters such as timers, link connectivity, packet's priority, latency, frame-loss, and jitter. The standard Metro Ethernet Forum (MEF) protocol was designed to support the OAM tool and a new structure was developed for Ethernet in the First Mile (EFM) protocol.
Keywords: Administration, Monitoring, Structure, Ethernet, Connectivity, Timer.

Stefan Udristoiu*, Anca Ion*
*University of Craiova, Faculty of Control, Computers and Electronics, Software Engineering Department, Craiova, Dolj,ROMANIA (e-mail:sudristoiu@software.ucv.ro)

Abstract: This paper presents a tool suit used to improve the activity of wrapper development for a meta-search engine. When a new type of source of information is to be added in the system a concrete wrapper is to be written. The Wrappers’ Editor is a visual tool that helps editing wrapper representation files. The wrapper representation is visualized as a tree and on the hard disk is stored as an xml file, using Wrapper Description Language (WDL). The tools consist from a compiler which generates Java classes, a specialized editor for the WDL, an interpreter used also as a debugger and as a platform for the last tool of the suite, which generates extraction rules starting from user annotations.
Keywords: Compilers, Finite automata, Formal specification, Information retrieval, Information integration, Problem-oriented languages, Rapid programming, Rule-based systems, Software productivity, Software tools.

Carlos Vazquez*, Joaquin Collado**
*Department of Automatic Control, CINVESTAV-IPN,Av. IPN 2508, 07360 Mexico, D.F., Mexico (e-mail: electroncvaitc@gmail.com) **Department of Automatic Control, CINVESTAV-IPN, Av. IPN 2508, 07360 Mexico, D.F., Mexico (e-mail: jcollado@ctrl.cinvestav.mx)

Abstract: This note studies a delayed control approach, open and closed loop controllers, in order to attenuate the oscillations of a three degrees of freedom (3DOF) overhead crane system. The proposed control schemes have the capability of attenuate the oscillations during the travel phase and eliminated them at the end point. Both control schemes give us simple expressions for the optimal control parameters. We compared our results with numerical simulations and performed experiments over a laboratory overhead crane.
Keywords: Control applications, Delay analysis, Open-loop control, Oscillation and Optimal control.