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检索条件"任意字段=2010 15th International Conference on Methods and Models in Automation and Robotics, MMAR 2010"

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2010 15th international conference on methods and models in automation and robotics, mmar 2010

2010 15th International Conference on Methods and Models in ...

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2010 15th international conference on methods and models in automation and robotics, mmar 2010

ISBN: (纸本)9781424478279

the proceedings contain 78 papers. the topics discussed include: composite control of periodic-review just-in-time inventory systems with asymmetric costs;sensitivity-based feedforward and feedback control using algorithmic differentiation;robust polynomial eigenstructure assignment control of a class of nonlinear systems;constrained robot motion planning: imbalanced Jacobian algorithm vs. optimal control approach;control of nonholonomic autonomous vehicles and their formations;energy saving control in low cost pneumatic positioning systems;autonomous navigation of transport robot in the urban environment;application of adaptive neural network to dishwasher operation control;Takagi-Sugeno-Kang type fuzzy models with fuzzy equations in the consequence part;numerical method for drag minimization in compressible flows;adaptive tracking-control synthesis for functionally uncertain systems via modified backstepping;and sensitivity analysis of infinite order hyperbolic optimal control problems.

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Takagi-Sugeno-Kang Type Fuzzy models with Fuzzy Equations in the Consequence Part

Takagi-Sugeno-Kang Type Fuzzy Models with Fuzzy Equations in...

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15th international conference on methods and models in automation and robotics (mmar)

作者： Walaszek-Babiszewska, Anna Opole Univ Technol Dept Control & Comp Engn Opole Poland

ISBN: (纸本)9781424478279

this paper is focused on the extending Takagi-Sugeno-Kang (TSK) types fuzzy models. the propositions of the models with a fuzzy set-valued function in the consequence part as well as the models with the fuzzy time series in the consequence part are presented. Also chosen theoretical aspects of the creating knowledge bases and the fuzzy reasoning procedure are presented.

关键词： Fuzzy Knowledge Bases Time series Proposition fuzzy reasoning Fuzzy Set theory

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A numerical method for shape and topology optimization for semilinear elliptic equation

A numerical method for shape and topology optimization for s...

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15th international conference on methods and models in automation and robotics (mmar)

作者： Scheid, Jean-Francois Sokolowski, Jan Szulc, Katarzyna Univ Nancy 1 Inst Elie Cartan Math Lab F-54506 Vandoeuvre Les Nancy France

ISBN: (纸本)9781424478279

Shape optimization problem for semilinear elliptic equation is considered. there is an optimal solution which is computed by the Levelset method. To this end the shape derivative of the functional is evaluated. In order to predict the topology changes the topological derivative is employed. Numerical results confirm that the proposed framework for numerical solution of shape optimization problems is efficient.

关键词： Numerical methods

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Geometric Model of a Narrow Tilting CAR using robotics formalism

Geometric Model of a Narrow Tilting CAR using Robotics forma...

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15th international conference on methods and models in automation and robotics (mmar)

作者： Maakaroun, Salim Khalil, Wisama Gautier, Maxime Chevrel, Philippe Inst Rech Commun & Cybernet Nantes IRCCyN Nantes France

ISBN: (纸本)9781424478279

the use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. the aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. the modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in robotics. Also, we describe the special Kinematic of the vehicle and give a method to analyze the tilting mechanism of it. Primarily experimental results on the validation of the geometrical model of a real tilting car are given.

关键词： tilting Cars geometrical model TILT MECHANISMS robotics narrowing vehicle

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Performance comparison of various navigation guidance methods in interception of a moving object by a serial manipulator considering its kinematic and dynamic limits

Performance comparison of various navigation guidance method...

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15th international conference on methods and models in automation and robotics (mmar)

作者： Keshmiri, Mohammad Keshmiri, Mehdi Isfahan Univ Technol Dynam & Robot Ctr Esfahan Iran

ISBN: (纸本)9781424478279

In this paper a comparative analysis is represented on various navigation guidance methods used for intercepting fast maneuvering moving objects. A glancing revision is introduced on relevant works within the introduction section. Four common methods for navigation under investigation. Results demonstrate their infirmity on smoothly intercepting a moving object. Hence, to improve the navigation guidance methods and to adapt them with robotic problems a modified version of AIPNG is proposed for 2D problems and is developed for 3D problems utilization.

关键词： interceptions kinematics navigation Guidance Moving

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Simulation Based Design of Fuzzy Wheel Slide Protection Controller for Rail Vehicles

Simulation Based Design of Fuzzy Wheel Slide Protection Cont...

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15th international conference on methods and models in automation and robotics (mmar)

作者： Barna, Grazyna Rail Vehicles Inst TABOR PL-61055 Poznan Poland

ISBN: (纸本)9781424478279

In this paper a method of designing the rule bases of fuzzy controllers for Wheel Slide Protection Systems (WSP) for rail vehicles is presented. In this method results of simulation of two reference controllers are used, both of which use signals which are nor available during normal operation of the systems, i.e. adhesion coefficient and translation velocity of the vehicle. Simulations have performed on a simulation model of a braked rail vehicle and controllers implemented in Matlab Simulink (R). the proposed method makes possible automatization of the design process of WSP fuzzy controllers.

关键词： rail vehicle wheelslide simulating FUZZY CONTROLLER design process adhesion coefficient Simulation models Controllers normal operation

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An Observer-Based State Feedback Controller Design for Robot Manipulators Considering Actuators' Dynamic

An Observer-Based State Feedback Controller Design for Robot...

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15th international conference on methods and models in automation and robotics (mmar)

作者： Homayounzade, M. Keshmiri, M. Danesh, M. Isfahan Univ Technol Dept Mech Engn Esfahan Iran

ISBN: (纸本)9781424478279

In this paper a state feedback controller is designed for Rigid Link Electrically-Driven (RLED) manipulators actuated by a brushed DC (BDC) motors based on joint velocity estimation. the observer based controller is in fact a model based controller but it can be shown practically that the method is robust against parametric uncertainties. Initially pseudo-velocity filter is proposed to estimate the joint's velocity, provided joint's position are measured. Using the measured and estimated states, a controller is designed through the direct Lyapunov method. It is shown that the controller is asymptotically stable in it's region of attraction, both in position and velocity tracking. To show the validity of the proposed scheme, the algorithm is implemented on a two link planar manipulator actuated by BDC motors.

关键词： state feedback controller Controllers Robot Manipulator region of attraction Speed Estimation Lyapunov methods Motor Engines virtual velocity actuators

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Sensor scheduling with selection of input experimental conditions for identification of distributed systems

Sensor scheduling with selection of input experimental condi...

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15th international conference on methods and models in automation and robotics (mmar)

作者： Patan, Maciej Ucinski, Dariusz Univ Zielona Gora Inst Control & Computat Engn PL-65246 Zielona Gora Poland

ISBN: (纸本)9781424478279

An approach to sensor scheduling problem in the context of proper choice of both the experimental settings and sensor locations that will be used to identify unknown parameters of a distributed system is presented. Specifically, given a finite number of possible sites at which sensors may reside and imposing additional limits on the number of experimental runs, a scheduling policy for discrete sensors is determined so as to maximize a criterion based on the Fisher information matrix associated with the estimated parameters. An efficient computational scheme based on the branch-and-bound method is provided for the solution of the resulting combinatorial problem. Finally, the proposed technique will be illustrated with simulations on a sensor scheduling problem regarding a distributed parameter system describing the performance of a magnetic brake.

关键词： Distributed Systems Sensors magnetic brakes Distributed parameter systems scheduling policy Unknown parameter information matrix Branch and bound methods experimental conditions

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Construction of Minimization Sequences for Shape Optimization

Construction of Minimization Sequences for Shape Optimizatio...

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15th international conference on methods and models in automation and robotics (mmar)

作者： Pantz, Olivier Trabelsi, Karim Ecole Polytech CMAP F-91128 Palaiseau France Inst Polytechn Sci Paris France

ISBN: (纸本)9781424478279

In most shape optimization problems, the optimal solution does not belong to the set of genuine shapes but is a composite structure. the homogenization method consists in relaxing the original problem thereby extending the set of admissible structures to composite shapes. From the numerical viewpoint, an important asset of the homogenization method with respect to traditional geometrical optimization is that the computed optimal shape is quite independent from the initial guess (at least for the compliance minimization problem). Nevertheless, the optimal shape being a composite, a post-treatement is needed in order to produce an almost optimal non-composite (i.e. workable) shape. the classical approach consists in penalizing the intermediate densities of material, but the obtained result deeply depends on the underlying mesh used and the level of details is not controllable. In a previous work, we proposed a new post-treatement method for the compliance minimization problem of an elastic structure. the main idea is to approximate the optimal composite shape with a locally periodic composite and to build a sequence of genuine shapes converging toward this composite structure. this method allows us to balance the level of details of the final shape and its optimality. Nevertheless, it was restricted to particular optimal shapes, depending on the topological structure of the lattice describing the arrangement of the holes of the composite. In this article, we lift this restriction in order to extend our method to any optimal composite structure for the compliance minimization problem.

关键词： shape optimization linear minimization problems HOMOGENIZATION methods Composites composite structures topological structure Optimal

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Welcome from the mmar 2010 organizing committee

Welcome from the MMAR 2010 organizing committee

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international conference on methods and models in automation and robotics (mmar)

Presents the welcome message from the conference proceedings.

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