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检索条件"任意字段=2011 16th International Conference on Methods and Models in Automation and Robotics, MMAR 2011"

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2011 16th international conference on methods and models in automation and robotics, mmar 2011

2011 16th International Conference on Methods and Models in ...

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2011 16th international conference on methods and models in automation and robotics, mmar 2011

ISBN: (纸本)9781457709128

the proceedings contain 77 papers. the topics discussed include: frequency response identification in the case of periodic disturbances;experimental parameter identification for a control-oriented model of the thermal behavior of high-temperature fuel cells;a methodology of estimating hybrid black-box -prior knowledge models of an industrial processes;an optimal sequence of tasks for autonomous learning systems;parallel computation approach to solve total cost minimization scheduling problem;local search metaheuristics for some discrete-continuous project scheduling problems with discounted cash flows;sensitivity analysis of parabolic-hyperbolic optimal control problems;local constrained controllability of second order dynamical systems with delay;spreadability, vulnerability, regional viability and protector control;and continuation method approach to trajectory planning in robotic systems.

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Asymptotic Stability of the Positive Switched 2D Linear Systems Described by the Roesser models

Asymptotic Stability of the Positive Switched 2D Linear Syst...

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16th international conference on methods and models in automation and robotics (mmar)

作者： Cimochowski, Robert Bialystok Tech Univ Fac Elect Engn Bialystok Poland

the positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roess... 详细信息

ISBN: (纸本)9781457709142

关键词： asymptotic stability region Linear system Positive Sufficient conditions

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New method of fractional order integrator analog modeling for orders 0.5 and 0.25

New method of fractional order integrator analog modeling fo...

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16th international conference on methods and models in automation and robotics (mmar)

作者： Sierociuk, Dominik Dzieinski, Andrzej Warsaw Univ Technol Inst Control & Ind Elect Warsaw Poland

ISBN: (纸本)9781457709142

In the paper a novel method of analog modeling of fractional order integrators is presented. In particular, two special cases are discussed, i.e. integrators of order alpha = 0.25, and alpha = 0.5. the method proposed is based on the domino ladder approximation of irrational transfer function. It allows to obtain an analog model using only electric elements like resistors and capacitors of standard produced values.

关键词： Analog models integrators fractional order new methods Resistor Device Component LADDER APPROXIMATION

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Direct Adaptive Fuzzy Control for a Two-Link Space Robot

Direct Adaptive Fuzzy Control for a Two-Link Space Robot

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16th international conference on methods and models in automation and robotics (mmar)

作者： Ulrich, Steve Sasiadek, Jurek Z. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781457709142

An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.

关键词： adaptive fuzzy control Fuzzy control reference model aerospace robotics control strategy fuzzy logic system controller gain End Point Mentoring Zero follow error Joint space Robot System

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Dynamic Modeling and Simulation of Rowing with a robotics Formalism

Dynamic Modeling and Simulation of Rowing with a Robotics Fo...

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16th international conference on methods and models in automation and robotics (mmar)

作者： Rongere, Francois Khalil, Wisama Kobus, Jean-Michel LMF Nantes France IRCCyN Nantes France

ISBN: (纸本)9781457709142

this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.

关键词： Rowing simulating dynamic models robotics kinematics inverse kinematics modeling and simulation Boats Frameworks formalism BRANCH STRUCTURES

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Modeling and Exact Feed Forward Control of Air and Burned Gas Fraction within SI Engine Cylinders

Modeling and Exact Feed Forward Control of Air and Burned Ga...

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16th international conference on methods and models in automation and robotics (mmar)

作者： Beckmann, Robert Drewelow, Wolfgang Univ Rostock Inst Automat D-2500 Rostock 1 Germany

ISBN: (纸本)9781457709142

A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tracks given reference values of these masses. this is done by utilizing the exact linearization approach [1]. the final feed forward control law is verified in combination with a slightly modified design model as well as the original model.

关键词： Engine cylinders FEEDFORWARD CONTROL GAS FRACTION AIR CONTROLLING air Modeling Design models Burns original model Nonlinear models control law reference value

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An unscented Kalman filter approach to designing GMDH neural networks: Application to the tunnel furnace

An unscented Kalman filter approach to designing GMDH neural...

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16th international conference on methods and models in automation and robotics (mmar)

作者： Luzar, Marcel Mrugalski, Marcin Witczak, Marcin Korbicz, Jozef Univ Zielona Gora Inst Control & Computat Engn PL-65246 Zielona Gora Poland

ISBN: (纸本)9781457709142

this paper presents an identification method of dynamic systems based on the Group Method of Data Handing. In particular, a new structure of the dynamic neuron in pole representation is proposed. Moreover, a new training algorithm based on the Unscented Kalman Filter is presented. the final part of this work contains an illustrative example regarding the application of the proposed approach to an identification of the tunnel furnace.

关键词： Kalman filters Dynamic systems Identification methods Neural network Kalman filter theory

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A methodology of estimating hybrid black-box - prior knowledge models of an industrial processes

A methodology of estimating hybrid black-box - prior knowled...

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16th international conference on methods and models in automation and robotics (mmar)

作者： Stachura, Marcin Janiszowski, Krzysztof Warsaw Univ Technol Fac Mechatron Warsaw Poland

ISBN: (纸本)9781457709142

the paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.

关键词： physical models Industrial processes BOX models Dynamic systems particle swarm algorithm basic sequence methodology Pneumatic actuators

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Continuation method approach to trajectory planning in robotic systems

Continuation method approach to trajectory planning in robot...

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16th international conference on methods and models in automation and robotics (mmar)

作者： Karpinska, Joanna Tchon, Krzysztof Wroclaw Univ Technol Inst Comp Engn Control & Robot PL-50372 Wroclaw Poland

ISBN: (纸本)9781457709142

this paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1 parameter family of control functions. this family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. the approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.

关键词： trajectory planning rolling ball control systems Continuation methods Homotopy Differential equations kinematics

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Mobility Aware Topology Control Framework for Dynamic Multi-Robot Networks

Mobility Aware Topology Control Framework for Dynamic Multi-...

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16th international conference on methods and models in automation and robotics (mmar)

作者： Varadarajan, Karthik Mahesh Vincze, Markus TU Vienna ACIN Vienna Austria

ISBN: (纸本)9781457709142

Multi-robot networks used in surveillance, industrial manufacturing, defense and distributed monitoring require maximal coverage and connectivity while adapting to changes in environmental and channel conditions. Traditional algorithms attempt at solving this issue using deployment schemes and power control. In the case of mobile robot networks, the additional degree of freedom rendered by the mobility of the robots can additionally be used. In this paper we introduce a novel robot topology control mechanism aiming at maximizing coverage, connectivity and reliability using an irregular hexagonal static/ mobile multi-robot deployment scheme. Experimental data, along with simulation results demonstrate connectivity enhancement under signal loss.

关键词： Multi-robot Networks Topology Control Outage Fading models Hexagon Deployment Rayleigh Log-Normal Dynamic Network Topology Mobile Sensors

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