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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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Gestures recognition by using ultrasonic range-finders

Gestures recognition by using ultrasonic range-finders

引用

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

作者： Bogdan Kreczmer Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In this paper an approach to gesture recognition is presented. It is based on application of simple ultrasonic range-finders. A set of five gestures is described which can be distinguish in this way. the described met... 详细信息

关键词： Acoustics Gesture recognition Sonar Sensors Humans Mobile robots

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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...

引用

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

作者： Robert Cimochowski Faculty of Electrical Engineering Bialystok Technical University 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

关键词： Switches Linear systems Asymptotic stability Switched systems Biological system modeling Stability analysis Educational institutions

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Control theoretic approach to combined anticancer therapies

Control theoretic approach to combined anticancer therapies

引用

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

作者： Andrzej Świerniak Department of Automatic Control Silesian University of Technology Gliwice Poland

A model of a combination of antiangiogenic treatment and chemotherapy is proposed and analyzed. the model is a modified Hahnfeldt model and the analysis has two goals: first of all we check stability of the equilibrium point of the model to find conditions leading to tumour eradication for constant dosing and periodic treatment then we propose an optimization problem and give necessary conditions of its solution. We discuss modifications of the model which enable more realistic description of treatment effects.

关键词： Tumors Mathematical model Equations Analytical models Drugs Cancer

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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...

引用

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

作者： Robert Beckmann Wolfgang Drewelow Institute of Automation University of Rostock

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： Atmospheric modeling Manifolds Feeds Engines Gases Differential equations Camshafts

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On stationarity of elementary bilinear time-series

On stationarity of elementary bilinear time-series

引用

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

作者： Łukasz Maliński Jarosław Figwer Institute of Automatics Silesian University of Technology Gliwice Poland

In the paper stationarity of random processes obtained from elementary bilinear time-series models is analysed. It is shown in the presented analysis that elementary bilinear time-series models can be interpreted as linear time-series with time varying random parameters. the analysis is illustrated by simulation experiments showing time dependencies of some statistical moments of the discussed random processes.

关键词： Random processes Analytical models Mathematical model Biological system modeling Predictive models Time series analysis Finite element methods

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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...

引用

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

作者： Marcin Stachura Krzysztof Janiszowski Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

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： Adaptation models Equations Mathematical model

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Direct adaptive fuzzy control for a two-link space robot

Direct adaptive fuzzy control for a two-link space robot

引用

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

作者： Steve Ulrich Jurek Z. Sasiadek Department of Mechanical and Aerospace Engineering Carleton University Ottawa Ontario Canada

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： Trajectory Robots Joints Jacobian matrices Adaptation models Fuzzy logic Fuzzy control

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Identity of socially interactive robotic twins: Initial results of VHRI study

Identity of socially interactive robotic twins: Initial resu...

引用

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

作者： Krzysztof Arent Bogdan Kreczmer Łukasz Małek Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wrocław Poland

the paper refers to the issue of robot companion being able to migrate between different embodiments. the main attention is focused on the case when two or more companions can share the same embodiment. It is shown that some behavioural characteristics can be significant in the process of recognition of the companion's identity. the results are based on a video based experimental study. Animations for this study were prepared using a dedicated software.

关键词： Robots Context Inspection Navigation Software architecture Software Laboratories

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the reversibility condition for elementary bilinear time-series model based on output sequence alone

The reversibility condition for elementary bilinear time-ser...

引用

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

作者： Łukasz Maliński Institute of Automatics Silesian University of Technology Gliwice Poland

Reversibility of elementary bilinear time-series model is very important issue in parametric model identification based on minimisation of mean square value of prediction error. the reason is that estimation of parameters of irreversible time-series model is irreversible it is difficult. there is already very well known mathematical reversibility condition expressed as a function of the model's coefficient, which has to be identified. the paper contains a discussion of simple condition, which can provide information about model's reversibility before its identification.

关键词： Indexes Analytical models Predictive models Time series analysis Mathematical model Stability analysis Computational modeling

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Continuation method approach to trajectory planning in robotic systems

Continuation method approach to trajectory planning in robot...

引用

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

作者： Joanna Karpińska Krzysztof Tchoń Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Control and Robotics Wroclaw University of Technology Wroclaw Poland

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 Equations Planning Robots Kinematics Heuristic algorithms

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