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检索条件"任意字段=2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012"

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2012 17th international conference on methods and models in automation and robotics, mmar 2012

2012 17th International Conference on Methods and Models in ...

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2012 17th international conference on methods and models in automation and robotics, mmar 2012

ISBN: (纸本)9781467321211

the proceedings contain 118 papers. the topics discussed include: biopsychically inspired cognitive control for autonomous agents based on motivated learning;consistent control hierarchies with top layers represented by timed event graphs;parameter identification of a DC motor via distribution based approach;stratified model identification;mechanical resonance frequencies identification of direct drive using wavelet analysis;on singular values decomposition and patterns for human motion analysis and simulation;a flowshop scheduling problem with machine deterioration and maintenance activities;on the control of discrete linear repetitive processes using previous pass windowed information;on a fractional dirichlet problem;adaptive finite fractional difference with a time-varying forgetting factor;and multistage pattern recognition of signals represented in wavelet bases with reject option.

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Stratified model identification

Stratified model identification

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17th international conference on methods and models in automation and robotics (mmar)

作者： Ogonowski, Zbigniew Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781467321242

Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Propagation through Time is applied as the identification method. Vertical hot water tank serves as the illustration of application to single dimensional case. methods of generalization on three dimensional case are suggested.

关键词： model identification ILLUSTRATIONS Generalization model parameters base on back propagation water-tanks Identification methods hot water

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Path Parameters Consensus based Formation Control of multiple Autonomous Underwater Vehicles in the presence of ocean currents

Path Parameters Consensus based Formation Control of multipl...

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17th international conference on methods and models in automation and robotics (mmar)

作者： Wang, Yintao Yan, Weisheng Northwestern Polytech Univ Coll Marine Xian 710072 Shaan Xi Peoples R China

ISBN: (纸本)9781467321242

this paper addresses the problem of steering a group of Autonomous Underwater Vehicles along specified paths while keeping a desired spatial formation in the presence of ocean currents. We show how Lyapunov and backstepping based path following control for a single vehicle and coordinated consensus tracking for multiple vehicles are brought together to yield a distributed control strategy, by which the problems existing in current designs that a common reference velocity signal being available to all cooperating vehicles are explicitly extended. the path following for each vehicle amounts to reducing an appropriately defined geometric error to zero asymptotically. the desired coordinated behavior is achieved by means of consensus on the velocity of path parameter of a virtual dynamic leader. the stability of the overall closed-loop system is analyzed mathematically. To demonstrate the controller proposed, simulations results are presented and discussed.

关键词： Vehicles Oceans Underwater vehicles Vehicle dynamics Symmetric matrices Topology Lyapunov methods

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Controllability conditions of rotating beams and a construction of an optimal control

Controllability conditions of rotating beams and a construct...

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17th international conference on methods and models in automation and robotics (mmar)

作者： Sklyar, Grigory Wozniak, Jaroslaw Univ Szczecin Inst Math PL-70451 Szczecin Poland

We present our works concerning controllability problem for Timoshenko beams rotating in a horizontal plane. Characterization of the set of null-reachability is given, the optimal control problem is stated and a numer... 详细信息

ISBN: (纸本)9781467321242

关键词： Optimal control controllability Numerical methods rotating beam TIMOSHENKO BEAM BEAM Beams and girders horizontal plane

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the virtual reality system used for upper extremity rehabilitation

The virtual reality system used for upper extremity rehabili...

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17th international conference on methods and models in automation and robotics (mmar)

作者： Gmerek, Artur Tech Univ Lodz Inst Automat Control PL-90924 Lodz Poland

ISBN: (纸本)9781467321242

this paper presents a complete Virtual Reality (VR) system used for upper extremity rehabilitation. the system consists of sensors, the computer application and stereoscopic display glasses. the system is designed to cooperate with special mechanical orthosis used for arm rehabilitation. Patients can see their movements in the 3D virtual space during exercises. the system has a key role in development of rehabilitation robot, because numerous researches show that exercises in VR decreases the time of rehabilitation.

关键词： Rehabilitation Lake Restoration Upper Extremity Variable reluctance STEREOSCOPIC DISPLAYS Rehabilitation robotics Exercise virtual reality Virtual Space APPLIED COMPUTER SCIENCE

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A flowshop scheduling problem with machine deterioration and maintenance activities

A flowshop scheduling problem with machine deterioration and...

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17th international conference on methods and models in automation and robotics (mmar)

作者： Rudek, Agnieszka Rudek, Radoslaw Wroclaw Univ Technol Dept Syst & Comp Networks PL-50370 Wroclaw Poland Wroclaw Univ Econom Inst Business Informat Wroclaw Poland

ISBN: (纸本)9781467321242

In this paper, we analyse the makespan minimization flowshop scheduling problem, where the processing times of jobs depend on the number of performed jobs and maintenance activities. Since the considered problem with two machines seems to be NP-hard, thus, we propose a branch and bound method and some heuristic and metaheuristic algorithms to solve it.

关键词： maintenance activities processing time Branch and bound methods jobs machine Nondeterministic polynomial-time hard Heuristics

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Design and Analysis of a Network Control Structure with a Switched PD Compensator

Design and Analysis of a Network Control Structure with a Sw...

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17th international conference on methods and models in automation and robotics (mmar)

作者： Stefan, Octavian Codrean, Alexandru Dragomir, Toma-Leonida Politehn Univ Timisoara Dept Automat & Appl Informat Timisoara Romania

ISBN: (纸本)9781467321242

the current paper proposes a new network control structure based on a nonlinear network transmission model recently proposed by the authors, a switched PD time delay compensator and a state feedback controller. the design methodology described for the control structure consists in a coupling between analytical tuning methods and numerical optimization methods. the stability is assessed in the framework of switched linear systems through a switched quadratic Lyapunov function. Finally, the results are validated on a numerical example.

关键词： Control Architecture network control State feedback Linear system Optimization methods numerical example Palladium Physically Handicapped Proportional derivative Professional Development Nonlinear networks Frameworks state feedback controller

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Intuitive Control for Robotic Rehabilitation Devices by Human-Machine Interface with EMG and EEG Signals

Intuitive Control for Robotic Rehabilitation Devices by Huma...

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17th international conference on methods and models in automation and robotics (mmar)

作者： Borgul, Alexandr Margun, Alexey Zimenko, Konstantin Kremlev, Artem Krasnov, Alexandr St Petersburg Natl Res Univ Informat Technol Mech Dept Control Syst & Informat St Petersburg Russia

ISBN: (纸本)9781467321242

this article presents a system of intuitive control the upper extremity exoskeleton and other mechatronic devices with EMG and EEG for people with different degrees of musculoskeletal system damage. the technology let control an apparatus by thinking about it. Various identification methods for control signals like neural networks, wavelet analysis, fastICA, Fourier series are given below. Algorithms were tested on real objects and simulator.

关键词： Human machine interaction Electromyogram Electroencephalography Intuitive Identification methods Musculoskeletal System Upper Extremity simulator Standing Orders Neural network

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Repetitive models in Gas Transportation Networks

Repetitive Models in Gas Transportation Networks

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17th international conference on methods and models in automation and robotics (mmar)

作者： Dymkou, Siarhei Dymkov, Michael Natl Univ Singapore Temasek Labs Aeronaut Sci Div Control Sci Grp T Lab Bldg 5AEngn Dr 1 Singapore 117411 Singapore Belarusian State Univ Dept Math Minsk 220070 BELARUS

ISBN: (纸本)9781467321242

the problem of distributing gas through a network of pipelines is formulated as an linearized nonstationary differential repetitive model subject to some flow-pressure constraints of material balances and pressure bounds. the linear model is constructed in the neighborhood of the known basic operating regime of gas delivery. the considered problem is to minimize the total supply cost of a gas transmission company with the minimal guaranteed pressure at the nodes. Some aspects of a comprehensive optimization theory based on a 'constructive approach' are discussed.

关键词： gas transport Optimization theory Materials balance linear models Repetitive pipeline Pressure Neighborhood

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Application of Topological Derivative to accelerate Genetic Algorithm in Shape Optimization of coupled models

Application of Topological Derivative to accelerate Genetic ...

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17th international conference on methods and models in automation and robotics (mmar)

作者： Novotny, Antonio Andre Szulc, Katarzyna Zochowski, Antoni LNCC MCT Av Getulio Vargas 333 BR-25651075 Petropolis RJ Brazil Polish Acad Sci Syst Res Inst PL-01447 Warsaw Poland

ISBN: (纸本)9781467321242

In the paper, a variant of the genetic algorithm for finding the location and size of small holes is considered. Both linear and non-linear elliptic boundary value problems are introduced in two domains with the conditions of transmission on the common boundary. the expansion of the shape functional for non-linear part and the expansion of Steklov-Poincare operator for linear part are provided in order to determine the form of topological derivative for the coupled model. the value of topological derivative is used for computing the probability density applied later in generating location of holes for genetic algorithm.

关键词： Genetic algorithms

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