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57 篇 会议

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检索条件"任意字段=2013 18th International Conference on Methods and Models in Automation and Robotics, MMAR 2013"

共 57 条记录，以下是21-30 订阅

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Development of visual odometry algorithm for mobile robot navigation

Development of visual odometry algorithm for mobile robot na...

引用

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

作者： Paweł Kicman Department of Automation and Aeronautical Systems Warsaw University of Technology Warsaw Poland

In this paper visual odometry method for processing single-view images has been presented. the developed system is designed as a main navigation sensor for a police mobile robot used for investigation of crime scenes. Verification of correctness of the algorithms have been performed and results of preliminary simulated tests are included as well as guidelines for further development of the method.

关键词： Visualization Cameras Robot sensing systems Algorithm design and analysis Navigation Feature extraction

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EMG real-time classification for robotics and HMI

EMG real-time classification for robotics and HMI

引用

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

作者： Konstantin Zimenko Alexey Margun Artem Kremlev Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Saint-Petersburg Russia

there is method for real time frequency analysis of the electromyogram is described in article. this method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method consists of realtime frequency estimation with preliminary using of band-pass filter. the method is easy to program and does not require any additional resources. the article gives an example of using this method in classification of movements problem which is actual for robotics and human-machine interfaces.

关键词： Electromyography Time-frequency analysis Frequency estimation Harmonic analysis Robots Real-time systems Equations

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Balance-based adaptive control of the second order systems

Balance-based adaptive control of the second order systems

引用

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

作者： Krzysztof Stebel Jacek Czeczot Institute of Automatic Control Silesian University of Technology Gliwice Poland

In this paper, the possibility of the application of the Balance-Based Adaptive Control (B-BAC) methodology to control the second order system is discussed. Conventionally, the B-BAController is based on the simplified first order dynamical model of the process, which stands as the significant limitation when the real system is of the higher order. Due to the application of the suggested quasi-cascade control structure, this constraint is removed and the superiority of this approach is presented by the simulation experiments.

关键词： Control systems Tuning Process control Estimation Approximation methods Periodic structures Computational modeling

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On the connectivity assumption of non-linear flocking models

On the connectivity assumption of non-linear flocking models

引用

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

作者： Christoforos Somarakis John S. Baras Applied Mathematics Dept. University of Maryland College Park Maryland USA E.C.E. Dept. University of Maryland College Park Maryland USA

the problem of collective behavior of autonomous agents is discussed. Based on state dependent communication graphs we analyze a family of non-linear flocking models by establishing sufficient initial conditions so as connectivity and thus asymptotic flocking is ensured. We discuss models with non-linear uniformly bounded connection rates with and without delays.

关键词： Delays Mathematical model Educational institutions Eigenvalues and eigenfunctions Convergence Analytical models Autonomous agents

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Laguerre-based modeling of fractional-order LTI SISO systems

Laguerre-based modeling of fractional-order LTI SISO systems

引用

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

作者： Rafał Stanisławski Krzysztof J. Latawiec Wojciech P. Hunek Marian Łukaniszyn Department of Electrical Opole University of Technology Opole Poland Politechnika Opolska Opole PL

this paper presents a new concept of modeling of LTI SISO discrete-time fractional-order systems, in which the Laguerre filters are employed to model both 1) the Grünwald-Letnikov fractional difference and 2) a dynamics of the LTI SISO fractional-order system. Such a `double-Laguerre' concept yields original accuracy and computational results at both modeling stages, illustrated with a series of simulation examples.

关键词： Approximation methods Computational modeling Accuracy Finite impulse response filters Mathematical model Analytical models Transfer functions

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A new form of a σ-inverse for nonsquare polynomial matrices

A new form of a σ-inverse for nonsquare polynomial matrices

引用

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

作者： Wojciech Hunek Krzysztof Latawiec Rafał Stanisławski Marian Łukaniszyn Piotr Dzierwa Department of Electrical Control and Computer Engineering Opole University of Technology Opole Poland Politechnika Opolska Opole PL

this paper presents a new simple form of a polynomial matrix σ-inverse introduced as a result of research works on minimum variance control (MVC) for LTI MIMO nonsquare systems. A new approach to construction of a σ-inverse of a nonsquare polynomial matrix can result in e.g. pole-free design of MVC, which is provided by specially selected degrees of freedom of the σ-inverse. A simulation example in the Matlab ® environment illustrates theoretical achievements of the paper.

关键词： Polynomials MIMO automation Robots Mathematical model Educational institutions

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Stereovision system for overhead travelling crane workspace visualization — Validation approach

Stereovision system for overhead travelling crane workspace ...

引用

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

作者： Paweł Hyla Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

this paper presents the concepts of the stereovision system equipped with only one camera with adaptation allowing to obtain full stereo picture for acquirement a digital model of the transport device workspace. Special author's care was focused on the system validation, having regard its specific architecture. the present stereovision system is part of Autonomous Navigation System solutions, dedicated to the overhead travelling cranes. All tests were conducted on the physical model of overhead travelling crane with hosting capability 150kg.

关键词： Cranes Cameras Robot vision systems Navigation Computer architecture

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Representative Vector Method for modeling of energy consumption for the assembly line

Representative Vector Method for modeling of energy consumpt...

引用

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

作者： Michal Fratczak Tomasz Klopot Jacek Czeczot Markus Bregulla Institute of Automatic Control Silesian University of Technology Gliwice Poland Institute of Applied Research University of Applied Sciences Ingolstadt Germany

In this paper, the problem of modeling of the energy consumption of a single component of the assembly line is considered. the motivation is shortly presented and the procedure of the initial preprocessing of the measurement data is described. then, the conventional discrete time auto regressive models are considered and their applicability is compared with the suggested Representative Vector Method (RVM). this method is based on the storing of the re-sampled data in the shorter representative vector with the level of compression depending on the assumed modeling accuracy.

关键词： Energy consumption Vectors Computational modeling Data models Assembly Accuracy Energy measurement

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Hammerstein system identification with multisine excitations — Quantized low-power observations case

Hammerstein system identification with multisine excitations...

引用

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

作者： Jarosław Figwer Institute of Automatic Control Silesian University of Technology Gliwice Poland

In the paper an approach to Hammerstein system identification based on quantized low-power observations is presented. In the presented approach realisations of discrete-time multisine random processes are used as the Hammerstein system excitation and the overall Hammerstein system identification problem is decomposed into the linear dynamic control channel subsystem, the corresponding disturbance at linear dynamic control channel subsystem output and input memoryless nonlinearity identification problems. the presented discussion is illustrated by a simulation example showing properties of the presented approach.

关键词： Random processes Instruments Nonlinear dynamical systems Data models Channel estimation Quantization (signal)

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On the nonlinear dynamic behavior of unrelaxed timed Petri nets in idempotent semirings

On the nonlinear dynamic behavior of unrelaxed timed Petri n...

引用

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

作者： A. Benfekir S. Hamaci A-M. Darcherif L. Laval M. Bouhamida USTO Oran Algérie EPMI Cergv-Pontoise France ECS-Lab Cergy-Pontoise France

this paper deals with the analysis of dynamic behavior of Timed Event Graphs with Multipliers. these graphs are an extension of weighted T-systems studied in the Petri net literature. the purpose of this analyse is to extract the performances of a system by analyzing the dynamic of state associated of each transition of graph. For that, we determine the mathematical model governing the dynamic evolution of this type of graph, in a dioid of formal power series based on operators.

关键词： Mathematical model Radiation detectors Equations Vectors Petri nets Adaptation models

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