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101 篇 会议

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检索条件"任意字段=2014 19th International Conference on Methods and Models in Automation and Robotics, MMAR 2014"

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2014 19th international conference on methods and models in automation and robotics, mmar 2014

2014 19th International Conference on Methods and Models in ...

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2014 19th international conference on methods and models in automation and robotics, mmar 2014

ISBN: (纸本)9781479950812

the proceedings contain 165 papers. the topics discussed include: minimum energy control of positive electrical circuits;a PSO-optimized type-2 fuzzy logic controller for navigation of multiple mobile robots;integrated phases modular fuzzy logic control with spiral dynamic optimization for stair descending in a wheelchair;development of a therapeutic exercise robot for wrist and forearm rehabilitation;dynamic model and analysis of distributed control system algorithms of three wheel vehicle;modelling and simulation of a surge arrester in the physical domain;heuristic to tune the compensation gain of modeling uncertainties through the robust multi inversion;time-varying IIR multi-notch filter based on all-pass filter prototype;parallel distributed downsampled spatio-temporal track-before-detect algorithm;improved fractional Kalman filter for variable order systems with lossy and delayed network;and modeling and identification of a fractional-order discrete-time SISO Laguerre-Wiener system.

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Comparison of improving servo drive position accuracy methods 19

Comparison of improving servo drive position accuracy method...

引用

19th international conference on methods and models in automation and robotics (mmar)

作者： Broel-Plater, Bogdan Jaroszewski, Krzysztof West Pomeranian Univ Technol Fac Elect Engn PL-70310 Szczecin Poland

ISBN: (纸本)9781479950812

the main aim of this paper is to present a new start-aid method to control servo drive in case of very small velocity and distance changes are required. Using resetting of integration in the position controller and friction compensation as well as the initial phase correction - start-aid methods are compared and results of simulations are presented. Moreover, models of the drive and friction are delivered and schemas of control systems are presented.

关键词： servodrive micro motion friction compensation current loop control correction servo drive with start-aid integration reseting

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Shape Optimization problem for the coupled model of linear elasticity with Navier-Stokes equation 19

Shape Optimization problem for the coupled model of linear e...

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19th international conference on methods and models in automation and robotics (mmar)

作者： Lasiecka, Irena Szulc, Katarzyna Zochowski, Antoni Polish Acad Sci Syst Res Inst PL-01447 Warsaw Poland

ISBN: (纸本)9781479950812

We consider a coupled model of linear elasticity with Navier-Stokes equations. Two subdomains Omega(1) and Omega(2) are considered. In Omega(1) there is a linear elasticity model. In Omega(2) there is the fluid transport which is modeled by nonlinear Navier-Stokes equations. A propitiate interface conditions should be provided. We want to determine the shape and topological derivatives in Omega(2).

关键词： Coupled Problems Linear elasticity Navier-Stokes equation Topological Derivative Shape Optimization Numerical methods

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Single camera-based crane sway angle measurement method 19

Single camera-based crane sway angle measurement method

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19th international conference on methods and models in automation and robotics (mmar)

作者： Hyla, Pawel AGH Univ Sci & Technol Fac Mech Engn & Robot PL-30059 Krakow Poland

ISBN: (纸本)9781479950812

this paper presents the architecture of the non-contact sensor for measuring the rope swinging angle in two planes. the sensor were dedicated to the all kind of the crane device, especially to overhead travelling crane. the main objective of this statement applies a solution for improving early developed and described non-contact vision swinging sensor. In the article, the author main attention has been focused on issues related to the possibility of using a "smart camera" device as a full functional contactless two-dimensional sway sensor. All tests and considerations were conducted on the scaled physical model of overhead travelling crane with hosting capability 150kg.

关键词： swinging sensor overhead travelling crane vision methods smart camera

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Identification of inertial model for oscillating system 19

Identification of inertial model for oscillating system

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19th international conference on methods and models in automation and robotics (mmar)

作者： Kurek, J. Warsaw Univ Technol Inst Automat Control & Robot Warsaw Poland

ISBN: (纸本)9781479950812

there is presented a method for calculation of inertial model for an open-loop oscillating system based on the system step response. Presented method is simple and can be easily used in automatic control practice. Identified model can be applied in control algorithms more advanced than the PID controller, for instance in the predictive control.

关键词： nonlinear control systems open loop systems predictive control three-term control PID controller automatic control practice control algorithms inertial model identification open-loop oscillating system proportional-integral-derivative controller system step response Approximation methods Educational institutions Prediction algorithms Predictive control Predictive models Robots Transfer functions Predictive control Proportional Integral Derivative Control Open loop systems three term control systems Computer algorithms Prediction algorithms oscillatory system Nonlinear control systems Approximation method Educational institutions TRANSFER FUNCTIONS Prediction models Robot

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Speed calculation methods in electrical drive with non-ideal position sensor 19

Speed calculation methods in electrical drive with non-ideal...

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19th international conference on methods and models in automation and robotics (mmar)

作者： Luczak, Dominik Nowopolski, Krzysztof Siembab, Krzysztof Wicher, Bartiomiej Poznan Univ Tech Inst Control & Informat Engn Poznan Poland

ISBN: (纸本)9781479950812

In this paper three methods of electric motor angular speed calculation are compared. the source of the measurement signal is a 14-bit absolute encoder. the authors compared the well-known classic methods M with more advanced approaches. First of the complex methods is based on utilization of phase loop lock system in an estimation process using on-line system model. the third method discussed in the paper is focused on application of Chebyshev filter. Short description of all of the mentioned method is followed by simulation and experimental results. the results are presented on an instance of permanent magnet synchronous motor drive, with both speed controller and speed calculation algorithms implemented in a digital signal processor system.

关键词： speed measurement absolute encoder position sensor electrical drive PLL DSP Chebyshev filter low-pass filter digital filtering spectral analysis

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Improved Fractional Kalman Filter for Variable Order Systems with lossy and delayed network 19

Improved Fractional Kalman Filter for Variable Order Systems...

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19th international conference on methods and models in automation and robotics (mmar)

作者： Ziubinski, Pawel Sierociuk, Dominik Warsaw Univ Technol Inst Control & Ind Elect Koszykowa 75 Warsaw Poland

ISBN: (纸本)9781479950812

this paper presents generalization on the Improved Fractional Kalman Filter (ExFKF) for estimation over lossy network with packets delay. this generalization is based on the infinite dimensional form of a linear discrete fractional variable order state-space system and measurements equation augmentation. Some simulation cases are given in order to demonstrate the effectiveness of the proposed algorithms, with improvements in terms of estimation and smoothing results.

关键词： Kalman filters delays discrete systems linear systems state-space methods ExFKF delayed network fractional Kalman filter linear discrete fractional variable order state-space system lossy network measurements equation augmentation packet delay variable order systems Equations Estimation Loss measurement Noise Signal processing algorithms Vectors Kalman filters State-space methods loss measurement Signal processing algorithms Discrete systems Linear system Noise variable order delay

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Path Following Control Algorithm for Planar Holonomic N-Link Manipulators Using Non-Singular Path Parametrization 19

Path Following Control Algorithm for Planar Holonomic N-Link...

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19th international conference on methods and models in automation and robotics (mmar)

作者： Plaskonka, Joanna Wroclaw Univ Technol Chair Cybernet & Robot PL-50370 Wroclaw Poland

ISBN: (纸本)9781479950812

In the paper a description of a planar holonomic N-link manipulator relative to a path is presented. the path parametrization method is based on a non-orthogonal projection of the robot on the path and the Serret-Frenet frame moving along a curve. the new control algorithm for N-link manipulators is proposed. the effectiveness of the algorithm for a planar three-link manipulator is examined by computer simulations.

关键词： manipulators path planning Serret-Frenet frame computer simulations nonorthogonal projection nonsingular path parametrization path following control algorithm planar holonomic N-link manipulator planar three-link manipulator Equations Manipulator dynamics Mathematical model Robot kinematics Transmission line matrix methods transmission line matrix methods Manipulators manipulator dynamics Robot kinematics Computer Simulation Path planning Mathematical Model Byways Computer algorithms holonomic

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AR Time-Series Identification using Quantized Observations 19

AR Time-Series Identification using Quantized Observations

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19th international conference on methods and models in automation and robotics (mmar)

作者： Figwer, Jaroslaw Silesian Tech Univ Inst Automat Control PL-44100 Gliwice Poland

ISBN: (纸本)9781479950812

In the paper an approach to AR time-series identification based on observations obtained using data acquisition system equipped with a quantizer having saturation is presented. In the presented approach AR time-series model identification is replaced by an ARMA time-series model identification that returns parameters of AR time-series. A focus on model identification for ultra low-and ultra high-power AR time-series is given. the presented discussion is illustrated by a simulation case study showing properties of the presented approach.

关键词： autoregressive moving average processes quantisation (signal) signal detection time series AR time-series identification ARMA time-series model identification data acquisition system quantized observation ultra high-power AR time-series ultra low-power AR time-series Data acquisition Data models Estimation Quantization (signal) Random processes Standards White noise

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Selection of reduction parameters of Rational Krylov methods for complex MIMO LTI models using evolutionary algorithm 19

Selection of reduction parameters of Rational Krylov Methods...

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19th international conference on methods and models in automation and robotics (mmar)

作者： Rydel, Marek Stanislawski, Wlodzimierz Opole Univ Technol Dept Elect Control & Comp Engn Ul Proszkowska 76 PL-45758 Opole Poland

ISBN: (纸本)9781479950812

this paper presents the determination of optimal reduction parameters for complex models of the Rational Krylov methods with using Evolutionary Algorithm. the presented algorithms facilitate a precise reduction of linear time invariant, multi-input and multi-output models. the elaborated algorithms are particularly significant for MIMO models, for which the individual channels differ significantly from each other. the prepared algorithms have been applied for the reduction of the subsystems models of a BP-1150 steam boiler.

关键词： MIMO systems evolutionary computation linear systems parameter estimation BP-1150 steam boiler complex MIMO LTI models evolutionary algorithm linear time invariant models multiple input multiple output models rational Krylov methods reduction parameter selection Approximation error Computational modeling Evolutionary computation Mathematical model Reduced order systems Vectors evolutionary algorithm multiple input multiple output systems Reduced order model Approximation error Computational modeling Linear system Parameter estimation Mathematical Model

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