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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"

共 101 条记录，以下是91-100 订阅

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Design of an optimized sliding mode control for loaded double inverted pendulum with mismatched uncertainties

Design of an optimized sliding mode control for loaded doubl...

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

作者： Manar Lashin Ahmed Ramadan Hossam S. Abbass Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Egypt Computers and Automatic Control Dept. Tanta University Tanta Egypt Electrical Engineering Dept. Assuit University Assuit Egypt

In this paper, the stabilization problem of loaded double inverted pendulum using an optimized state feedback sliding mode control is investigated. ADAMS/Matlab co-simulation environment is used for building a virtual nonlinear model for loaded double inverted pendulum system and the state feedback sliding mode control law is designed for stabilizing the system. Mismatched uncertainties represented by payload variations is considered. Genetic Algorithms are used to optimize the parameters of the sliding mode controller based on a performance index containing the sum of squared errors. the proposed control scheme can significantly suppress chattering effect and improves the performance of the system against uncertainties. Simulation results show the effectiveness of the approach and the robustness of the system against payload changes.

关键词： Mathematical model Payloads Uncertainty MATLAB Robustness Optimization Vectors

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A new cognitive approach based on dynamic evolution of the grey hazy set

A new cognitive approach based on dynamic evolution of the g...

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

作者： Weiwei Qu Zonghai Chen Department of Automation University of Science and Technology of China Hefei China Network Information Center Southwest University of Science and Technology Mianyang China

ISBN: (纸本)9781479938926

Representation of spatial information in unpredictable environments is restricted by uncertainty, complexity, and unreliability issues of mobile robots and their environments. In this context, a new cognitive approach based on the dynamic evolution of the grey hazy set will be proposed. the dynamic evolution of the grey hazy set is able to emulate human gradually cognitive experience about how to analyze the environment best step by step without needing accurate information. Subsets of the grey hazy set, including embryo set, growing set, mature set and evidence set, possess different but correlative qualitative expression of information on successively cognitive phase. Since it is easy to describe most indoor environments using line-segments, the proposed approach hierarchically utilizes line-segments to represent the environmental information. the example in corridor is provided to verify the effectiveness of the proposed approach in simulating human's intelligence of environmental information expression and reasoning.

关键词： Cognition Embryo Mobile robots Data mining Robot sensing systems Uncertainty

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Data-driven self-tuning control by iterative learning control with application to optimize the control parameter of turbocharged engines

Data-driven self-tuning control by iterative learning contro...

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

作者： René Noack Torsten Jeinsch Adel Haghani Abandan Sari Nick Weinhold Adel Haghani Abandan Sari Institute of Automation University of Rostock Rostock Germany Universitat Rostock Rostock Mecklenburg-Vorpommern DE Department Powertrain Mechatronics Gasoline Engine Systems IAV GmbH Gifhorn Germany

the applications of iterative learning control (ILC) in control of modern process and mechatronic system have received more attentions in recent years. this is due the fact that ILC does not depend on physical model of the system. In the application of ILC in automotive industry, the restriction is that these methods calculate the input value and the tuning of an available controller with fixed structure is not possible. To solve this problem a method is proposed in this paper which consists of two main steps: the first step is the calculation of an input variable, based on an ILC algorithm, and the second step is the optimization of the given parameters of the feedforward controller. the performance and effectiveness of the proposed method are shown with experiments on a test vehicle with an one stage turbocharged gasoline motor with wastegate.

关键词： Vectors Feedforward neural networks Optimization Engines Tuning Atmospheric modeling Mathematical model

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Secure handwriting using a robot arm for educational purpose

Secure handwriting using a robot arm for educational purpose

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

作者： Marius-Florin Crainic Stefan Preitl Lucian Alexandru Şandru Valer Dolga Dept. of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara Romania Dept. of Mechatronics “Politehnica” University of Timisoara Timisoara Romania

As the educational system is growing there is a lot of paperwork to do like completing different types of certificates, or traditional gradebook. the paper presents a different approach to facilitate and secure the writing of certificates or traditional gradebooks. this system uses a robot arm, RV-2AJ, which has a pen attached. the setups are easy to be made because they involve the reading of only three points for calibration which forms a right-angled triangle. After the calibration the robotic arm can write even if the writing surface is on an inclined plane, or the paper is rotated. this system is more secure than the one that uses the ink printer, because the movement of the robot arm to reproduce the font on the paper is unique. Another secure element is the embossing stamp. the embossing stamp is created by changing the pen with a needle. the needle creates small closed holes using a pattern in which the information used for writing is encrypted.

关键词： Robot kinematics Writing Calibration Embossing Software Mathematical model

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Approximation of nonlinear dynamic plant by linear model under sinusoidal signal

Approximation of nonlinear dynamic plant by linear model und...

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

作者： Adam Żuchowski Janusz P. Paplinski West Pomeranian University of Technology Szczecin Poland

the steady-state response of a nonlinear object, stimulated by sinusoidal signal, contains both the sinusoidal components of the same pulsation and higher harmonics. In the case of a linear plant with complex poles, working on the border of stability, a steady-state response of a sinusoidal input also contains the components with different pulsations. their amplitude and phase shifts are dependent both on the system parameters, the excitation signal and the initial conditions. Can be expect that this property allows to approximate the steady-state behavior of nonlinear object by steady-state response of linear model. Probably, the parameters of this model depend strongly on the amplitude and phase of the sinusoidal excitation. the paper attempts to approximation of the steady-state behavior of the nonlinear object by the steady state response of the linear model. the specified sinusoidal excitation with typical zero initial conditions were used. A similar mechanism is used in the describing function methods, and the proposed method can be treated as a part of a class of harmonic linearization methods. the methodology of the method is illustrated in three examples. In two cases the behavior of linear models quite accurately resembles the actual waveforms of the plant. these results seem of interest, although usefulness of such models is difficult to predict.

关键词： Steady-state Harmonic analysis Mathematical model Approximation methods Stability analysis Differential equations Equations

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Facial expressions modeling for interactive virtual environments

Facial expressions modeling for interactive virtual environm...

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

作者： Maja Kocoń Department of Control and Measurement West Pomeranian University of Technology Szczecin

Nowadays, in Human-Machine Interaction systems, the communication between user and the machine (robot, computer, etc.) may be performed using a graphical representation of human often called avatar. Such graphical form needs a realistic human motion synthesis mechanisms which are becoming more and more popular in the virtual environments. therefore the paper is focussed on the problem of facial motion modeling for interactive virtual humans using events-based interaction rules. First, the most frequent emotional states and two types of personalities have been selected. For both personalities the transitions of the emotional states have been performed based on the motion probabilities. then, for animation process a set of the facial expression subtypes has been introduced. In such case it is possible to get a quite natural reactions of the avatar for various emotional states. Also, the transition probabilities have been defined for sub-states. Having obtained transition probabilities, a temporal duration of emotional state have been calculated. Finally, the architecture of the system for interaction between user and avatar based on facial animation modeling has been proposed.

关键词： Avatars Hidden Markov models Animation Mood Robots Probability

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Finite volume and finite element models for real-time control and state estimation of two-dimensional heat transfer processes

Finite volume and finite element models for real-time contro...

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

作者： Andreas Rauh Luise Senkel Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

Control design for distributed parameter systems usually makes use of either finite volume or finite element approximations of the governing partial differential equations (PDEs). the aim of using both finite volume and finite element models is to obtain a finite-dimensional state-space representation of the dynamics which can be used directly for the design of feedback or feedforward controllers as well as state observers. However, finite volume models only provide a coarse description of flow and storage variables since these are assumed to be piecewise homogeneous in the corresponding volume elements. In contrast, finite element models exploit parameterizable ansatz functions such as polynomials for each element so that smooth representations of the before-mentioned quantities become possible. However, classical finite element techniques do not provide reliable measures for the quantification of the achievable approximation quality. this drawback is removed by the method of integrodifferential relations (MIDR). Simulations and experiments for the observer-based control of a spatially two-dimensional heat transfer process with distributed control inputs are presented in this paper to visualize differences between finite element models relying on the MIDR and finite volume representations.

关键词： Heating Finite element analysis Vectors Approximation methods Heat transfer Eigenvalues and eigenfunctions Polynomials

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Finite element modeling for heat transfer processes using the method of integro-differential relations with applications in control engineering

Finite element modeling for heat transfer processes using th...

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

作者： Julia Kersten Andreas Rauh Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

Control design of spatially distributed thermal systems is a task that is necessary for a large variety of engineering applications. Early lumping techniques, that are applicable in this case, follow the methodology of first discretizing the infinite-dimensional system model and subsequently using the discretized model for a finite-dimensional control design. For that purpose, the governing partial differential equations are commonly reduced to a finite-dimensional set of ordinary differential equations. In this paper, the corresponding task is solved by an optimization-based version of the Method of Integro-Differential Relations (MIDR). On the one hand, the MIDR allows one to quantify and systematically influence the approximation quality and, on the other hand, to use the resulting models directly for control and state observer design. In the following, the MIDR is applied to a fundamental problem of linear heat transfer in tube-like structures for which cylindrical coordinates are a suitable choice for modeling the dynamic behavior in all three space directions. Illustrative simulation results of fundamental control and state estimation approaches conclude this paper. these simulation results serve as the basis for a future experimental validation of the presented modeling techniques on a laboratory test rig that is currently being built up at the Chair of Mechatronics at the University of Rostock.

关键词： Heat transfer Mathematical model Approximation methods Heating Polynomials Boundary conditions Temperature distribution

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Workspace mapping and control of a teleoperated endoscopic surgical robot

Workspace mapping and control of a teleoperated endoscopic s...

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

作者： Alaa Khalifa Ahmed Ramadan Khalil Ibrahim Mohamed Fanni Samy Assal Ahmed Abo-Ismail Dept. of Mechatronics and robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Dept. of Mechatronics and robotics Engineering Egypt-Japan University of Science and Technology Tanta Egypt Dept. of Mechanical Engineering Assiut University Assiut Egypt

this paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master. the 4-DOF, 2-PUU 2-PUS, endoscopic surgical parallel manipulator design is carried out using screw theory and Parallel virtual chain methodology to have larger bending angles and workspace volume. the master and slave devices of the teleoperation system are dissimilar in their kinematics and workspace volumes. A workspace mapping technique is implemented based on Position with Modied Rate Control to navigate through the slave workspace without annoying the user. To control the motion of the slave robot, a PID controller is used. the experimental results show the feasibility of the teleoperation surgical system using the 4-DOF parallel manipulator. Also, they indicate the efficiency of the implemented mapping technique and the designed controller to span the slave workspace with high dexterity and good tracking which allows the surgeon to perform the operation with high accuracy.

关键词： Manipulators Haptic interfaces Joints Switches Surgery Kinematics

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Innovative approach in analysis of EEG and EMG signals — Comparision of the two novel methods

Innovative approach in analysis of EEG and EMG signals — Co...

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

作者： Aleksandra Kawala-Janik Michal Podpora Jerzy Baranowski Waldemar Bauer Mariusz Pelc Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Krakow Poland Old Royal Naval College University of Greenwich London U.K.

In this paper comparison of the two innovative signal processing methods for analysis of both EEG and EMG biomedical signals is in short presented. the reason for that is caused by the fact, that nowadays the broad analysis of various biomedical signals is extremely popular. the first method presented in this paper relies on kernel density estimators application. Implementation of such method enables construction of densitograms for the examined bio-signals. One of the biggest advantages of this method is that it allows to obtain statistically filtered signals, which results in making the whole signal processing task significantly quicker. the second method described in this paper is based on basic mathematical operations only. Despite its simplicity the whole process can be implemented on almost any hardware platform, including those with very limited computational capabilities. Also it makes the task quick. In accordance with the conducted experiments - the method is also efficient and as it can also be implemented on embedded platform and the algorithm can be rewritten in any programming language, the potential application of this method is wide.

关键词： Electroencephalography Electromyography Electrodes Signal processing Educational institutions Headphones Hardware

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