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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"

共 101 条记录，以下是11-20 订阅

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Frequency Response Identification using Integrated Bispectra - Periodic Disturbances Case 19

Frequency Response Identification using Integrated Bispectra...

引用

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

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

ISBN: (纸本)9781479950812

In the paper an approach to discrete-time frequency response identification of a plant operating under feedback in the case of periodic disturbances is presented. In the presented approach to discrete-time frequency response identification integrated bispectra and higher-order non-gaussian multisine excitations are applied. A focus on almost sure convergence of the identified discrete-time frequency response to true plant is given. the presented discussion is illustrated by examples showing effectiveness of the proposed approach.

关键词： closed loop systems discrete time systems identification discrete-time frequency response identification higher-order non-Gaussian multisine excitations integrated bispectra periodic disturbance case Closed loop systems Data models Frequency response Frequency-domain analysis Random processes Spectral analysis Transfer functions Closed loop systems frequency response discrete time systems Frequency-domain analysis data models Stochastic Processes TRANSFER FUNCTIONS Spectrum Analysis bispectrum

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Design process and experimental verification of the quadruped robot wave gait 19

Design process and experimental verification of the quadrupe...

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

作者： Mozaryn, Jakub Klimaszewski, Jan Kolodziejczyk, Pawel ͆wieczkowski-Feiz, Dariusz Wawrzyński, Pawel Institute of Automatic Control and Robotics Warsaw University of Technology ul. ͆w. Boboli 8 Warszawa02-525 Poland Institute of Control and Computation Engineering Warsaw University of Technology ul. Nowowiejska 15/19 Warszawa00-665 Poland

ISBN: (纸本)9781479950812

In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. the gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot. © 2014 IEEE.

关键词： MATLAB

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Dynamic Singularities in Nonlinear Control of Underactuated Pendulum-like models 19

Dynamic Singularities in Nonlinear Control of Underactuated ...

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

作者： Lukomski, Adam Wojciech West Pomeranian Univ Technol Dept Control & Measurements PL-70310 Szczecin Poland

ISBN: (纸本)9781479950812

the paper presents an analysis of dynamic singularities in n-link pendulum-like models that are controlled using input-output feedback linearisation. the dynamic singularities are caused by the decoupling matrix being singular for particular configurations. the examples include 3-link planar pendulum, 3-link 3D pendulum and a simplified humanoid-like robot model. Partial stabilisation results are presented for specific physical parameters.

关键词： feedback humanoid robots linearisation techniques manipulators nonlinear control systems pendulums stability 3-link 3D pendulum 3-link planar pendulum decoupling matrix dynamic singularities humanoid-like robot model input-output feedback linearisation n-link pendulum-like models nonlinear control partial stabilisation underactuated pendulum-like models Knee Mathematical model Numerical models Robots Solid modeling three-dimensional displays Transmission line matrix methods transmission line matrix methods nonlinear control Clock weights three-dimensional displays linearization techniques entity modeling Humanoid robots Nonlinear control systems Robot Manipulators numerical models Feedback Mathematical Model knee Singularity

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Vehicle Classification Using Measurements From Accelerometers Mounted On the Road Surface 19

Vehicle Classification Using Measurements From Accelerometer...

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

作者： Obertov, Dmitri Andrievsky, Boris ITMO Univ St Petersburg 199178 Russia RAS Inst Problems Mech Engn St Petersburg 199178 Russia

ISBN: (纸本)9781479950812

A new method for vehicle classification is presented. An axle parameter estimation gives advanced results for the distances between axles as well as transferred energy of vibrations. Measured road vibrations are analyzed and the phenomena are studied. Algorithms for vehicle classification based on the findings are described and their performance, advantages and disadvantages are evaluated and discussed. Correct classification of vehicles by wheelbases using accelerometers is about 89 %.

关键词： accelerometers axles control engineering computing intelligent transportation systems parameter estimation pattern classification road traffic control road vehicles vibration control vibration measurement wheels accelerometers measurements axle parameter estimation road surface road vibrations measurement transferred energy vehicle classification wheelbases Accelerometers Artificial intelligence Axles Roads Smoothing methods Vehicles Vibrations Vehicle classification Axle accelerometers PAVEMENTS control engineering computing smoothing methods Vibration vibration monitoring Intelligent transportation systems vehicle road vehicles Parameter estimation Road Pattern recognition vibration control

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An algorithm for design of deadbeat controllers of spatially invariant systems 19

An algorithm for design of deadbeat controllers of spatially...

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

作者： Augusta, Petr Galkowski, Krzysztof Acad Sci Czech Republ Inst Informat Theory & Automat CR-18208 Prague Czech Republic Univ Zielona Gora Inst Control & Computat Engn Zielona Gora Poland

ISBN: (纸本)9781479950812

In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. the algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.

关键词： control system synthesis partial differential equations polynomials bivariate polynomial deadbeat controller design linear equation parabolic partial differential equation polynomial methods spatial variable spatially invariant system temporal variable Algorithm design and analysis Arrays Heating Mathematical model Polynomials Transfer functions Polynomial Linear equation Algorithm design and analysis time variable Differential equations control system synthesis TRANSFER FUNCTIONS dead-beat Partial differential equations Mathematical Model Algorithm design

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Space robotics - Present and Past Challenges 19

Space Robotics - Present and Past Challenges

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

作者： Sasiadek, J. Z. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781479950812

Space robotics is a relatively new field of science and engineering that was developed as an answer to growing needs created by space exploration and space missions. New technologies had to be invented and designed in order to meet demands in extremely hostile environments. those technologies have to work in a gravityless environment, rarefied atmosphere and often in high temperature. this paper recalls some of the major robotics missions in space and explains technologies related to them. Space robotic manipulators, especially flexible link and flexible joint robots are discussed. Autonomous robots for unmanned, long duration mission are presented. (Abstract)

关键词： aerospace robotics flexible manipulators mobile robots autonomous robots flexible joint robot flexible link robot long duration mission space exploration space missions space robotic manipulators space robotics unmanned mission Aerospace electronics Manipulators Mars Robot sensing systems Space exploration Space vehicles Space Exploration Autonomous robots aerospace robotics astronautical mission avionics Manipulator sensing systems flexible manipulators Space vehicles Manipulators Mobile robots articulated robot Mars robotics

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Bi-Fractional Filters, Part 2: Right half-plane case 19

Bi-Fractional Filters, Part 2: Right half-plane case

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

作者： Baranowski, Jerzy Piatek, Pawel Bauer, Waldemar Dziwinski, Tomasz Zagorowska, Marta AGH Univ Sci & Technol Dept Automat & Biomed Engn PL-30059 Krakow Poland

ISBN: (纸本)9781479950812

In this paper a special case of non-integer filters namely hi-fractional filters (BFF) - are considered. those filters are characterised by three parameters and offer rich possibilities of frequency response shaping. this paper is a continuation of an earlier research and focuses on stable filters with eigenvalues in right complex half plane. Conditions on stability of such filters are presented, their impulse responses are analysed and certain remarks on frequency characteristics are given.

关键词： eigenvalues and eigenfunctions filtering theory frequency response transient response BFF bifractional filters eigenvalues filter stability frequency response shaping impulse responses noninteger filters right half-plane case Approximation methods Asymptotic stability Cutoff frequency Eigenvalues and eigenfunctions Polynomials Stability criteria Eigenfunctions filtering theory Cutoff frequency Approximation method Stability criteria frequency response Filters asymptotic stability region eigenvalues TRANSIENT RESPONSE Polynomial IMPULSE RESPONSE

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Line Estimation using the Viterbi Algorithm and Track-Before-Detect Approach for Line Following Mobile Robots 19

Line Estimation using the Viterbi Algorithm and Track-Before...

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

作者： Mazurek, Przemyslaw West Pomeranian Univ Technol Szczecin Dept Signal Proc & Multimedia Engn PL-71126 Szczecin Poland

ISBN: (纸本)9781479950812

Line following robots requires image acquisition and processing algorithms for the determination of the line trajectory. the Viterbi algorithm is proposed for the estimation of the line trajectory in this paper. the robustness of this algorithm is verified using the Monte Carlo approach for two distortions types: additive Gaussian noise and false lines sets. the results show possibilities of reliable estimation, even if the real line is hidden in the noise, without the application of additional estimators based on the previous measurements.

关键词： Gaussian noise Monte Carlo methods maximum likelihood estimation mobile robots object detection object tracking path planning robot vision Monte Carlo approach Viterbi algorithm additive Gaussian noise false line sets image acquisition algorithms image processing algorithms line estimation line following mobile robots line trajectory estimation track-before-detect approach Estimation Mobile robots Noise Trajectory Viterbi algorithm Mobile robots Monte Carlo technique Gaussian noise robot vision image processing algorithm trajectory Object detection Path planning maximum likelihood estimation Noise

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Adaptive Control System for Quadrotor Equiped with Robotic Arm 19

Adaptive Control System for Quadrotor Equiped with Robotic A...

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

作者： Bazylev, Dmitry Zimenko, Konstantin Margun, Alexey Bobtsov, Alexey Kremlev, Artem ITMO Univ St Petersburg Russia

ISBN: (纸本)9781479950812

this article proposes a new control design of quadrotor with attached 2-DOF robotic arm. Proposed adaptive control law is based on combined application of feedback linearization and consecutive compensator methods. Real time computation of the inertia tensor, center of mass position and the reactive torque generated by the manipulator is used to compensate the mutual influence of the system parts. the usefulness of the method is demonstrated by simulation results of the system with external perturbations in comparison with widespread PD controller.

关键词： adaptive control aircraft control compensation control system synthesis feedback helicopters manipulators perturbation techniques tensors adaptive control system attached 2-DOF robotic arm compensator methods control design external perturbations feedback linearization inertia tensor quadrotor real time computation Manipulator dynamics Mathematical model Tensile stress Trajectory Adaptive control systems inertia tensor design control Aircraft control manipulator dynamics control system synthesis Manipulators Helicopters adaptive control Tensile stress Tensor robotic arm trajectory Feedback Mathematical Model

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Some remarks on discretisation of spatially invariant systems 19

Some remarks on discretisation of spatially invariant system...

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

作者： Augusta, Petr Acad Sci Czech Republic Inst Informat Theory & Automat CR-18208 Prague Czech Republic

ISBN: (纸本)9781479950812

the paper deals with discretisation of 2-D spatially invariant systems. three different discretisation schemes are used -Tustin's approximation, backward difference scheme and Crank-Nicolson discretisation. their properties and importance are discussed in the paper. As an example a heat conduction in a rod is considered. Its model discrete in both time and space is obtained using all the above mentioned difference schemes. To determine whether the discrete model converges to the solution, von Neumann analysis of stability is applied to each scheme. the system is stabilised with use of each of obtained discrete models. Numerical simulations are included. Experiments with changing the parameters of discretisation are also given.

关键词： approximation theory closed loop systems partial differential equations stability Crank-Nicolson discretisation Tustin approximation backward difference scheme discretisation parameter heat conduction spatially invariant systems system discretisation scheme von Neumann stability analysis Approximation methods Closed loop systems Equations Heating Mathematical model Numerical models Transfer functions Closed loop systems Conductive heat transfer Approximation method Approximation theory TRANSFER FUNCTIONS difference scheme numerical models Mathematical Model Discretization Time invariant systems Partial differential equations

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