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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21-30 订阅

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the average 6 DOF path estimation with the use of initial approximation curve 19

The average 6 DOF path estimation with the use of initial ap...

引用

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

作者： Fracczak, Lukasz Podsedkowski, Leszek Moll, Maciej Tech Univ Lodz Fac Prod Engn PL-90924 Lodz Poland Inst Ctr Zdrowia Matki Polki Kardiol Klin Lodz Poland

ISBN: (纸本)9781479950812

the paper presents the average path estimation algorithm. this algorithm is based on the approximation curve, which shape should by defined as closely as possible to the shape of the analyzed path. With the use of this initial curve, the data space is divided into the intervals. All of the interval paths points are averaged individually. After the calculations, there is only one average point for each path. Next, these average points are averaged to one point in each interval. the set of these averaged points define the average path. thanks to this algorithm the input paths can be non-linear and independent of time. the analyzed path can begin and end in any point in the 6DOF space, as well as reverse and loop. this paper presents the general model description and example of the use of the presented algorithm.

关键词： approximation theory curve fitting path planning robots approximation curve average path estimation algorithm data space loop path path estimation path planning optimization reverse path robotics development Approximation algorithms Approximation methods Equations Mathematical model Robots Surgery Trajectory

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Identification of Vertical VTOL Movement Model Based on Use of Local Linear models 19

Identification of Vertical VTOL Movement Model Based on Use ...

引用

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

作者： Czyba, Roman Janusz, Wojciech Szafranski, Grzegorz Silesian Tech Univ PL-44100 Gliwice Poland

ISBN: (纸本)9781479950812

In this paper we present the identification process of VTOL platform vertical movement model. VTOL platform used during the research was quadrotor equipped with ultrasonic range finder. We would like to model forces acting on the platform body which are result of the propulsion system. In order to develop this model, we had to employ two step procedure. In the first stage we had to estimate thrust forces during the experiment. then we have used nonlinear modeling technique based on use of local linear models to obtain dynamic model relating throttle inputs with throttle forces.

关键词： aerospace propulsion aircraft control distance measurement nonlinear control systems ultrasonic applications VTOL platform vertical movement model dynamic model identification process local linear models nonlinear modeling technique propulsion system quadrotor throttle forces throttle inputs thrust forces ultrasonic range finder vertical VTOL movement model Acceleration Acoustics Aerodynamics Mathematical model Propulsion Rotors Ultrasonic variables measurement ultrasonic variables measurement linear models Spacecraft propulsion Aircraft control Ultrasonic applications Propulsion Rangefinders Nonlinear control systems distance measurement Rotors Vertical take off Aerodynamics Acoustics thrust acceleration

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Data-driven self-tuning control by iterative learning control with application to optimize the control parameter of turbocharged engines 19

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

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

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

ISBN: (纸本)9781479950812

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. © 2014 IEEE.

关键词： Automotive industry

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Modeling and identification of a fractional-order discrete-time SISO Laguerre-Wiener system 19

Modeling and identification of a fractional-order discrete-t...

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

作者： Stanislawski, Rafal Latawiec, Krzysztof J. Galek, Marcin Lukaniszyn, Marian Opole Univ Technol Dept Elect Control & Comp Engn PL-45758 Opole Poland

ISBN: (纸本)9781479950812

this paper presents a new implementable strategy for modeling and identification of a fractional-order discretetime nonlinear block-oriented SISO Wiener system. the concept of modeling of a linear dynamics by means of orthonormal basis functions (OBF) is employed to separate linear and nonlinear submodels, which enables a linear regression formulation of the parameter estimation problem. Finally, discrete-time Laguerre filters are uniquely embedded in modeling of the fractional-order dynamics, eliminating the disastrous bilinearity issue. Simulation experiments show a very good identification performance for a fractional-order Laguerre-based Wiener model, both in terms of low prediction errors and accurate reconstruction of the actual system characteristics.

关键词： Wiener filters discrete time filters discrete time systems parameter estimation prediction theory regression analysis OBF discrete-time Laguerre filters fractional-order discrete-time SISO Laguerre-Wiener system identification fractional-order discrete-time SISO Laguerre-Wiener system modeling fractional-order dynamics modeling linear dynamics modeling linear regression formulation nonlinear submodel orthonormal basis functions parameter estimation problem prediction errors Adaptation models Approximation methods Computational modeling Mathematical model Nonlinear dynamical systems Predictive models Stability analysis

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Robust sensor scheduling via iterative design for parameter estimation of distributed systems 19

Robust sensor scheduling via iterative design for parameter ...

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

作者： Patan, Maciej Kowalow, Damian Univ Zielona Gora Zielona Gora Poland

ISBN: (纸本)9781479950812

the problem of selection of measurement data provided by sensor array so as to maximize the accuracy of parameter estimation of a distributed system defined in a given multidimensional domain is discussed. Usually, when designing an identification experiment for nonlinear models, the uncertainty of nominal parameters has to be taken into account. In particular, an iterative scheme for parameter estimation is proposed enhanced with sequential experimental design techniques where there is no particular information about the parameter distribution. the setting examined here correspond to situation where from among the observations provided by nodes of given sensor array the most informative measurements have to be selected in order to provide an update of the parameter estimates. Finally, a proposed approach is verified by a computer simulation regarding heat transfer problem.

关键词： design of experiments distributed processing iterative methods parameter estimation sensor fusion computer simulation distributed systems heat transfer problem iterative design multidimensional domain nominal parameters nonlinear models parameter distribution robust sensor scheduling sensor array sequential experimental design techniques Arrays Estimation Face Noise measurement Schedules Temperature measurement Time measurement Parameter estimation Distributed Systems Sensor arrays time measurement Nonlinear models Noise measurement Distributed processing Sensor fusion temperature measurement Computer Simulation iterative methods Experimental Design Face Face distributed parameter

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About Dynamic Decoupling of a Nonlinear MIMO Dynamic Plant 19

About Dynamic Decoupling of a Nonlinear MIMO Dynamic Plant

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

作者： Dworak, Pawel West Pomeranian Univ Technol Chair Control Engn & Robot Szczecin Poland

ISBN: (纸本)9781479950812

the paper presents a method of synthesis and implementation of the multi-controller control structure for a dynamic decoupling of the multi-input multi-output (MIMO) nonlinear dynamic plant. the proposed structure uses some known techniques in order to reduce effects of coupling of the nonlinear plants inputs and outputs. A multi-controller structure is created after linearization of the adopted nonlinear plant model at its operating points and synthesis of the linear controller that dynamically decouple the local linear plant model. Such an adaptive controller varies its parameters depending on the current plant operating point. the presented simulation

关键词： MIMO systems adaptive control linearisation techniques nonlinear control systems MIMO nonlinear dynamic plant adaptive controller adopted nonlinear plant model dynamic decoupling linear controller linearization multicontroller control structure multicontroller structure multiinput multioutput nonlinear dynamic plant nonlinear MIMO dynamic plant Closed loop systems Equations Marine vehicles Mathematical model Stability analysis Vectors linear controllers marine vehicles linearization techniques multiple input multiple output systems Closed loop systems adaptive controller Linearization Nonlinear control systems adaptive control Stability analysis Mathematical Model plant models DECOUPLING Simulation results

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Spatio-temporal responses of a class of 2 x 2 hyperbolic systems 19

Spatio-temporal responses of a class of 2 x 2 hyperbolic sys...

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

作者： Bartecki, Krzysztof Opole Univ Technol Inst Control & Comp Engn PL-45272 Opole Poland

ISBN: (纸本)9781479950812

Results of the spatio-temporal analysis of a class of distributed parameter systems described by hyperbolic partial differential equations defined on a one-dimensional spatial domain are presented. For the case of the two boundary inputs of Dirichlet type applied at the same point of the spatial domain, the analytical expressions for the impulse response functions are derived based on the inverse Laplace transform of individual elements of the 2 x 2 transfer function matrix. the considerations are illustrated with a practical example of a coaxial heat exchanger operating in parallel-flow mode which correspond to the analyzed boundary conditions.

关键词： Laplace transforms control system analysis distributed control hyperbolic equations matrix algebra partial differential equations Dirichlet type boundary inputs boundary conditions coaxial heat exchanger distributed parameter systems hyperbolic partial differential equations hyperbolic systems inverse Laplace transform one-dimensional spatial domain parallel-flow mode spatio-temporal analysis spatio-temporal response transfer function matrix Boundary conditions Equations Laplace equations Resistance heating Transfer functions Transmission line matrix methods transmission line matrix methods inverse Laplace transform hyperbolic systems Distributed parameter systems Boundary conditions Resistance heating Laplace's equation Laplace transform Control system analysis TRANSFER FUNCTIONS hyperbolic equations Differential equations matrix algebra decentralised control Spatio-Temporal Analysis

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Secure handwriting using a robot arm for educational purpose 19

Secure handwriting using a robot arm for educational purpose

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

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

ISBN: (纸本)9781479950812

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. © 2014 IEEE.

关键词： Calibration

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Discretisation & Control of Irregularly Actuated and Sampled LTI systems 19

Discretisation & Control of Irregularly Actuated and Sampled...

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

作者： Klauer, Christian Schauer, thomas Tech Univ Berlin Control Syst Grp Berlin Germany

ISBN: (纸本)9781479950812

Motivated by control tasks in neuro-prosthetic systems, a method for the exact discretisation of continuoustime LTI systems in presence of irregular actuation and sampling times is presented. In this approach, sequences for the desired sampling and actuation times form additional inputs to the discrete-time systems. An analytical evaluation for a class of practically relevant systems is presented that yields discretetime state-space systems with non-constant coe ffi cients. Because of the non-linearity introduced by the irregular time intervals, a linearising controller is proposed that allows to re-use standard linear controllers. A simulation example demonstrates the feasibility of the presented control approach for a neuroprosthetic system.

关键词： discrete time systems linear systems neurophysiology prosthetics state-space methods continuous-time LTI systems control approach control tasks discrete-time state-space systems irregular actuation irregularly actuated sampled LTI systems linear controllers linear time-invariant systems neuroprosthetic systems sampling times Continuous time systems Control systems Discrete-time systems Eigenvalues and eigenfunctions Fatigue Time measurement Vectors discrete time systems control task linear controllers Continuous time systems State-space methods time measurement Eigenfunctions Prosthesis control systems Neurophysiology Linear system Fatigue sampling time LTI Time invariant systems

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Direct Adaptive Control Based on LS-SVM Inverse Model For Nonlinear Systems 19

Direct Adaptive Control Based on LS-SVM Inverse Model For No...

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

作者： Mahmoud, Tarek A. Elshenawy, Lamiaa M. Menoufia Univ Fac Elect Engn Ind Elect & Control Engn Dept Menoufia Egypt

ISBN: (纸本)9781479950812

this article proposes an inverse model control scheme for unknown nonlinear systems. the proposed scheme structures the inverse dynamics of the controlled system offline. this is done using a least squares support vector machine (LS-SVM) network that based on the Fuzzy C-Means (FCM) clustering technique. then the proposed network is updated online to determine the appropriate control action. A linear feedback compensator is added to ensure the closed loop stability. Simulation results of a continuous stirred tank reactor (CSTR) demonstrate the efficiency of the proposed approach.

关键词： adaptive control fuzzy set theory least squares approximations nonlinear control systems support vector machines CSTR FCM clustering technique LS-SVM inverse model continuous stirred tank reactor control action direct adaptive control fuzzy c-means clustering technique inverse model control scheme least square support vector machines nonlinear systems Adaptation models Chemical reactors Computational modeling Mathematical model Process control Support vector machines Trajectory adaptive control Support Vector Network Continuously stirred tank reactors Nonlinear systems control action least squares approximations Nonlinear control systems Chemical reactors Fuzzy Set theory Computational modeling Process control trajectory Mathematical Model Adaptation models Inverse method

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