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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31-40 订阅

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New Results for Position Estimation in Electro-Magnetic Actuators Using a Modified Discrete Time Class A/B Model Reference Approach 19

New Results for Position Estimation in Electro-Magnetic Actu...

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

作者： Straussberger, Florian Schwab, Manuel Braun, Tristan Reuter, Johannes Univ Appl Sci Konstanz Inst Syst Dynam Constance Germany

ISBN: (纸本)9781479950812

In this paper, a number of new results are presented that have been achieved with a previously suggested approach for estimating the armature position of electro-magnetic actuators. With the assumption that only current and voltage measurements are available, a discrete time model reference adaptive system (MRAS) is used. It is shown that by identification of the parameters of the electrical subsystem, an accurate estimate for the armature position can be obtained. A combination of two discrete time MRAS methods is proposed in order to take advantage of their complementary properties. It is shown in practical experiments that with this approach robust and fast estimation of the electrical parameters is achieved and the position estimation can thus be solved in real world applications. Moreover, the dependencies of the electrical parameters on the magnetic hysteresis are shown.

关键词： discrete time systems electric current measurement electromagnetic actuators position measurement voltage measurement armature position estimation current measurements discrete time MRAS methods electrical subsystem electro-magnetic actuators magnetic hysteresis modified discrete time class A/B model reference approach voltage measurements Actuators Adaptation models Current measurement Estimation Position measurement Solenoids Transfer functions Electric current measurement Position measurement voltage measurement electromagnetic actuators Magnetic hysteresis position estimation Solenoids actuators discrete time systems Current measuring TRANSFER FUNCTIONS Adaptation models electrical parameter discrete-time ELECTROMAGNETIC

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Model-Based Synthesis for Diagnostic Neuro-Classifiers 19

Model-Based Synthesis for Diagnostic Neuro-Classifiers

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

作者： Korniak, Jacek Opole Univ Technol Fac Elect Engn Automat Control & Informat Inst Control & Comp Engn PL-45272 Opole Poland

ISBN: (纸本)9781479950812

the paper presents certain approach, based on model (group of model-based methods), in the synthesis of neuro-classifier used to design a diagnostic system of an exemplary process model. As learning patterns for neural network the input/output signal samples from the process were used (method III) as well as the parameters of ARX model (method I) and eigenvalues of process model (method II). there were considered two types of the process, i.e. operating nominally (without any faults) and in the presence of some selected faults. the considered diagnostic system with neuro-classifiers has been tested to verify the correctness of its actions towards fault detection and isolation.

关键词： autoregressive processes learning (artificial intelligence) medical diagnostic computing neural nets neurophysiology pattern classification ARX model autoregressive processes with exogeneous input diagnostic neuro-classifiers eigenvalues-of-process model fault detection fault isolation learning patterns model-based methods model-based synthesis neural network neuro-classifier synthesis Computational modeling Control systems Eigenvalues and eigenfunctions Fault detection Mathematical model Neural networks Neurons Neural network Defect detection medical diagnostic computing autoregressive processes fault isolation Eigenfunctions Pattern recognition control systems Neurophysiology Computational modeling Mathematical Model diagnostic system Neurons procedural model Learning-based method

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Fostering Functional Safety of Real-time Systems with Concepts of Object Orientation 19

Fostering Functional Safety of Real-time Systems with Concep...

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

作者： Houben, Christina K. Fernuniv Chair Comp Engn Hagen Germany

ISBN: (纸本)9781479950812

Hard-wired control systems are increasingly replaced by program-controlled embedded systems. the programming languages currently employed for their implementation lack constructs and design patterns enforcing intelligible code fostering its verification by certification authorities. Recommendations for such constructs necessary to guarantee safety integrity are given in the international standard IEC 61508-3. One of the recommendations refers to object-oriented programming (OOP). therefore, we analyse both basic and advanced properties of OOP like encapsulation, polymorphism, inheritance, prototyping, delegation etc. with respect to functional safety. In a resulting programming language based on PEARL90 [1] we demonstrate coding with examples from hard real-time systems.

关键词： IEC standards control engineering computing embedded systems object-oriented programming program verification safety-critical software OOP PEARL90 certification authorities design patterns functional safety hard real-time systems hard-wired control systems intelligible code international standard IEC 61508-3 object orientation program-controlled embedded systems programming languages safety integrity verification Computer languages Concrete Prototypes Real-time systems Runtime Safety Software object oriented programming Computer Programming Languages object orientation real-time systems hard real-time system design pattern control engineering computing IEC publications safety-critical software program verification Runtime Embedded systems Consumer safety safety PROTOTYPE

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Nonlinear Voltage Control for Motion State Detection in Solenoid Valves: A Lyapunov Approach 19

Nonlinear Voltage Control for Motion State Detection in Sole...

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

作者： Schwab, Manuel Braun, Tristan Straussberger, Florian Reuter, Johannes Univ Appl Sci Konstanz Inst Syst Dynam Constance Germany

ISBN: (纸本)9781479950812

In this paper, a control strategy that enables a reliable dip detection for solenoid valves is presented. For this purpose, the power electronics components are temporarily switched into a linear mode, using a power MOSFET as a voltage controlled resistor. the voltage is stabilized via a nonlinear controller that has been designed using Lyapunov's direct method. the stability region is determined and theoretical investigations are conducted in order to find appropriate controller parameters. the usefulness of the method is demonstrated by several experiments deploying an FPGA based hardware platform.

关键词： Lyapunov methods control system synthesis field programmable gate arrays motion control nonlinear control systems power MOSFET solenoids valves voltage control FPGA based hardware platform Lyapunov approach Lyapunov direct method dip detection field programmable gate array metal oxide semiconductor field effect transistor motion state detection nonlinear controller design nonlinear voltage control power electronics components solenoid valves stability region voltage controlled resistor voltage stability Asymptotic stability MOSFET Resistors Solenoids Stability analysis Valves Voltage control Field programmable gate arrays Power MESFETs Voltage regulation Solenoids solenoid valves metal-oxide-semiconductor field effect transistors VALVE GATE stability region control system synthesis Nonlinear control systems Lyapunov methods Resistor Device Component Voltage stability EMOSFET Motor Control

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Fault accommodation of the Two Rotor Aero-dynamical system using the state space neural networks based model predictive control 19

Fault accommodation of the Two Rotor Aero-dynamical system u...

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

作者： Czajkowski, Andrzej Patan, Krzysztof Univ Zielona Gora Inst Control & Computat Engn PL-65246 Zielona Gora Poland

ISBN: (纸本)9781479950812

this paper deals with the application of state space neural network model to design a model predictive control for a laboratory stand of the Two Rotor Aero-dynamical system. the work describes approach based on the so-called instantaneous linearisation of the already trained nonlinear state space model of the system. With obtained linear model it is possible to derive a vector of future controls based on the minimisation of the cost function within one optimisation window. Repeating procedure in each step of simulation and applying the obtained change of the control signal allows for efficiently control of the nonlinear systems in case of faults. All data used in experiments is obtain from the real-time laboratory stand which is working in Matlab/Simulink RTW environment.

关键词： aerodynamics aerospace control fault tolerant control neurocontrollers nonlinear control systems predictive control rotors (mechanical) state-space methods Matlab-Simulink RTW environment control signal cost function minimisation fault accommodation instantaneous linearisation linear model model predictive control nonlinear state space model nonlinear systems optimisation window state space neural networks two rotor aero-dynamical system Aerospace electronics Computational modeling Mathematical model Predictive control Real-time systems Rotors Vectors Predictive control State space models avionics spacecraft control State-space methods Neurocontrollers fault-tolerant control Nonlinear control systems linear models Nonlinear systems Rotors real-time systems Aerodynamics Computational modeling state space

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Phase Field Regularized Level Set Approach in Topology Optimization of Variational Inequalities 19

Phase Field Regularized Level Set Approach in Topology Optim...

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

作者： Myslinski, Andrzej Koniarski, Konrad Syst Res Inst PL-01447 Warsaw Poland

ISBN: (纸本)9781479950812

the combined level set and phase field rather than classical level set approach is used in the paper to analyze and solve numerically the topology optimization problem for system governed by the variational inequalities. Classical level set method allows to evolve a given sharp interface but is not capable to generate holes unless the topological derivative is used. the phase field method indicates the position of the interface in a blurry way but is flexible in the hole generation. In the paper two-phase topology optimization problem is formulated in terms of the modified level set function regularized using Cahn-Hilliard based inter-facial energy term rather than the standard perimeter term. the derivative of the cost functional with respect to the level set function is calculated. Modified reaction-diffusion equation updating the level set function is derived. the necessary optimality condition for this optimization problem is formulated. the finite element and finite difference methods are used to solve the state and adjoint systems numerically. Numerical examples are provided and discussed.

关键词： design engineering finite difference methods finite element analysis optimisation variational techniques Cahn-Hilliard method finite difference method finite element method interfacial energy level set approach phase field approach reaction-diffusion equation two-phase topology optimization problem variational inequalities Equations Level set Mathematical model Optimization Shape Stress Topology Level set Finite difference methods phase field Finite element method design engineering Calculus of variation Topology optimization Surface energy phase field method topology Mathematical Model reaction-diffusion equations Stress (mechanics)

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Estimating the time-varying parameters of SDE models by maximum principle 19

Estimating the time-varying parameters of SDE models by maxi...

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

作者： Filatova, Darya V. Orlowski, Andrzej Dicoussar, Vasilii Jan Kochanowski Univ Kielce PL-25029 Kielce Poland RAS Dorodnicyn Comp Ctr Moscow 119991 Russia

ISBN: (纸本)9781479950812

We present a parameter estimation method of stochastic differential equations with time-varying coefficients, where data can be observed at discrete points of time. Our objective is to develop the uniform mathematical technique to solve the parameter estimation problem for stochastic differential equations with both ordinary and fractional Brownian motions. this estimation principle is based on the replacement of a stochastic differential equation by a system of ordinary differential equations, which present the moment functions, and on the application of the Pontryagin's maximum principle to find the optimal estimates of the time-varying coefficients of the initial equation. the key point is the constraints structural selection, which leads to major modifications of algorithms of analytical and numerical solutions. this estimation method is applied to study the North Atlantic herring population dynamics.

关键词： differential equations maximum principle parameter estimation stochastic processes time-varying systems North Atlantic herring population dynamics Pontryagin maximum principle SDE models constraints structural selection estimation principle fractional Brownian motion moment functions ordinary Brownian motion ordinary differential equations stochastic differential equations time-varying coefficients time-varying parameters Differential equations Equations Estimation Optimal control Parameter estimation Sociology Stochastic processes maximum principle Parameter estimation time varying parameters Markov chain Brownian motion Differential equations stochastic differential equation Ordinary differential equation time-varying systems Sociology Stochastic Processes time-varying coefficient Differentiation Optimal control

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Design of an Adaptive Gait Trajectory Controller based on a Hybrid Two-Legged Robot Model 19

Design of an Adaptive Gait Trajectory Controller based on a ...

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

作者： Malita, Victor Misgeld, Berno J. E. Leonhardt, Steffen Rhein Westfal TH Aachen Philips Chair Med Informat Technol D-52074 Aachen Germany

ISBN: (纸本)9781479950812

this paper presents a new algorithm for the automatic adaptation of planar motion for an exoskeleton device. the designed control algorithm aims at adapting the motion of the hemiparetic patient "wearing" the exoskeleton to the desired gait based on the patient's active torque. the patient-exoskeleton coupling is modeled as a stand-alone planar nonlinear hybrid two-legged robot model with point feet. the control algorithm consists of a feedback linearization method extended with an optimal controller that assures the tracking of the reference trajectories and disturbance rejection. this control structure is capsuled by an adaptive iterative learning control, which in every motion cycle adapts the reference joint-angle trajectories for the exoskeleton to follow in the next cycle. Motion captured data from healthy subjects was used as reference input in the closed-loop system, because these trajectories guarantee human-like behavior for the robot model with point feet. Simulation results of the iterative learning controller show promising results with respect to cyclic disturbances, as associated with hemiparetic spasticity.

关键词： adaptive control closed loop systems feedback iterative methods learning systems legged locomotion medical robotics optimal control trajectory control adaptive gait trajectory controller adaptive iterative learning control automatic adaptation closed-loop system cyclic disturbances disturbance rejection exoskeleton device feedback linearization method hemiparetic patient hemiparetic spasticity human-like behavior iterative learning controller optimal controller patient active torque patient-exoskeleton coupling planar motion planar nonlinear hybrid two-legged robot model point feet reference joint-angle trajectories reference trajectory tracking Equations Exoskeletons Legged locomotion Mathematical model Robot kinematics Trajectory Biped locomotion Closed loop systems trajectory optimal controllers Disturbance rejection Robot kinematics Iterative learning control medical robotics trajectory control learning systems shelling iterative methods Exoskeleton Device adaptive control Optimal control

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Finite Volume and Finite Element models for Real-Time Control and State Estimation of Two-Dimensional Heat Transfer Processes 19

Finite Volume and Finite Element Models for Real-Time Contro...

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

作者： Rauh, Andreas Senkel, Luise Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781479950812

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： control system synthesis distributed parameter systems feedback feedforward finite element analysis finite volume methods heat transfer integro-differential equations observers partial differential equations state-space methods MIDR PDE control design control estimation distributed control inputs feedback controller feedforward controller finite element model finite volume model finite-dimensional state-space representation flow variables integrodifferential relations observer-based control parameterizable ansatz functions state estimation state observers storage variables two-dimensional heat transfer process Approximation methods Eigenvalues and eigenfunctions Finite element analysis Heat transfer Heating Polynomials Vectors

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the Mathematical Model of the Human Arm as a Switched Linear System 19

The Mathematical Model of The Human Arm as a Switched Linear...

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

作者： Babiarz, Artur Czornik, Adam Klamka, Jerzy Niezabitowski, Michal Zawiski, Radoslaw Silesian Tech Univ Inst Automat Control 16 Akad St PL-44101 Gliwice Poland

ISBN: (纸本)9781479950812

the article presents the process of designing a mathematical model of the human arm. Modelling arm consists of two joints connected by the rotational link. Each of them is represented as a rectangular prism which changes shape during the movement. the moment of shape change depends on the two-state coordinates: the angular displacement q(1) and q(2). Based on the analysis of the arm movement, a mathematical model has been proposed. the design process was made on the basis of switched systems theory. In the first step, we present the transition from the general equation of the two-link arm dynamics to the state equation for stationary linear models. In the second step, a mathematical model has been shown as a switched linear system. the article also shows that the switching rule depends on the two components of the state vector. A switching method was presented in the schematic drawings.

关键词： biomechanics linear systems system theory vectors angular displacement arm modelling arm movement design process human arm mathematical model rectangular prism rotational link schematic drawings state equation state vector stationary linear models switched linear system switched systems theory two-link arm dynamics Equations Joints Mathematical model Muscles Robots Switches Vectors Mathematical Model Linear system Schematic diagrams Rectangular prism equations of state arm movement design process angular variation Systems theory Switches Robot Joints Joints Biomechanics muscles

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