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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61-70 订阅

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Dynamic singularities in nonlinear control of underactuated pendulum-like models

Dynamic singularities in nonlinear control of underactuated ...

引用

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

作者： Adam Wojciech Łukomski Department of Control and Measurements West Pomeranian University of Technology Szczecin

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： Transmission line matrix methods three-dimensional displays Solid modeling Numerical models Mathematical model Robots Knee

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AR time-series identification using quantized observations

AR time-series identification using quantized observations

引用

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

作者： Jarosław Figwer Institute of Automatic Control The Silesian University of Technology Gliwice Poland

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： Standards Data acquisition Estimation Quantization (signal) Data models Random processes White noise

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Space robotics — Present and past challenges

Space robotics — Present and past challenges

引用

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

作者： J. Z. Sasiadek Department of Mechanical and Aerospace Engineering Carleton University Ottawa Ontario Canada

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.

关键词： Space vehicles Mars Manipulators Robot sensing systems Space exploration Aerospace electronics

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Line estimation using the Viterbi algorithm and track-before-detect approach for line following mobile robots

Line estimation using the Viterbi algorithm and track-before...

引用

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

作者： Przemyslaw Mazurek Department of Signal Processing and Multimedia Engineering West Pomeranian University of Technology Szczecin Szczecin Poland

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： Trajectory Estimation Viterbi algorithm Mobile robots Monte Carlo methods Noise

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Iterative and evolutionary optimization for interval analysis-based designing a fuzzy controller for a planar crane model

Iterative and evolutionary optimization for interval analysi...

引用

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

作者： Jarosław Smoczek Janusz Szpytko Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

the paper presents a TS fuzzy controller for a crane planar model developed through combining a local pole placement method and interval analysis of closed-loop characteristic polynomial coefficients. A family of local linear controllers represented by rule conclusions is determined based on the objective function derived from an interval Diophantine equation. the two methods, iterative procedure and evolutionary algorithm are developed to find minimum number of fuzzy sets and tune triangular membership functions satisfying the performances robustness to variation of operating conditions.

关键词： Cranes Fuzzy sets Payloads Polynomials Sociology Statistics Mathematical model

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Probe dynamics influence on determination of volumetric oxygen transfer coefficient

Probe dynamics influence on determination of volumetric oxyg...

引用

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

作者： Malgorzata Niedzwiedz Piotr Laszczyk Institute of Automatic Control Silesian University of Technology Gliwice Poland

this paper deals with practical aspects of volumetric oxygen transfer coefficient determination. the attention was paid to influence of dissolved oxygen probe dynamics on measurements. A new identification method of volumetric oxygen transfer coefficient was developed. this method involves numerical integral calculation. the new method and three other methods (graphical, logarithmic and regression) of determining volumetric oxygen transfer coefficient value were applied. the comparative simulation research was done using dissolved oxygen concentration model. All four methods were finally aplied to real biotechnological wastewater process with the activated sludge.

关键词： Probes Biological system modeling Mathematical model Atmospheric modeling Oxygen Numerical models Wastewater

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Active suspension with a limited authority adaptive control

Active suspension with a limited authority adaptive control

引用

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

作者： Zbigniew Ogonowski Institute of Automatic Control Silesian University of Technology Gliwice Poland

the paper presents feedback control algorithm for active vehicle suspension systems. the algorithm uses internal model of the system which is composed with two parts: disturbances path and control path. the first is highly non-stationary while the second is constituted with relatively fixed-parameters. this difference justifies the use of limited authority adaptive control, where only disturbance path is subjected to identifycation. the controller is derived in a direct adaptive form where the parameters of the controller are identified directly. Pole placement methodology is also involved to provide a room for upper-layer optimization which allows for inclusion additional requirements, for example optimal contact between wheels and road surface.

关键词： Suspensions Polynomials Adaptation models Wheels Control systems Mathematical model Vehicles

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Congestion control in computer networks: Application of piece-wise affine controller and particle swarm optimization

Congestion control in computer networks: Application of piec...

引用

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

作者： Sławomir Grzyb Przemysław Orłowski Faculty of Electrical Engineering West Pomeranian University of Technology Szczecin Poland

Congestion control plays a significant role in maintaining sufficient network throughput. Variety of methods and algorithms are proposed to solve the bottleneck issue. this paper describes a method based on a particle swarm optimization algorithm and piecewise affine controller for non-stationary, discrete, dynamical model of data exchange network. this solution allows active network nodes buffer utilization to be adapted to sudden unexpected network state changes. that leads to alleviate network congestion effects.

关键词： Particle swarm optimization Numerical models Bandwidth throughput Computational modeling Heuristic algorithms Stability analysis

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Spatio-temporal responses of a class of 2×2 hyperbolic systems

Spatio-temporal responses of a class of 2×2 hyperbolic syst...

引用

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

作者： Krzysztof Bartecki Institute of Control and Computer Engineering Opole University of Technology Opole Poland

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 2×2 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： Transfer functions Boundary conditions Laplace equations Equations Transmission line matrix methods Resistance heating

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Design process and experimental verification of the quadruped robot wave gait

Design process and experimental verification of the quadrupe...

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

作者： Jakub Możaryn Jan Klimaszewski Paweł Kołodziejczyk Dariusz Świeczkowski-Feiz Paweł Wawrzyński Institute of Automatic Control and Robotics Warsaw University of Technology Warszawa Institute of Control and Computation Engineering Warsaw University of Technology Warszawa

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.

关键词： Legged locomotion Robot kinematics Joints Stability criteria Trajectory

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