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检索条件"任意字段=20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015"

共 95 条记录，以下是11-20 订阅

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Dynamics Effects on Natural Frequencies in modal analysis of PKMs 20

Dynamics Effects on Natural Frequencies in modal analysis of...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Prades, Julien Jourdan, Franck Company, Olivier Krut, Sebastien Pierrot, Francois Univ Montpellier Dept Robot LIRMM Montpellier France CNRS F-75700 Paris France Univ Montpellier LMGC Montpellier France

ISBN: (纸本)9781479987016

Technology improvement makes PKM faster and faster. From this speed it appears uncontrolled vibrations which disrupt PKM functioning. the urge to produce modelling enabling to predict dynamic perturbations is more and more important. To this day, linearized dynamic models are incomplete, ignoring account of speed and acceleration over trajectory. In this paper, a complete dynamic linearization will be presented, and will allow to reveal high speed influence among PKM eigenvalues.

关键词： pyruvate kinase, muscle modal analysis Natural frequencies technology improvement dynamic models trajectory acceleration Modeling speed

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Advanced methods of Controller Design for Pneumatic Servodrives 20

Advanced Methods of Controller Design for Pneumatic Servodri...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Ciganek, J. Kozak, S. Noge, F. Slovak Univ Technol Bratislava Fac Elect Engn & Informat Technol Bratislava Slovakia

ISBN: (纸本)9781479987016

A development of advanced control methods based on robustness, optimality and prediction is an important and challenging task. In recent years, a new control approaches have emerged to replace or augment conventional control engineering methods. the paper presents: design, verification and comparison of three advanced methods (IMC, MPC, PLM) applied in the control of dynamic processes with complex dynamics. In this paper three different methods were tested and applied to the position control of pneumatic servodrives. the presented and tested methods guarantee robust stability and high performance of the pneumatic servodrives control.

关键词： algebraic theory control system closed loop factorization filter IMC MPC pole-placement

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FAST VIGNETTING REDUCTION MEthOD FOR DIGITAL STILL CAMERA 20

FAST VIGNETTING REDUCTION METHOD FOR DIGITAL STILL CAMERA

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20th international conference on methods and models in automation and robotics (mmar)

作者： Kordecki, Andrzej Palus, Henryk Bal, Artur Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781479987016

the effect of vignetting is undesirable in image processing and analysis. It cause fall-off of pixel intensity from centre towards edges of the image. In this paper, we propose a new procedure of fast vignetting reduction based on two images acquired with different camera/lens settings. the change of lens aperture or focal length will also change the effect of vignetting in images. these differences are used to estimate a vignetting function, which is used for vignetting reduction. the obtained image after vignetting reduction is not significantly different from the image without vignetting.

关键词： VIGNETTING Digital cameras REDUCTION methods edge image images Imagery (Psychotherapy) FOCAL LENGth LENS APERTURE

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Non-Gaussian models in Particle Filters 20

Non-Gaussian models in Particle Filters

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20th international conference on methods and models in automation and robotics (mmar)

作者： Kozierski, Piotr Sadalla, Talar Horla, Dariusz Poznan Univ Tech Fac Elect Engn Inst Control & Informat Engn Piotrowo St 3a PL-60965 Poznan Poland Poznan Univ Tech Fac Comp Chair Control & Syst Engn Div Signal Proc & Elect Syst PL-60965 Poznan Poland

ISBN: (纸本)9781479987016

the impact of the usage another than the Gaussian probability density functions in transition and measurement models has been verified in the article. Cases, in which wrong models have been assumed, also have been taken into account. Simulations have been performed for two different objects. Based on the obtained results, it can be said that in some cases incorrect modelling can allow the best estimation quality.

关键词： particle filter state estimation measurement model transition model

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Linearised coupling of elasticity and Navier-Stokes equations 20

Linearised coupling of elasticity and Navier-Stokes equation...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Lasiecka, Irena Szulc, Katarzyna Zochowski, Antoni Polish Acad Sci Syst Res Inst Newelska 6 PL-01447 Warsaw Poland

ISBN: (纸本)9781479987016

In the paper we consider a coupled problem of the linearly elastic body immersed in the flowing fluid which is modelled by means of incompressible Navier-Stokes equations. the approach is based on transforming the variable domain occupied by the fluid to the fixed one corresponding to the un-deformed elastic inclusion. the main idea consists in performing the linearisation of this transformation, similarly as in linear elasticity one assumes the smallness of strains. We base our approach on the observation that the gradients of the suitably defined transformation are bounded by traces of strains on the surface of the elastic body.

关键词： Coupled Problems Linear elasticity Navier-Stokes equation Topological Derivative Shape Optimization Numerical methods

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Neural Networks for a Dynamic Decoupling of a Nonlinear MIMO Dynamic Plant 20

Neural Networks for a Dynamic Decoupling of a Nonlinear MIMO...

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20th international conference on methods and models in automation and robotics (mmar)

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

ISBN: (纸本)9781479987016

In the paper a method of synthesis of a neural controller which goal is to reduce effects of coupling of the nonlinear multi-input multi-output (MIMO) plant inputs and outputs is presented. the designed neural controller contains a set of neural nets that determine values of parameters of linear decoupling controllers calculated for the adopted nonlinear plant model at its operating points. A known dynamic decoupling technique is used to generate training and evaluation data for the synthetized neural nets. the resulting neural (gain-scheduling) controller varies its parameters depending on the current plant operating point.

关键词： Neural network DECOUPLING Controllers plant models multiple input multiple output systems nonlinearity plants

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Multipurpose Supernumerary Robotic Limbs for Industrial and Domestic Applications 20

Multipurpose Supernumerary Robotic Limbs for Industrial and ...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Srinivas, Samvrit Virk, Gurvinder Singh Haider, Usman RNS Inst Technol Dept Mech Engn Bangalore Karnataka India Univ Gavle KTH Royal Inst Technol Stockholm Sweden Univ Gavle Dept Elect Sci & Maths Gavle Sweden

ISBN: (纸本)9781479987016

Robotic exoskeleton arms have been around for a long time and they have successfully evolved from research prototypes to commercial products. Multipurpose supernumerary robotic limbs (MSRLs) have been recently introduced as new types of aids which do not directly replace missing limbs, but they are additional mechanical arms with changeable end-effectors which can be worn by the user to provide needed functionalities. this paper presents the mechanical design and kinematics modelling and control of a MSRL system. the MSRL presented could have good application in industrial and domestic situations.

关键词： robotic arm wearable personal robotics leader-follower method AHRS kinematics mechanical design

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Design of controllers for decoupled TITO systems using different decoupling techniques 20

Design of controllers for decoupled TITO systems using diffe...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Ben Hariz, Maher Bouani, Faouzi Univ Tunis El Manar Fac Sci Tunis Ecole Ecole Natl Ingn Tunis Lab Anal Concept & Commande Syst LR11ES20 Tunis Tunisia Univ Tunis El Manar Lab Anal Concept & Commande Syst LR11ES20 Ecole Natl Ingn Tunis Tunis Tunisia

ISBN: (纸本)9781479987016

this paper deals with the design of controllers for TITO decoupled systems. the main objective of these controllers is to ensure some time response specifications such as the settling time and the overshoot for each output independently. the controller parameters are obtained by solving a nonconvex optimization problem. In order to obtain the global solution and then an optimal control law a global optimization method was applied to resolve this problem. In order to decouple TITO processes, two different decoupling methods have been considered.

关键词： time response specifications TITO systems decoupling systems nonconvex optimization problem global optimization

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Laboratory Experimentation of Stereo Vision-Based Relative Navigation with Unknown Spinning Spacecraft 20

Laboratory Experimentation of Stereo Vision-Based Relative N...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Yazdkhasti, Setareh Ulrich, Steve Sasiadek, Jurek Z. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781479987016

In this paper, a vision-based relative navigation strategy applicable for an unknown and spinning target object in space is presented. Specifically, the relative navigation system uses a calibrated stereo monochrome camera, and is developed for estimating the relative position, linear velocity and angular velocity between the inspector spacecraft and the unknown target object, while minimizing the computational requirements. Experimental results in a dark room with a scaled model of a spacecraft spinning about its major axis of rotation are reported to demonstrate the performance and applicability of the navigation system for small inspection spacecraft.

关键词： laboratory experimentation laboratory procedure Navigation systems Spacecraft navigation scale models Unknown Spin Spinning major axis ANGULAR VELOCITY rotating shafts DARKROOMS Family Members

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Selection of the objective function of reduction parameter optimization algorithm, and its impact on the properties of reduced MIMO models 20

Selection of the objective function of reduction parameter o...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Rydel, Marek Stanislawski, Wlodzimierz Opole Univ Technol Dept Elect Control & Comp Engn Opole Poland Univ Appl Sci Inst Comp Sci Nysa Poland

ISBN: (纸本)9781479987016

this article presents a range of approximation error measures for reduced mathematical MIMO models of controlled objects. these measures can be of use in evaluations of reduction quality. the impact of selection of a particular approximation error measure as the objective function of the reduction parameter optimization algorithm on the frequency characteristics of the reduced model was analyzed. Particular emphasis was given to those cases where the individual channels of a MIMO model differ significantly from one another. the results are presented on the example of a one-phase zone evaporating tubes model of a BP-1150 steam boiler.

关键词： Objective function multiple input multiple output systems Approximation error IMPACT PROPERTIES Parameter optimization frequency characteristic reduced model controlled object COHERENT TUBE MODEL annonacin-A-one

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