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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21-30 订阅

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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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Optimising approach to designing kernel PCA model for diagnosis purposes with and without a priori known data reflecting faulty states 20

Optimising approach to designing kernel PCA model for diagno...

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

作者： Grochowski, Michal Matczak, Maciej Sokolowski, Michal Gdansk Univ Technol Elect & Control Engn Dept Gdansk Poland Synopsys Poland Sp Zoo Gdansk Poland Apator Metrix Gdansk Poland

ISBN: (纸本)9781479987016

Fault detection plays an important role in advanced control of complex dynamic systems since precise information about system condition enables efficient control. Data driven methods of fault detection give the chance to monitor the plant state purely based on gathered measurements. However, they especially nonlinear, still suffer from a lack of efficient and effective learning methods. In this paper we propose the two stages learning algorithm for designing the kernel Principal Component Analysis (kPCA) model parameters in two cases: with access to data reflecting the faulty states of the plant and without such data. the method is explained on simple testing example and verified in the case study showing the efficiency of detecting the leakages in drinking water distribution systems.

关键词： machine learning training methods kernel PCA fault detection monitoring water leakage detection

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Iterative Learning Control of Polyhydroxybutyrate Production in a Sequencing Batch Reactor 20

Iterative Learning Control of Polyhydroxybutyrate Production...

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

作者： Jung, Seyong Zhang, Jie Oliveira, Rui Newcastle Univ Sch Chem Engn & Adv Mat Newcastle Upon Tyne NE1 7RU Tyne & Wear England Univ Nova Lisboa FCT Dept Chem P-2829516 Caparica Portugal

ISBN: (纸本)9781479987016

this study investigates the iterative learning control of a sequencing batch reactor for the production of polyhydroxybutyrate (PHB). In order to overcome the effect of model plant mismatches and unknown disturbances, a batch to batch iterative learning control strategy with incrementally updated models is developed. the reference batch is taken as the immediate previous batch in order to cope with nonlinearities and process variations. After each batch, the newly obtained process operation data is added to the historical process data base and an updated linearised model is re-identified. To cope with colinearity in the modeling data, principal component regression and partial least squares regression are used in identifying batch-wise linearised models. the proposed technique has been successfully applied to a sequencing batch reactor for the production of PHB.

关键词： iterative learning control PHB batch processes sequencing batch reactor linearised models

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Model Selection to Enhance Prediction Performance in the Presence of Missing Data 20

Model Selection to Enhance Prediction Performance in the Pre...

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

作者： Bashir, Faraj Wei, Hua-Liang Benomair, Abdollha Univ Sheffield Dept Automat Control & Syst Engn Mapping St Sheffield S1 3JD S Yorkshire England

ISBN: (纸本)9781479987016

Most nonlinear modelling approaches focus on solving a model selection problem with complete data, and in many cases original data are pre-processed with some nonlinear transforms such as Box-Tidwell and fractional polynomial transformation. Often these approaches can lead to models that are better than traditional models (for example, logistic model and quadratic model). However, in the case of missing data, it is not easy to predict the relationship between the predictor and dependent variables;traditional nonlinear models in some cases of missing data analysis give poor results. this paper explains nonlinear model selection techniques for missing data. It includes an overview of nonlinear model selection with complete data, and provides accessible descriptions of Box-Tidwell and fractional polynomial methods for model selection. In particular, this paper focuses on a fractional polynomial method for nonlinear modelling in cases of missing data and presents analysis examples to illustrate performance of the method.

关键词： model selection missing data Nonlinear models Polynomial

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Approximate State-Space Model Predictive Control 20

Approximate State-Space Model Predictive Control

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

作者： Lawrynczuk, Maciej Warsaw Univ Technol Inst Control & Computat Engn Ul Nowowiejska 15-19 PL-00665 Warsaw Poland

ISBN: (纸本)9781479987016

this paper is concerned with a Model Predictive Control (MPC) algorithm for dynamic systems described by nonlinear state-space models. A unique feature of the algorithm is the fact that the current value of the manipulated variable (i.e. the decision variable of MPC) is not calculated from an optimisation problem, but from an analytical linear control law. the coefficients of the control law, due to a nonlinear nature of the process, are time-varying. they are found on-line by an approximator (a neural network is used for this purpose). the approximator is trained off-line in such a way that the resulting MPC algorithm mimics the suboptimal MPC technique with on-line model linearisation. thanks to such an approach, successive on-line model linearisation is not successively performed and some other calculations are not necessary. For a polymerisation reactor off-line training of the approximator is described and the approximate algorithm is compared with the classical MPC algorithms with on-line model linearisation.

关键词： Maximum Allowable Concentration on-line model control law Predictive control POLYMERISATION REACTOR manipulated variable State space models State-space methods Dynamic systems models, Space Approximate OFF LINE algorithms

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20-sim implementation of bond graph models of flexible photovoltaic arrays based on data sheets 20

20-sim implementation of bond graph models of flexible photo...

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

作者： Villa-Villasenor, Noe Galindo-Orozco, Rene Autonomous Univ Nuevo Leon Fac Mech & Elect Engn San Nicolas De Los Garza Mexico

ISBN: (纸本)9781479987016

A computer simulator for PhotoVoltaic (PV) systems is developed for analysis and design, based on a set of descriptive formulas. this set of formulas allows implementing modular models, able to reproduce the behavior of photovoltaic systems in various operating conditions. the formulas use information contained in data sheets provided by manufacturers of solar panels. this feature allows the proposed model to represent commercially available photovoltaic arrays. the used modeling tool is oriented to bond graph. We used the 20-sim program for the numerical solution and simulation of the proposed model. 20-sim has the advantage of model integration, enabling, the automatic formulation and solution of the inherent non-linear-implicit equations. Also, 20-sim model components are highly editable, which offers ease to implement the non-linear mathematical formulas studied in this work. the proposed model is developed and its validation is performed through simulations that reproduce the behavior of solar panels operating at given conditions.

关键词： Bond graph modeling 20-sin Photovoltaic systems One diode PV model Simulator

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Application of Computer Aided Tools and methods for Unmanned Cargo Aircraft Design 20

Application of Computer Aided Tools and Methods for Unmanned...

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

作者： Czyba, Roman Hecel, Micha Jablonski, Karol Lemanowicz, Marcin Platek, Krzysztof Silesian Tech Univ Dept Automat Control Fac Automat Control Elect & Comp Sci 16 Akad St PL-44100 Gliwice Poland Silesian Tech Univ Fac Chem Dept Chem Engn & Proc Design PL-44100 Gliwice Poland Silesian Tech Univ Fac Mech Engn PL-44100 Gliwice Poland

ISBN: (纸本)9781479987016

Nowadays, novel construction materials, more efficient power supplies and advanced artificial intelligence algorithms allow one to use unmanned aerial vehicles (UAV) in various fields of life. One of the biggest events promoting this idea is the Air Cargo Challenge (ACC) competition. In this paper the motivation for ACC participation and the overall procedure of CAD aided UAV design are presented. the nonlinear aircraft model as well as Computational Fluid Dynamic simulations are discussed. Finally, some details concerning designed UAV prototype are revealed.

关键词： UAV CAD CFD Rapid Prototyping

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Non-minimum Phase Properties and Feedback Linearization Control of Nonlinear Chemical Reaction 20

Non-minimum Phase Properties and Feedback Linearization Cont...

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

作者： Zietkiewicz, Joanna Poznan Univ Tech Inst Control & Informat Engn Poznan Poland

ISBN: (纸本)9781479987016

Non-minimum phase objects cause problems in designing control systems due to unstable inverse dynamics. In the case of, considered in the paper, Van de Vusse nonlinear chemical reaction, non-minimum phase properties are in connection with the input multiplicity of the process. Control method proposed for this process relies on feedback linearization and linear quadratic control. Input-state linearization provides an exact linear model. Linear quadratic regulator uses obtained model and determines appropriate control law. this approach, providing that weights for the linear quadratic regulator are adjusted properly, delivers control system with good performance of output and state signals, despite the fact that the output of the process is not a state variable of the linear model. the solution also assures stability of the system.

关键词： feedback linearization control control systems linear quadratic regulators State variable chemical reactions Output Process linear models Linearization control law minimum phase system System stability Phase objects Output nonlinearity

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Application of Subspace State-space Identification methods on Actuated Multibody Systems 20

Application of Subspace State-space Identification Methods o...

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

作者： Marquardt, Mathias Duenow, Peter Bassler, Sandra Wobbe, Frank Univ Technol Business & Design Hsch Wismar Wismar Germany IAV GmbH Ingenieurgesellsch Auto & Verkehr Berlin Germany

ISBN: (纸本)9781479987016

In the last years subspace-based system identification methods have been developed for the application in open and even closed loop conditions. In this paper some of those methods are selected and applied to a nonlinear mechanical system in order to identify a local linear state space description of the underlying system. the considered plant is an actuated multibody system with two inputs and two outputs. the nonlinear nature of such a system leads to unstable behavior in some operating conditions so the system has to be operated in closed loop control during the identification procedure too. Considering these demands for the process of system identification the capability of subspace-based methods to identify stable and unstable MIMO systems using input-output data obtained from closed loop control experiments is investigated.

关键词： Identification methods bar linkage System identification multiple input multiple output systems state space Loops Contraceptive Coil Subspace Operating conditions Control Groups Unstable CLOSED LOOP CONTROL

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Application of graph segmentation method in thermal camera object detection 20

Application of graph segmentation method in thermal camera o...

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20th international conference on methods and models in automation and robotics, mmar 2015

作者： Nguyen, Hung V. Tran, Linh Hoai Department of Automation Control Institute of Science and Technology Hanoi Viet Nam School of Electrical Engineering Hanoi University of Science and Technology Hanoi Viet Nam

ISBN: (纸本)9781479987016

the paper presents the application of graph-based segmentation algorithm in image object detection. the input images are taken from thermal camera for night surveillance application. the graph-based algorithm was selected due to its low complexity, which allows us to process each image with the complexity of O(***(n)) where n is the number of pixels, and due to the fact that thermal images contains smaller number of regions of colors. With the detected regions, some additional measures are used to filter out the artifacts to correctly detect the object in the images. the numerical results have proved the high quality of the proposed solutions. © 2015 IEEE.

关键词： Image segmentation

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