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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51-60 订阅

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Numerical investigation of nuclear reactor kinetic and heat transfer fractional model with temperature feedback

Numerical investigation of nuclear reactor kinetic and heat ...

引用

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

作者： Tomasz Karol Nowak Kazimierz Duzinkiewicz Robert Piotrowski Faculty of Electrical and Control Engineering Gdansk University of Technology (GUT) Gdansk Poland

In the paper, the numerical results concerning the kinetics and proposed heat exchange models in nuclear reactor based on fractional calculus are presented for typical inputs. Two fractional models are proposed and compared with the model based on ordinary derivative. the first fractional model is based on one of the generalized Cattaneo equations. the second one is based on replacing the ordinary to fractional order of derivative in differential system of equations. Modified Oustaloup Method is implemented. Simulation results of proposed models are presented.

关键词： Mathematical model Neutrons Coolants Heating Inductors Numerical models Temperature

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Direct model reference adaptive control of nutrient removal at activated sludge wastewater treatment plant

Direct model reference adaptive control of nutrient removal ...

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

作者： Mao Li Mietek Brdys School of Electronic Electrical and System Engineering The University of Birmingham Birmingham UK Department of Control System Engineering University of Technology Gdansk Poland

A direct model reference adaptive controller for dissolved oxygen reference trajectory tracking in an aerobic reactor for nutrient removal at the activated sludge wastewater treatment plant is proposed and investigated. the reference trajectory is prescribed on-line by an upper control layer of the plant overall control system. the controller design utilises a different time scales in the internal dissolved oxygen dynamic and disturbance inputs. the controller is validated by simulation using real data records.

关键词： Adaptation models Mathematical model Biomass Adaptive control Wastewater treatment Trajectory

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Robot's Velocity and Tilt Estimation through Computationally Efficient Fusion of Proprioceptive Sensors Readouts

Robot's Velocity and Tilt Estimation Through Computationally...

引用

international conference on methods and models in automation and robotics

作者： Pawe? Wawrzyński Institute of Control and Computation Engineering Warsaw University of Technology 00-665 Warsaw Poland

ISBN: (纸本)9781479987023

In this paper a method is introduced that combines Inertial Measurement Unit (IMU) readouts with low accuracy and temporarily unavailable velocity measurements (e.g., based on kinematics or GPS) to produce high accuracy estimates of velocity and orientation with respect to gravity. the method is computationally cheap enough to be readily implementable in sensors. the main area of application of the introduced method is mobile robotics.

关键词： velocity estimation Kalman filter mobile robotics

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

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

引用

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

作者： Marek Rydel Włodzimierz Stanisławski Department of Electrical Opole University of Technology

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： Approximation error Mathematical model Transfer functions Measurement uncertainty Optimization Computational modeling

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Deployment of model based robotic control algorithms, designed using Matlab/Simulink, in the form of OROCOS components operating under Linux Xenomai

Deployment of model based robotic control algorithms, design...

引用

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

作者： Krzysztof Arent Wojciech Domski Mateusz Cholewiński Politechnika Wroclawska Wroclaw PL Chair of Cybernetics and Robotics Electronics Faculty Wroclaw University of Technology Wroclaw Poland

the article focuses on deployment of model based control algorithms which have passed the stage of simulation analysis in Simulink. the target software platform is OROCOS framework within Linux Xenomai - a real-time operational system. First, the algorithm of transforming of an automatically generated code from Simulink scheme into an OROCOS component is presented. Next, the proposed procedure is discussed and evaluated from the perspective of the control engineer's needs.

关键词： Mathematical model Real-time systems MATLAB Hardware Linux

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Multifunctional user interface implementation details and evaluation

Multifunctional user interface implementation details and ev...

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

作者： Julius Gelšvartas Rimvydas Simutis Rytis Maskeliūnas Kauno Technologijos Universitetas Kaunas LT Automation Department

this paper describes in detail the implementation of the multimodal user interface for people with disabilities. the user interface can be used with multiple sensors such as eye tracker, brain wave scanner, speech recognizer and sip/puff device. the system makes it possible to use multiple sensors simultaneously or disable some sensors. New sensors can be integrated without changing other components of the system. We evaluated the performance of the system in the text input task. the results showed increased performance when using multiple sensors simultaneously.

关键词： Speech recognition Graphical user interfaces Speech Performance evaluation Sensors Switches

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Adaptive control of nonlinear resonant systems with damping

Adaptive control of nonlinear resonant systems with damping

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

作者： Jacek Kabziński Przemysław Mosiołek Institute of Automatic Control Lodz University of Technology Łódź Poland

the paper describes a nonlinear controller design technique for a servo drive in the presence of: 1) nonlinear friction (or any other load torque), 2) a flexible shaft that connects the motor and the load. the shaft is characterized by the stiffness and the damping coefficients. the proposed controller is based on adaptive backstepping, modified by the use of command filtering. Although in the presence of damping the model is not in a strict-feedback form, the proposed approach allows to accomplish the rigorous proof of the closed-loop system stability. Several experiments prove the control effectiveness and robustness against un-modelled dynamics.

关键词： Damping Load modeling Torque Friction Adaptation models Shafts Backstepping

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Point-parametric modeling for model predictive control in dynamic networks

Point-parametric modeling for model predictive control in dy...

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

作者： Ayodeji Ajibulu Mietek Brdys Electrical and Systems Engineering University of Birmingham Birmingham UK Department of Control Systems Engineering University of Technology Gdansk Poland

this paper illustrates the application of point-parametric modeling for model predictive control applications in dynamic networks. the point-parametric modelling methodology is applicable to a variety of large scale complex systems such as drinking water distribution systems, power networks, transportation networks and telecommunication networks. Robust parameter estimation provided by point-parametric modelling technology is addressed. the models developed are suitable for model predictive controller design. A numerical example based on drinking water distribution system is used to illustrate the point-parametric modeling for water quality prediction.

关键词： Modeling Uncertainty Predictive models Parameter estimation Monitoring Robustness Chlorine

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Comparison of baseline estimation algorithms for chromatographic signals

Comparison of baseline estimation algorithms for chromatogra...

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

作者： Witold Ilewicz Marcin Kowalczuk Michał Niezabitowski Dariusz Buchczik Adam Gałuszka Silesian University of Technology Gliwice Poland

Baseline in signals is a relatively complicated problem in analysis of signals obtained in various analytical techniques such as chromatography and spectroscopy. In this article there are presented results of tests on four algorithms for a baseline estimation in chromatographic signals. Two of them are based on a polynomial fitting in a region of detected peaks. Another two algorithms, i.e. assymetric least squares method and iterative polynomial fitting with the automatic treshold, estimate the baseline under the whole signal and generally does not require peak detection. the tests of the algorithms are performed on both simulated and experimental signals.

关键词： Approximation methods Polynomials Approximation algorithms Estimation Algorithm design and analysis Accuracy Noise

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Advanced methods of controller design for pneumatic servodrives

Advanced methods of controller design for pneumatic servodri...

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

作者： J. Cigánek Š. Kozák F. Noge Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Bratislava Slovak republic

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： Process control Mathematical model Transfer functions Prediction algorithms Computational modeling Heuristic algorithms Stability analysis

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