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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61-70 订阅

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Task and context sensitive optimization of gripper design using dynamic grasp simulation

Task and context sensitive optimization of gripper design us...

引用

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

作者： Adam Wolniakowski Jimmy A. Jorgensen Konstantsin Miatliuk Henrik Gordon Petersen Norbert Kruger Automation and Robotics Department Bialystok University of Technology Bialystok Poland Faculty of Engineering University of Southern Denmark Denmark

In this work, we present a generic approach to optimize the design of a parametrized robot gripper including both gripper parameters and parameters of the finger geometry. We demonstrate our gripper optimization on a parallel jaw type gripper which we have parametrized in a 11 dimensional space. We furthermore present a parametrization of the grasping task and context, which is essential as input to the computation of gripper performance. We exemplify the feasibility of our approach by computing several optimized grippers on a real world industrial object in three different scenarios.

关键词： Grippers Measurement Grasping Optimization Context Stress Robustness

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RBF neural networks for modelling and predictive control: An application to a neutralisation process

RBF neural networks for modelling and predictive control: An...

引用

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

作者： Patryk Chaber Maciej Ławryńczuk Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

this paper describes a Model Predictive Control (MPC) algorithm in which a Radial Basis Function (RBF) neural network is used as a dynamic model of the controlled process and it reports training and selection of the RBF model of the benchmark system for MPC. In order to obtain a computationally uncomplicated control scheme, the RBF model is successively linearised on-line, which leads to an easy to solve quadratic optimisation problem, nonlinear optimisation is not necessary. Efficacy of the MPC algorithm is shown for a neutralisation system, which is a significantly nonlinear dynamic process. It is shown that the described MPC algorithm with on-line model linearisation gives trajectories very similar to those obtained in a truly nonlinear MPC scheme, in which the full nonlinear RBF model is used for prediction.

关键词： Data models Prediction algorithms Training Predictive models Computational modeling Optimization Mathematical model

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Generalized Predictive Control of an overhead crane

Generalized Predictive Control of an overhead crane

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

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

the adaptive control of an overhead crane is developed based on Generalized Predictive Control (GPC) technique. the one-step ahead predictive control scheme is proposed for reducing the residual and transient oscillations of a payload suspended on a rope and transferred by a crane, with respect to the variation of rope length and mass of a payload. the recursive least square (RLS) algorithm is applied to real-time estimate parameters of discrete-time model of a crane dynamic system. Feasibility and applicability of the proposed control technique were confirmed during experiments carried out on the laboratory stand. the results of experiments are presented and compared with performances of the linear controllers-based scheme designed using pole placement method.

关键词： Cranes Payloads Computational modeling Transient analysis Heuristic algorithms Prediction algorithms Algorithm design and analysis

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Off-line estimation of trajectory in discrete state space using the minimal-covariance adaptive FIR smoothing with extended output vector

Off-line estimation of trajectory in discrete state space us...

引用

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

作者： L. Podsędkowski H. Podsędkowska Lodz University of Technology Institute of Machine Tools and Production Engineering Lodz Poland Uniwersytet Lodzki Lodz PL

the new tool for off-line estimation of the state of discrete linear systems is presented. the algorithm of Finite Impulse Response (FIR) smoother is described and its optimality is proven. the optimality of this smoother means that error covariance matrix of the estimation is minimal. It places this method in the Least Square Estimation (LSE) methods group, which are much better than frequently used Least Mean Square (LMS) methods. this method can also be used as FIR filter or predictor. In the paper the simple simulation, showing the mode of actions of described smoother, is presented. It is compared with others presented in the literature.

关键词： Covariance matrices Finite impulse response filters Smoothing methods Noise Kalman filters Least squares approximations Trajectory

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Nonlinear position-flux zero-bias control for AMB system

Nonlinear position-flux zero-bias control for AMB system

引用

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

作者： Arkadiusz Mystkowski Ewa Pawluszewicz Rafal P. Jastrzebski Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland LUT Energy Lappeenranta University of Technology Lappeenranta Finland

this paper reports on a novel nonlinear controller for a single one-degree-of-freedom (1-DOF) Active Magnetic Bearing (AMB) system. the nonlinear feedback tools such as Lyapunov based techniques, control Lyapunov functions (CLFs), and feedback passivation control are developed. the control objective is to globally stabilize the mass position of an AMB with flux feedback. the flux-based control model for an AMB system is derived due to voltage switching strategy with voltage saturation. this strategy enables the flux control under a zero-bias operation. the proposed nonlinear CLF with a zero-bias can achieve a dynamic performance superior to that of a linear controller with the zero-bias or with the classical bias operations.

关键词： Voltage control Control systems Force Rotors Electromagnets Mathematical model Nonlinear dynamical systems

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the improved method for reconstruction of measurands

The improved method for reconstruction of measurands

引用

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

作者： Bogdan Grzywacz West Pomeranian University of Technology (ZUT) KSiP Szczecin Poland

the improvement of known, classic way of reconstruction of measurand has been presented. the measuring system output signal is followed by classic feedback system containing “associated model” of measuring system which is represented with structure defined by state variable scheme. If error of follow-up action is small, then output of associated model and its accessible derivatives can be used to reconstruction of measuring system input (measurand). Due to virtual operation of slowing down of measuring system output and multi-option possibility of choice of associated model one can substantially improve the accuracy of follow-up action and measurand recovery. the concepts of implementation of method for both types of system and signal representations, i.e. continuous-time and discrete-time, are presented in the paper. the examples confirming advantageous properties of proposed algorithm are attached.

关键词： Mathematical model Approximation methods Real-time systems Transfer functions Current measurement Accuracy

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Continuous-time input-output linear dynamic system identification using sampled data

Continuous-time input-output linear dynamic system identific...

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 Poland

In the paper an approach to parametric continuous-time input-output linear dynamic system identification based on a randomized search method is presented. During identification experiment the excitation signal is generated directly from D/A converter that is equipped only with zero-order or first-order hold filter - the corresponding low-pass analogue reconstruction filter is not used. In this experiment only samples of the system output signal are gathered. In the corresponding data acquisition system there is no analogue antialiasing filter. Samples of the system output signal are acquired with a deterministic constant or random sampling interval. Properties of the presented approach are illustrated by simulation experiments.

关键词： Linear programming Mathematical model Heuristic algorithms Optimization Data acquisition Data models Differential equations

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Jordan neural network for modelling and predictive control of dynamic systems

Jordan neural network for modelling and predictive control o...

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

作者： Antoni Wysocki Maciej Ławryńczuk Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

this paper discusses the possibility of using a Jordan neural network as a model of dynamic systems and it presents a Model Predictive Control (MPC) algorithm in which such a network is used for prediction. the Jordan network is a simple recurrent neural structure in which only one value of the process input signal (from the previous sampling instant) and only one value of the delayed output signal of the model (from the previous sampling instant) are used as the inputs of the network. In order to obtain a computationally simple MPC algorithm, the nonlinear Jordan neural model is repeatedly linearised on-line around an operating point, which leads to a quadratic optimisation problem. Effectiveness of the described MPC algorithm is compared with that of the truly nonlinear MPC scheme with on-line nonlinear optimisation performed at each sampling instant.

关键词： Prediction algorithms Heuristic algorithms Predictive models Neural networks Computational modeling Optimization Data models

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Night vision applicability in anti-sway vision-based solutions

Night vision applicability in anti-sway vision-based solutio...

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

作者： Pawel Hyla Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

this paper describes a common issues in architecture of the variety kind of vision-based sway sensors dedicated for the anti-sway solution as a feedback in close-loop systems. However, in the statement the author's attention was focused on the issue related with vision sensor architecture insensitiveness on actual exposure light conditions. the night vision functionality was obtained through use infrared radiation. Author main attention was focused on possibility of use IR as a solution for insufficient light condition and their usefulness in different non-contact vision-based sensor architecture. All obtained results and considerations were conducted on the base vision sway sensor integrated with infrared illuminator assembled on the physical scaled model of the overhead travelling crane with hosting capability of 150 kg.

关键词： Cameras Machine vision Cranes Sensors Night vision Photonics

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

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

引用

international conference on methods and models in automation and robotics

作者： Pawe? Dworak Krzysztof Jaroszewski Chair of Control Engineering and Robotics West Pomeranian University of Technology in Szczecin Szczecin Poland

ISBN: (纸本)9781479987023

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： Dynamic Decoupling MIMO paper a method

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