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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71-80 订阅

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A simplified parametrization of the criterion for the prediction error dual controller

A simplified parametrization of the criterion for the predic...

引用

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

作者： Miroslav Flídr Miroslav Šimandl NTIS-New Technologies for the Information Society University of West Bohemia Plzeň

this paper deals with analysis of suboptimal dual controller design for linear discrete time stochastic system with uncertain parameters. the design of the dual controller is based on augmentation of the criterion with suitable measure of the parameters uncertainty in order to explicitly ensure the probing property of the control law. As the uncertainty measure the weighted prediction error of the augmented state is chosen. this approach provides very good quality of the resulting control compared to other explicit dual control method. the drawback of the method can be, however, seen in the lack of methodology for selection of the supplemental weighting matrix. the aim of this article is thus to provide insight into a way how to chose this supplemental weighting matrix with minimum necessary optional parameters.

关键词： Approximation methods Cost function Uncertainty Optimal control Probability density function Measurement uncertainty

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On the practical implementation of non-integer order filters

On the practical implementation of non-integer order filters

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

作者： Tomasz Dziwiński Paweł Piątek Jerzy Baranowski Waldemar Bauer Marta Zagórowska Akademia Gorniczo-Hutnicza imienia Stanislawa Staszica w Krakowie Krakow WojewÃ³dztwo maÅ‚opolskie PL Department of Automatics and Biomedical Engineering AGH University of Science and Technology Kraków

Non-integer order filters allow much greater flexibility in shaping of frequency responses than classical methods. In this paper authors present the methodology of digital filter design using non-integer order filter as a prototype. Implementation on the embedded testbed was performed to validate the presented method. Experiments with measuring of frequency response show consistency of implementation with desired characteristics. the presented approach is promising and can be successfully used in multiple applications.

关键词： Approximation methods Transfer functions Frequency response Prototypes Atmospheric modeling Mathematical model Cutoff frequency

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A multivariable low speed controller for a ship autopilot with experimental results

A multivariable low speed controller for a ship autopilot wi...

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

作者： Mirosław Tomera Department of Ship Automation Gdynia Maritime University Gdynia Poland

the paper presents the structure of the multivariable control system for the ship moving on the water surface at low speeds in three degrees of freedom. the speed controller determines the multidimensional force, i.e. the longitudinal, lateral and angular momentum, which should be applied to the hull of the ship. these forces are applied by actuators installed on the ship. the ship control system use three propellers: the bow tunnel thruster, the stern tunnel thruster, and the main propeller of the ship. Power distribution between the propellers is made by the thruster allocation system. the designed system was run on a training ship Blue Lady at Ship Handling Training Center on the lake Silm near Iława. No speed measurements were performed on the ship, and the measured quantities only included the position coordinates, measured by the DGPS system, and the ship heading, measured by the gyrocompass. the results of these measurements made the basis for estimating the surge, sway and yaw rates by the Kalman filter.

关键词： Marine vehicles Propellers Mathematical model Control systems Training Kalman filters Resource management

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Static model of steam/water cycle for thermal and economic analysis

Static model of steam/water cycle for thermal and economic a...

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

作者： Maciej Huzarek Kazimierz Duzinkiewicz Robert Piotrowski Faculty of Electrical and Control Engineering Gdansk University of Technology (GUT) Gdansk Poland

the thermodynamic efficiency of typical conventional and nuclear power plants is insufficient. A large amount of the generated heat is removed to the environment and regarded as a waste. A solution which is commonly used to increase the efficiency and profitability of the existing and planned power plants refers to cogeneration of heat and power. To prepare sophisticated thermodynamic and economic analyses, a precise static model of the steam/water cycle of the considered power plant is essential. the paper presents a methodology to build a static model of the steam/water cycle of the Nuclear Power Plant with Pressurized Water Reactor. the discussed model was prepared using phenomenological and network approach, complemented by a precise reference model as data source. the prepared model is believed to be very useful in thermal and economic efficiency analysis.

关键词： Integrated circuit modeling Mathematical model Heating Turbines thermodynamics Approximation methods

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Iterative learning control of polyhydroxybutyrate production in a sequencing batch reactor

Iterative learning control of polyhydroxybutyrate production...

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

作者： Seyong Jung Jie Zhang Rui Oliveira School of Chemical Engineering and Advanced Materials Newcastle University Newcastle upon Tyne UK Chemistry Department FCT/Universidade Nova de Lisboa Caparica Portugal

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： Inductors Mathematical model Sequential analysis Data models Trajectory Quality assessment Product design

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A single 3-D feature-based visual servoing

A single 3-D feature-based visual servoing

引用

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

作者： Christophe Doignon Control Vision and Robotics team ICube (UMR CNRS 7357) - University of Strasbourg France

In this paper we present a visual servo control technique by means of a single geometrical feature. the proposed approach refers to a multiple views information and a proper data representation. this work is motivated by tackling the control of an euclidean displacement inside a non-rigid environment, for performing an efficient feature selection and a quick outliers rejection. Precisely, the so-called Plücker coordinates, as originally known to be effective for 3-D straight line modeling, is shown here to be a relevant data representation. With visual measurements, this modeling allows to analyze the visual sensor displacement with respect to the object-of-interest motion, and it is very convenient while designing the state vectors and the kinematic control laws. Two sets of task functions and control laws are presented and these two families of motion are compared according to the considered degrees-of-freedom for rotational and translational velocities. To assess the proposed approach, real experiments with an industrial robot are performed. Results about the cameras displacement show the efficiency of this technique.

关键词： Visualization Kinematics Cameras Robot kinematics Visual servoing Servosystems

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

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

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

作者： Michał Grochowski Maciej Matczak Michał Sokołowski Electrical and Control Engineering Department Gdansk University of Technology Poland Synopsys Sp. z.o.o. Poland Apator Metrix Poland

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： Data models Kernel Training Principal component analysis Testing Fault detection Monitoring

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CNC feed drive module model simplification and estimation of its parameters

CNC feed drive module model simplification and estimation of...

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international conference on methods and models in automation and robotics

作者： Pawel Waszczuk Faculty of Electrical Engineering Department of Industrial Automation and Robotics West Pomeranian University of Technology Szczecin Poland

ISBN: (纸本)9781479987023

Modelling of physical components such as spring-damper, mass or screw-nut mechanism gives opportunity to simulate actual behavior of a mechatronic system like a CNC feed drive module. Due to its complexity, it is crucial to conduct proper identification and then estimation process regarding only those parameters, which have the largest impact on the developed model. It is important to create functional physical model, because in practical use only those can be exploited. In this paper, a nonlinear model of a feed drive system is presented in details. Author propose a simplification method of differential equations, which were exploited to develop the model to facilitate estimation process. Results of simulations of developed model are included to confirm the correctness of made assumptions.

关键词： feed drive module nonlinear model identification estimation

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Optimal attitude control of a rigid body on special orthogonal group using LGVI and FD-GMRES

Optimal attitude control of a rigid body on special orthogon...

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

作者： Xiaoting Ji Jie Li Yifeng Niu College of Mechatronic Engineering and Automation National University of Defense Technology Changsha China

A new optimal attitude control method is proposed for controlling the rigid body on the special orthogonal group. First, the discrete kinematics and dynamics of attitude motion are derived based on discrete d' Alembert-Pontryagin variational principle, which are identical with Lie group variational integrator. Second, a constrained optimal control problem on Lie group is described and its first-order necessary optimality condition is derived using Lagrange multipliers and Lie group operators. then, a forward difference-generalized minimum residual based algorithm is proposed for solving the first-order necessary optimality condition in receding manner. Finally, through the numerical tests and simulation examples for controlling a 3D pendulum rotating on the special orthogonal group, it is concluded that the proposed method is efficient and can converge well.

关键词： Attitude control Mathematical model Radio frequency Optimal control Angular velocity Force three-dimensional displays

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

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

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

作者： Noé Villa-Villaseñor René Galindo-Orozco Faculty of Mechanical and Electrical Engineering Autonomous University of Nuevo Leon

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 nonlinear-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： three-dimensional displays Artificial intelligence 5G mobile communication Iron FAA

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