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94 篇 会议

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检索条件"任意字段=21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016"

共 94 条记录，以下是11-20 订阅

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Temperature measurements of turning with WCCo-cBN composite cutting tools 21

Temperature measurements of turning with WCCo-cBN composite ...

引用

21st international conference on methods and models in automation and robotics (mmar)

作者： Grochalski, Karol Jablonski, Piotr Poznan Univ Tech Inst Metrol & Measurement Syst Poznan Poland Poznan Univ Tech Inst Mech Technol Poznan Poland

ISBN: (纸本)9781509018666

This paper describes measurement methods of temperature machining with WCCo-cBN composite cutting tools. Both contact and thermographic methods of cutting temperature measurements have been described and compared. As well, methodology of emissivity evaluation of cutting tools materials has been mentioned. This paper also covers influence of anti-wear TiAlN PVD coating on cutting temperature in reference to machining with uncoated tools.

关键词： machining coatings boron nitride thermography infrared radiation temperature measurements

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Multiple models Input-Output Adaptive Controller Applied To Ionic Polymer Metal Composite 21

Multiple Models Input-Output Adaptive Controller Applied To ...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Bernat, Jakub Kolota, Jakub Poznan Univ Tech Fac Comp PL-60963 Poznan Poland

ISBN: (纸本)9781509018666

Ionic Polymer Metal Composites(IPMCs) belong to the class of wet Electro-active Polymers (EAPs) and is promising candidate actuator for various potential applications mainly due to its flexible, low voltage/power requirements, small and compact design and lack of moving parts. Among the smart materials available, IPMCs seem to fit nicely in the constraints of robotics because they react mechanically when stimulated by an electrical signal. However, being a widely used material in industry, it requires complex control methods due to its strongly nonlinear nature. This paper presents a novel approach to tuning multiple models adaptive controller. By adding additional filters we significantly improve convergence of the estimates to the true values of the IPMC parameters as compared to conventional adaptive controllers. Numerical results and comparison with experimental data are presented. The effectiveness of the proposed multiple models adaptive control strategy is verified in experiments.

关键词： Controllers

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L¹ and L² Norms in Sensitivity Analysis of Signaling Pathway models 21

L1 and L2 Norms in Sensi...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Kardynska, Malgorzata Smieja, Jaroslaw Silesian Tech Univ Inst Automat Control Ul Akad 16 PL-44100 Gliwice Poland

ISBN: (纸本)9781509018666

Sensitivity methods have been originally developed for analysis of technical systems and recently have gained increasing importance in systems biology. Among others, they provide means to rank parameters of mathematical models describing complex systems, according to their influence on system behavior. Parameter rankings can be derived using different sensitivity measures. This paper is focused on two types of norms, most often used in such analysis. Using simple, illustrative dynamical models as well as models of signaling pathways, it shows how much the results of sensitivity analysis depend on the choice of the norm.

关键词： Sensitivity analysis

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Parameter identification for non integer order, state space models of heat plant 21

Parameter identification for non integer order, state space ...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Oprzedkiewicz, Krzysztof Mitkowski, Wojciech Gawin, Edyta AGH Univ Sci & Technol Al A Mickiewicza 30 Krakow Poland State High Vocat Sch Tarnow Al A Mickiewicza 8 Tarnow Poland

ISBN: (纸本)9781509018666

In the paper the parameter idetification problem for new, non integer order, state space models of heat transfer process is presented. The solution of all proposed state equations bases directly onto definitions of suitable non integer order differences. The parameters estimation is done with the use of MSE (Mean Square Error) cost function. The order of all proposed state-space models is also estimated. Results of experiments show, that all proposed non integer order models are more accurate in the sense of MSE cost function than known integer order model.

关键词： Mean square error

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Development of electrochemical measurement system using cyclic voltammetry method 21

Development of electrochemical measurement system using cycl...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Przenioslo, Lukasz Raczynski, Michal Makiewicz, Przemyslaw Biegun, Marcin Matias, Daniel Biedka, Andrzej Penkala, Krzysztof West Pomeranian Univ Technol Dept Syst Signals & Elect Engn Szczecin Poland

ISBN: (纸本)9781509018666

In the paper the results of development of measurement instrument dedicated to electrochemical biosensing are presented. The document covers the most important aspects of the hardware and software solutions used with presented device. Sample measurement results using Cyclic Voltammetry (CV) method are also shown, in comparison with similar measurements made with commercially available, professional measurement system Autolab from Metrohm.

关键词： Biosensing electrochemical biosensing methods Cyclic Voltammetry CV impedance scanner microprocessor system

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Solving the inverse dynamics of a flexible 3D robot for a trajectory tracking task 21

Solving the inverse dynamics of a flexible 3D robot for a tr...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Lismonde, Arthur Bruls, Olivier Sonneville, Valentin Univ Liege Multibody & Mechatron Syst Lab Liege Belgium Univ Maryland Aerosp Engn College Pk MD 20742 USA

ISBN: (纸本)9781509018666

The end-effector trajectory tracking of robotic manipulators with flexible links requires advanced control concepts. In order to compute the feedforward component of the control scheme, the inverse dynamics of such flexible 3D multibody system is solved using an optimal control method. The robot is modeled using nonlinear finite elements formulated on the SE (3) group. Hence singularity and parameterization issues that can arise from 3D rotations are avoided. A numerical example of a 3D flexible arm is analyzed to demonstrate the capabilities of the method.

关键词： Numerical methods

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Challenges in Creating Long Continuum Robots 21

Challenges in Creating Long Continuum Robots

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21st international conference on methods and models in automation and robotics (mmar)

作者： Walker, Ian D. Nahar, Dixit Verma, Siddharth Wooten, Michael B. Kapadia, Apoorva D. Clemson Univ Dept Elect & Comp Engn Clemson SC 29634 USA

ISBN: (纸本)9781509018666

We discuss the design and control issues in creating continuous backbone continuum robots at lengths of multiple meters. At this scale, many of the design techniques and materials properties which have proved advantageous in creating continuum robots at smaller scales are not applicable. This leads to problems with reduced load capacity and poor internal stability. Using two example cases, a thin tendril and an extensible pipe, we illustrate the issues and discuss potential successful design alternatives.

关键词： robotics continuum robot tendril design

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Research of the Defects in PET Preform 21

Research of the Defects in PET Preform

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21st international conference on methods and models in automation and robotics (mmar)

作者： Laucka, Andrius Andriukaitis, Darius Markevicius, Vytautas Zilys, Mindaugas Kaunas Univ Technol Dept Elect Engn LT-51368 Kaunas Lithuania

ISBN: (纸本)9781509018666

Image technologies nowadays are used not only for keeping personal events safe, but also are widely applied in conjunction with automated electronic systems. Computer vision is widely used for inspection of the production quality in industries. Food industry is not an exception. Containers for food industry are made in very large quantities. This article contains of defect analysis of both external and side area of the bottleneck. Defects were divided into groups according to which the filters are created. For the control of PET preparation quality an automated computer vision algorithms were developed. The algorithms and methods were used for the detection of defective products mainly based on the image segmentation, digital production, erosion, smoothing. The most effective filters for the defect detection of the workpieces have been determined. It was carried out that efficiency of algorithms are close to 100 %.

关键词： PET digital image processing image segmentation computer vision smoothing methods

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SoftPOSIT Enhancements for Monocular Camera Spacecraft Pose Estimation 21

SoftPOSIT Enhancements for Monocular Camera Spacecraft Pose ...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Shi, Jian-Feng Ulrich, steve Carleton Univ Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781509018666

This paper proposes several enhancements to the softPOSIT algorithm with applications to spacecraft pose estimation using a monocular camera. First, the proposed enhancements include a technique for reducing false matches as result of local minimum trapping. Second, this paper provides two strategies for iteration control parameter initialization by using the trace of the correspondence distance, and by using image centroid matching. The method of image centroid matching allows the world model center of geometry to align with the image centroid. The alignment result in reasonable correspondence weighting values used for match optimization. The various algorithm enhancements were tested on 26,180 simulations with varying geometries and initial pose conditions. Results show a significant increase in accuracy when compared with the original method.

关键词： Iterative methods

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Mathematical models Database (MMD ver. 1.0) Non-commercial proposal for researchers 21

Mathematical Models Database (MMD ver. 1.0) Non-commercial p...

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21st international conference on methods and models in automation and robotics (mmar)

作者： Giernacki, Wojciech Horla, Dariusz Sadalla, Talar Poznan Univ Tech Inst Control & Informat Engn PL-60965 Poznan Poland

ISBN: (纸本)9781509018666

Mathematical models Database (MMD) is an online repository of mathematical models that can be easily used for research purposes, in teaching or in performing comparative tests. In a single free-of-charge, freely accessible Internet service all the data from the database is available with an expected (in its final form) several ready-to-use models, either purely mathematical or physics-based. Apart from the models themselves there are also documents describing the background of their derivation included, references to bibliography for further reading where they have been used and numerous attachments, e.g. parts of the code, time plots, results of simulations, ready handouts, etc. Using a simple browser it is possible to constraint the search to selected classes of models. It is planned in the future to make MMD a platform where every interested researcher will be able to include their models. This should streamline the possibility of creating a single Internet site where models from a vast number of disciplines can be found, such as from the field of control engineering and robotics, electrotechnics, mechatronics, computer science, and other fields, even those not directly connected to the latter.

关键词： Database systems

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