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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71-80 订阅

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Recurrent neural controller applied for two-mass system

Recurrent neural controller applied for two-mass system

引用

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

作者： Marcin Kamiński Faculty of Electrical Engineering Wroclaw University of Science and Technology Wroclaw Poland

In this paper the structure, data processing and adaptation algorithm of neural adaptive controller are described. The topology of the analyzed neural network is similar to the Jordan structure, which contains internal feedback. Fixed parameters of the controller were optimized according to the BAT algorithm. The neural model is applied in a speed control loop of the electrical drive with elastic joint. In order to obtain better damping of state variables oscillations and higher quality of control, applied controller uses two state variables of two-mass system: motor speed and shaft torque. Tests of the designed control structure has been prepared for nominal and disturbed parameters of the plant. Proposed control structure was analyzed in simulations and experiment (prepared using dSPACE1103card).

关键词： Mathematical model Adaptation models Biological neural networks Algorithm design and analysis Signal processing algorithms Velocity control Torque

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Reproduction of equipment wear characteristics with kernel regression

Reproduction of equipment wear characteristics with kernel r...

引用

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

作者： Karol Koniuszewski Paweł D. Domański Politechnika Warszawska Warszawa PL Institute of Control and Computational Engineering Warsaw University of Technology Warsaw Poland

Predictive maintenance task is of crucial role for any plant equipment supervision and scheduling of service activities. For this purpose it should be known what is current aging status of any equipment. Presented approach assumes that we know the nominal (starting) element curve and a damage one as well. It is also assumed that the aging course progresses according to some good practice aging Lorentz attrition (wear) curve. Kernel Regression algorithm is used to perform curve adaptation and then enabled to identify current element status and varying aging curve. The approach is tested on SISO and two-dimensional examples proving its ability to reproduce equipment aging characteristics.

关键词： Kernel Shape Maintenance engineering Aging Adaptation models Algorithm design and analysis Data models

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Multiple models input-output adaptive controller applied to Ionic Polymer Metal Composite

Multiple models input-output adaptive controller applied to ...

引用

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

作者： Jakub Bernat Jakub Kolota Faculty of Computing Poznan University of Technology Poznan Poland

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： Adaptation models Mathematical model Adaptive control Polymers Metals Integrated circuit modeling Electrodes

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Fractal measures in control performance assessment

Fractal measures in control performance assessment

引用

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

作者： Paweł D. Domański Institute of Control and Computational Engineering Warsaw University of Technology Warsaw Poland

In case of numerous loops control engineers need fast and accurate method finding out loops with the poorest control quality. There exits several measures however, industrial practice reveals their deficiencies. Some of them require introduction of external disturbance into the process (like the step test) that in many cases is considered as a risk or threat. The other group of automatic approaches uses regular process data and is based on the loop Gaussian properties foundation. Analysis of real process data shows that this assumption holds only in a few cases. Both facts initiated research for alternative measures grouped into statistical non-Gaussian indexes and fractal ones based on the properties of R/S plot and Hurst index. The analysis is performed on both simulation and real industrial data revealing interesting properties and proving validity of selected approach.

关键词： Indexes Fractals Histograms standards Data models Delays Fats

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Factitious force method in control of skid-steering platforms with rare constraints in motion

Factitious force method in control of skid-steering platform...

引用

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

作者： Wojciech Domski Alicja Mazur Mateusz Cholewinski Chair of Cybernetics and Robotics Wroclaw University of Science and Technology Wroclaw Poland

In the paper new control algorithm for skid-steering mobile platforms has been presented. This control law is based on mathematical model of such object. In the model it has been assumed that wheels of the skid-steering platform are not coupled by tracks and that they can move without some slipping effects, namely with lack of longitudinal slipping of selected wheels and lack of lateral slipping of rear axis. Because skid-steering platform can be considered as nonholonomic system, underactuated on dynamic level (there are only two control inputs to system's dynamics), therefore new control method of underactuated systems has been applied: method of using “factitious forces”. In theoretical considerations and in computer simulations it has been shown that skid-steering platform can track desired trajectory, not necessary admissible, if driving wheels move without longitudinal slipping. In such a case control algorithm works properly.

关键词： Wheels Kinematics Mathematical model Trajectory Heuristic algorithms Robots Dynamics

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Robotic arm control system for mars rover analogue

Robotic arm control system for mars rover analogue

引用

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

作者： Piotr Czaplicki Maciej Rećko Justyna Tołstoj-Sienkiewicz Department of Automatics and Robotics Bialystok University of Technology Bialystok Poland

Presented paper's main focus is set on improvements in mobile robot's arm control system. This goal is achieved, with two departures from previous way of performing operations, that relays on repositioning each joint separately with a joystick. First part of this article focuses on implementing inverse kinematics algorithms to Arm Control System. This approach allows to perform smooth, precise movements in Cartesian coordinate system, previously impossible to execute. Second part describes a Phantom device that allows an operator to control arm in real time or to program it through teaching, even without access to a manipulator. This solution also incorporates, embedded in rover core systems, inverse kinematics algorithms. The paper is concluded with an review of presented advancements in systems development and prediction of future improvements that may be beneficial to achieve authors main goal - easy, intuitive and precise robot's manipulator control system.

关键词： Manipulators Robot kinematics Kinematics Phantoms Robot sensing systems Control systems

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PLC-PIDTuner: Application for PID tuning with SIMATIC S7 PLC controllers

PLC-PIDTuner: Application for PID tuning with SIMATIC S7 PLC...

引用

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

作者： Witold Kolaj Jakub Mozaryn Michal Syfert Siemens Sp. z o.o Warsaw Politechnika Warszawska Warszawa PL Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw

There is presented PLC-PIDTuner application developed for tuning PID controller in S7 Simatic PLCs. It allows plant identification, calculation of controller parameters and verification of the control system using different quality indexes. It provides data collection from the real process and computer simulation of designed control system. Such solution allows to customize systems properties without carrying out costly experiments. Proposed application allows user to easily develop different algorithms for each stage of PID control system design. Finally, there is presented example of using developed PLC-PIDTuner platform in simulated process described by third order system with delay.

关键词： Tuning Process control Control systems Mathematical model Delay effects Indexes Algorithm design and analysis

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Power assistive and rehabilitation wearable robot based on pneumatic soft actuators

Power assistive and rehabilitation wearable robot based on p...

引用

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

作者： Hassanin Al-Fahaam steve Davis Samia Nefti-Meziani Department of Robotics University of Salford Manchester United Kingdom

The aim of this paper is to describe the design of a soft, wearable glove for power assisted and rehabilitation, based on pneumatic soft actuators. The extensor bending type of pneumatic soft actuators was used in this study, which proved these actuators are appropriate by examining their characteristics. A proposed solution for a release movement is presented. Experimental results show this solution works efficiently. Electromyography (EMG) signals are monitored to examine the proposed prototype. The proposed glove provides assistive power for multi-griping and multi-pinching movements depending on the human intention. Elderly, partially disabled and strenuous workers can use this glove. An efficient control algorithm used, depending on signals from sensors located within the glove, that capture the movement type and bending angle to provide appropriate assistance. A wide range of rehabilitation exercises can be carried out using this soft wearable glove.

关键词： Thumb Muscles Actuators Sensors Force Robots

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Evaluation of calibration results using the least median of squares method in the case of linear multivariate models

Evaluation of calibration results using the least median of ...

引用

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

作者： Dariusz Buchczik Witold Ilewicz Silesian University of Technology Measurement and Control Systems Group Gliwice Poland

Robust estimation procedures make it possible to reduce the leverage of outliers on the measurement results. Application of the least median of squares (LMS) method to determine the calibration curves of measuring instruments involves the need to evaluate the obtained results. This paper proposes the method of estimating the variance of the LMS regression coefficients, which allows the evaluation of the quality of the set regression coefficients. The concept of an a priori estimation consists in performing an estimation before the measurement experiment. The a posteriori estimation uses the data from the previously conducted measurement experiment, thus making it possible to obtain much more accurate results compared with the a priori method. Simulation tests were carried out in order to compare the estimation results with the ones obtained in the course of the simulated experiment. The obtained results confirm that the proposed concepts are correct.

关键词： Robustness Calibration Pollution measurement Reactive power Estimation Instruments Electric breakdown

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Three-dimensional mapping for data collected using variable stereo baseline

Three-dimensional mapping for data collected using variable ...

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

作者： Zdzisław Kowalczuk Tomasz Merta Faculty of Electronics Telecomm Informatics Gdansk University of Technology Gdansk Poland Dept. of Robotics and Decision Systems (ETI) Gdansk University of Technology Gdansk Poland

The paper describes a system of 3D mapping of data collected with due regard for variable baseline. This solution constitute an extension to a VisRobot sub-system developed as a subsystem necessary for implementing the generic idea of using mobile robots to explore an indoor static environment. This subsystem is to acquire stereo images, calculate the depth in the images and construct the sought 3D map. stereo images are obtained at various stereo baselines, resulting in enhanced resolution of depth, especially for distant objects. The length of each baseline is obtained by currently measuring the actual location and angular pose of robotic carrier of camera. Measurement errors bring about inaccuracies in depth. Therefore, we propose an innovative procedure that combine the depth maps gained at variable baselines. The paper presents the resulting improved 3D-map visualization in terms of higher precision, considering two cases: static and cumulative localization errors.

关键词： Cameras Robot vision systems Three-dimensional displays Simultaneous localization and mapping Mobile robots

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