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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81-90 订阅

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Robust estimation algorithm of altitude and vertical velocity for multirotor UAVs

Robust estimation algorithm of altitude and vertical velocit...

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

作者： Przemysław Gąsior Adam Bondyra stanisław Gardecki Wojciech Giernacki Faculty of Electrical Engineering Institute of Control and Information Engineering Polish Aerial Robotics Team Poznan Poland Politechnika Poznanska Poznan PL

This paper describes the process of the development and improvement of the altitude and vertical velocity estimation algorithm. The previous method was developed by authors two years back. After a diagnosis of pressure temperature drift caused by the main IMU, the additional barometric sensor was introduced. Based on readings from this reference component, three main modifications were developed to the algorithm's structure. In addition, three experimental sequences are presented to compare the previous approach with new ones. Results showed that new methods achieve better performance and are free from pressure drift caused by sensor's heating. Decreasing frequency of altitude measurements in Kalman filter resulted in more robust estimates for pressure changes not related to the vertical movement in indoor and outdoor flights. With properly working estimation algorithm, there is a possibility to develop a controller to maintain desired altitude or vertical velocity.

关键词： Acceleration Temperature measurement Kalman filters Estimation Mathematical model Robot sensing systems Cameras

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Mathematical models database (MMD ver. 1.0) non-commercial proposal for researchers

Mathematical models database (MMD ver. 1.0) non-commercial p...

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

作者： Wojciech Giernacki Dariusz Horla Talar Sadalla Institute of Control and Information Engineering Poznan University of Technology Poznan

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： Databases Mathematical model Data models Biological system modeling Electronic mail Computational modeling Internet

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A hierarchical global path planning based on multi-objective particle swarm optimization

A hierarchical global path planning based on multi-objective...

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

作者： Thi Thoa Mac Cosmin Copot Trung Tran Duc Robin De Keyser School of Mechanical Engineering Hanoi University of Science and Technology Vietnam Department of Electrical energy systems and automation Ghent University Belgiumm Op3Mech University of Antwerp Belgium

In this study, a novel hierarchical global path planning approach for mobile robot navigation in a clutter environment is proposed. This approach has a three - level structure to obtain a feasible, optimal and safe path. In the first level, the triangular decomposition method is used to quickly establish a geometric free configuration space of the robot. In the second level, Dijkstra's algorithm is applied to find a collision - free path used as input reference for the next level. Lastly, a proposed particle swarm optimization called constrained multi-objective particle swarm optimization (CMOPSO) with an accelerated update methodology is employed to generate the global optimal path with the focus on minimizing the path length and maximizing path smoothness. The simulations illustrates the superiority of this method in terms of solution quality and actual execution time.

关键词： Path planning Collision avoidance Robot kinematics Optimization Particle swarm optimization Acceleration

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Simplified, multiregional fuzzy model of a nuclear power plant steam turbine

Simplified, multiregional fuzzy model of a nuclear power pla...

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

作者： Paweł Sokólski Tomasz A. Rutkowski Kazimierz Duzinkiewicz Faculty of Electrical and Control Engineering Gdansk University of Technology Poland

Power systems, including steam turbines and synchronous generators, are complex nonlinear systems with parameters varying over time. The paper presents the developed simplified, multiregional fuzzy model of the steam turbine of a nuclear power plant turbine generator set and compares the results with a full nonlinear model and commonly used linear input-output model of a steam turbine. The proposed model consist of series of linear input-output models defined for specific steam turbine operating points and one fuzzy switching module with Takagi-Sugeno reasoning interface. Provided simulation results indicate that the response of presented simplified fuzzy multiregional steam turbine model is very close to the reference nonlinear steam turbine model such that the maximum absolute error is around few percent for considered operating point changes, 30-100% of nominal mechanical power. Hence steam turbine model in such form may increase the accuracy of developed control algorithms, which use system model for adaptation or prediction purposes.

关键词： Turbines Mathematical model Valves Adaptation models Analytical models Synchronous generators

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Utilization of textured stereovision for registration of 3D models of objects

Utilization of textured stereovision for registration of 3D ...

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

作者： Tomasz Kornuta Maciej stefańczyk Warsaw University of Technology Institute of Control and Computation Eng Warsaw Poland IBM Research San Jose CA

RGB-D sensors triggered a rapid progress in the field of robot visual perception. A typical visual perception subsystem relies on finding the correspondences between features extracted from RGB-D images retrieved from robot sensors and models of objects. In this paper we introduce a multi-camera setup supplemented with an additional pattern projector used for registration of high-resolution images of objects. The objects are placed on a fiducial board with two dot patterns enabling robust extraction of masks of the placed objects and estimation of their initial poses. The acquired dense point clouds constituting subsequent object views undergo pairwise registration and at the end are optimized with a graph-based technique derived from SLAM. The combination of all those elements resulted in a system for generation of consistent 3D models of objects. We present details of the developed system and conclude the paper with discussion of the achieved results.

关键词： Feature extraction Three-dimensional displays Cameras Solid modeling Cloud computing Estimation Sensors

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Motorcycle lateral and longitudinal dynamic modeling in presence of tyre slip and rear traction

Motorcycle lateral and longitudinal dynamic modeling in pres...

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

作者： Andrea Bonci Riccardo De Amicis Sauro Longhi Giuseppe Antonio Scala Andrea Andreucci Dipartimento di Ingegneria dell'Informazione (DII) Università Politecnica delle Marche Ancona Italy Universita Politecnica delle Marche Ancona Marche IT Visionar srl Montefano Italy

This paper proposes a mathematical model of a motorcycle that deals with the lateral and longitudinal dynamics, the tyre slip and the rear wheel traction. The vehicle is considered as an assembly of two rigid bodies. The proposed dynamic formulation is based on Lagrange's equations, it allows to formulate the equations of motion with 7 degrees of freedom (DoF). The model assess the vehicle behavior in response to a propulsion torque applied to the rear wheel and a rider torque applied to the motorcycle handlebar. The model is able to describe the coupling of the in-plane (longitudinal) and out-of-plane (lateral) dynamics taking into account the rear and the front longitudinal tyre slip related to the rear wheel traction. In order to solve the linearized equations of motion, no multibody software was used, only numeric simulation tools such as MATLAB.

关键词： Mathematical model Vehicle dynamics Vehicles Wheels Tires Dynamics Numerical models

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Hybrid real-time way-point controller for ships

Hybrid real-time way-point controller for ships

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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 a hybrid controller that controls the movement of a ship in various operating modes. The developed controller integrates a number of operational modes, such as: precise maneuvering the ship at low speeds, steering the ship at different speeds along the set trajectory or on the course, and stopping the ship on the route. The implementation of these modes requires the use of five controls, which have been collected in the set of alternative continuous controllers. The choice of the appropriate control is made depending on the type of the operation performed by the ship. The ship motion along a specified route of crossing in different operating modes is controlled using a method of supervisory switching control. The set ship trajectory consists of straight sections connecting consecutive points of the passage route, complemented by speed setpoints and operating modes of the controller on these sections. The developed control system was tested on the training ship Blue Lady, used to train captains in the Ship Handling Research and Training Center located on the lake Silm in Ilawa-Kamionka, Poland. The conducted tests have proved good quality of the designed hybrid controller.

关键词： Marine vehicles Trajectory Switches Mathematical model Coordinate measuring machines Regulators

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Development of parallel manipulator control system for simulation of selected means of transport

Development of parallel manipulator control system for simul...

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

作者： Maciej Sajkowski Tomasz stenzel Janusz Hetmanczyk Faculty of Electrical Engineering Silesian University of Technology Silesian University of Technology Faculty of Electrical Engineering Division of Power Electronics Electrical Drives and Robotics

The paper presents the control system of 6-DOF parallel manipulator based on linear actuators driven by PM BLDC motors. The manipulator and its control system have been developed by the authors. The geometric parameters of the manipulator are presented as well as the control system structure. The motors are controlled by CAN-bus interface. The control system of the manipulator has been developed using rapid prototyping approach in Matlab/Simulink environment. The real time operation of the control system is possible thanks to xPC Target platform, which is an extension of the abovementioned software. An example of the parallel manipulator motion recorded on the laboratory stand is presented. The final part of the article discusses the application of the 6-DOF manipulator for simulation of search and rescue ship motion in order to evaluate the performance of the motion compensation system of electro-optical turret. The manipulator has been loaded with different masses up to 60 kg. Finally on the laboratory stand the real electro-optical turret has been mounted. The range of the manipulator motion obtained during the test leads to the conclusion that the manipulator can be used as a ship motion simulator.

关键词： Manipulators Actuators Kinematics MATLAB Motion compensation

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Selected properties of the adiabatic model of the stirling engine combined with the model of the piston-crankshaft system

Selected properties of the adiabatic model of the Stirling e...

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

作者： Adrian Chmielewski Robert Gumiński Jędrzej Mączak Faculty of Automotive and Construction Machinery Engineering University of Technology Warsaw Poland

This work presents the ideal adiabatic model of the stirling engine which was combined with the dynamic model of the piston-crankshaft system with three degrees of freedom. On the basis of the conducted thermodynamic analysis for the working space in the stirling engine, and on the basis of the physical model of the working mechanism (constructed with the assumption of the static mass reduction), a multidomain simulation model has been developed, using the Matlab&Simulink software. On the basis of the derived equations of energy conservation for the thermodynamic model, as well as equations of motion for the mechanical model, the influence of chosen thermodynamic and mechanical parameters have been analysed, among others: influence of the temperature of the upper heat source on the theoretical work and power gain, of the temperature changes in the compression and expansion space in the course of the working cycle on the simulation model behaviour, whose input parameters correspond to the real object - the stirling engine. As a result of the performed simulations, additionally: the flow of the working gas mass at the control borders, and the influence of the transient states on the pressure curve were presented among others. The results discussed in this work convey practical information about the thermodynamic and dynamic properties of the simulated real object.

关键词： Mathematical model Space heating Thermodynamics stirling engines Analytical models Adiabatic Space cooling

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Dynamic model of a free-piston stirling engine with four degrees of freedom combined with the thermodynamic submodel

Dynamic model of a free-piston Stirling engine with four deg...

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

作者： Adrian Chmielewski Robert Gumiński Jędrzej Mączak Faculty of Automotive and Construction Machinery Engineering University of Technology Warsaw Poland Politechnika Warszawska Warszawa PL

The work presents a dynamic model of the stirling engine with a free piston, which was combined with a thermodynamic model taking into account isothermal heat exchange in the compression and expansion spaces. On the basis of the performed thermodynamic analysis for the stirling engine working space, and of the physical model of the system with a free piston, a multidomain simulation model was developed, using the Matlab&Simulink software. On the basis of the derived equations of energy conservation for the thermodynamic model and equations of motion for the mechanical submodel, the influence of the selected thermodynamic and mechanical parameters, including: the influence of the mass of the displacer and piston on the p(V) closed-loop diagram was analysed and the influence of the thermodynamic parameters, including: temperature of the upper heat source on the theoretical work gain and the theoretical work. As a result of the conducted simulations, flow of the working gas mass at the control boundaries and also the curves of the heat fluxes, among other things, were additionally presented. The results presented in this work convey practical information about the thermodynamic and dynamic properties of the simulated object represented by the stirling engine with a free piston.

关键词： Pistons stirling engines Space heating Isothermal processes Mathematical model Analytical models

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