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检索条件"任意字段=22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017"

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Velocity estimation for slow motion devices equipped with encoder

Velocity estimation for slow motion devices equipped with en...

引用

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

作者： Krzysztof Kołek Maciej Rosół Department of Automatics and Bioengineering AGH University of Science and Technology Kraków Poland

This paper addresses the problem of velocity estimation for slow motion elements equipped with encoders. The slow movement causes rare pulses generated from the encoder, rarer than the sampling frequency. In such conditions, the velocity calculation by numeric derivative or Luenbergera observer fails. For that, it is proposed a new velocity estimation algorithm that uses information specific for encoder operating mode. Simulation and real-time experiments have shown a significant reduction in velocity error estimation of the proposed algorithm in comparison to conventional algorithms.

关键词： Observers Closed loop systems Angular velocity Current measurement Prediction algorithms Numerical models

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General Lagrangian Jacobian motion planning algorithm for affine robotic systems with application to a space manipulator

General Lagrangian Jacobian motion planning algorithm for af...

引用

international conference on methods and models in automation and robotics

作者： Krzysztof Tchoń Joanna Ratajczak Chair of Cybernetics and Robotics Wrocław University of Science and Technology Wrocław Poland

This paper proposes an extension of the concept of the General Lagrangian Jacobian Inverse from driftless to control affine robotic systems, and presents the corresponding Jacobian motion planning algorithm in the parametric form. A specific choice of the Lagrangian is recommended. The motion planning algorithm is applied to the motion planning problem of a free-floating space manipulator with non-zero momentum. A conjecture is formulated that for this specific choice of the Lagrangian the motion planning algorithm outperforms the other Jacobian algorithms in terms of the length of the resulting robot trajectory.

关键词： space manipulator extension General

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Predictive control for offset-free motion of industrial articulated robots

Predictive control for offset-free motion of industrial arti...

引用

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

作者： Květoslav Belda Václav Záda Akademie ved Ceske republiky Praha CZ Department of Electromechanical Systems and Robotics FM TUL Liberec Czech Republic

This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets. The corresponding incremental predictive algorithms incorporating discrete integrators are introduced. The theoretical results are demonstrated by the set of simulation examples with the six-axis multipurpose ABB robot IRB 140 that belongs to the large class of industrial articulated robots.

关键词： Mathematical model Robot kinematics Cost function Predictive models Predictive control Service robots

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Accelerating the rate of convergence for LMS-like on-line identification and adaptation algorithms. Part 1: Basic ideas

Accelerating the rate of convergence for LMS-like on-line id...

引用

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

作者： Jarosław Figwer Małgorzata Michalczyk Teresa Główka Institute of Automatic Control Silesian University of Technology Gliwice Poland

In the paper a modification enabling acceleration of the rate of convergence for LMS-like on-line identification and adaptation algorithms is proposed. This is based on an artificial decaying of initial conditions in recursive identification as well as adaptation algorithms. The decaying is done using a set of the most recent measurements. Properties of the algorithms with the proposed modification are compared with non-accelerated identification and adaptation algorithms in simulations of a practical adaptive control system.

关键词： Acceleration Convergence Mathematical model Signal processing algorithms Adaptation models Steady-state Stability analysis

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Implementation and evaluation of a bilateral teleoperation with use of wave variables in the ReMeDi system for remote medical examination

Implementation and evaluation of a bilateral teleoperation w...

引用

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

作者： Adam Kurnicki Mateusz Cholewiński Bartłomiej Stańczyk Krzysztof Arent Automation and Metrology Department Lublin University of Technology Lublin Poland Department of Cybernetics and Robotics Wroclaw University of Technology Wroclaw Poland ACCREA Engineering Lublin Poland

The article presents a bilateral teleoperation architecture with wave variables that has been applied in a new robotic system for remote medical examination. First we discuss specificity of requirements of the ReMeDi medical system with respect to teleoperation architecture and the process of its selection. Then we discuss implementation issues concerning the architecture. Finally we present evaluation results.

关键词： Probes Manipulators Ultrasonic imaging Haptic interfaces Delays Medical services

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Multistage identification of an N-L-N Hammerstein-Wiener system

Multistage identification of an N-L-N Hammerstein-Wiener sys...

引用

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

作者： Grzegorz Mzyk Marcin Biegański Bartłomiej Kozdraś Wrocław University of Science and Technology Poland

In the paper we consider a problem of Hammerstein-Wiener (N-L-N) system identification in the presence of random input and random noise. The proposed strategy combines both parametric (e.g. least squares) and nonparametric (kernel) estimates (cf. [6]). First, the impulse response of the linear block, and the composition of two nonlinear characteristics are identified independently. Next, the nonlinear function composition is splited into two parts to obtain the models of all individual blocks of the system. The consistency of the proposed estimates is analyzed and simple simulation example is presented.

关键词： Nonlinear dynamical systems Kernel Heuristic algorithms Optimization Finite impulse response filters Least mean square methods Data models

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Exponentially weighted aggregation of models for Wiener-Hammerstein system modelling

Exponentially weighted aggregation of models for Wiener-Hamm...

引用

international conference on methods and models in automation and robotics

作者： Pawel Wachel Zygmunt Hasiewicz Wroclaw University of Science and Technology Wroclaw Poland

In the paper the problem of Wiener-Hammerstein system (LNL) modelling by exponentially weighted aggregation of models is discussed. The class of systems under consideration admits almost any LNL objects even with infinite memory and virtually arbitrary nonlinear characteristic. Given the set of various possible models of the true system (being e.g. the result of prior identification attempts), the proposed approach yields mixed model that efficiently mimics input-output relationship of the genuine LNL system. Detailed analysis of the approach demonstrates good theoretical properties of the resulting (aggregated) model, whereas numerical simulations illustrate practical aspects of the considered method.

关键词： models Wiener-Hammerstein LNL

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Nonlinear inverse modeling with signal prediction in bilateral teleoperation with force-feedback

Nonlinear inverse modeling with signal prediction in bilater...

引用

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

作者： Mateusz Saków Arkadiusz Parus Mirosław Pajor Karol Miądlicki Faculty of Mechanical Engineering and Mechatronics West Pomeranian University of Technology Szczecin Poland

In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a prediction of an input and an output of a non-linear inverse model by prediction blocks is presented. The prediction method was designed to minimize the effect of the transport delay and the phase shift of sensors, actuators and mechanical objects. The solution is an alternative to complex non-linear models like artificial neural networks which requires complex stability analysis and control systems with high computing power. The effectiveness of the method has been verified on the hydraulic manipulator test stand.

关键词： Delays Communication channels Force Inverse problems Predictive models Sensors Manipulators

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Polish whispery speech recognition — Minimum sampling frequency

Polish whispery speech recognition — Minimum sampling frequ...

引用

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

作者： Piotr Kozierski Talar Sadalla Szymon Drgas Adam Dąbrowski Wojciech Giernacki Faculty of Electrical Engineering Poznan University of Technology Poznan Faculty of Computing Poznan University of Technology Poznan Politechnika Poznanska Poznan PL

The article presents studies on the automatic whispery speech recognition. In the performed research a new corpus with whispery speech has been used. It has been checked how is the speech recognition quality changing at variables sampling frequency and signal frame length. It has been found that the optimal sampling frequency of whispery speech is about 32-48 kHz, while the optimal signal frame length is about 32-43 ms. The comparison of spectrograms between the normal and whispery speech has been also presented.

关键词： Speech Speech recognition Spectrogram Hidden Markov models Mel frequency cepstral coefficient Libraries Training

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A comparative analysis of two methods for model predictive control of fractional-order systems

A comparative analysis of two methods for model predictive c...

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

作者： Rafał Stanisławski Marek Rydel Krzysztof J. Latawiec Marian Łukaniszyn Marcin Gałek Department of Electrical Opole University of Technology Opole Poland

The paper presents a comparative analysis of extended horizon model predictive control deployed for two various state prediction algorithms designed for discrete-time fractional-order state space systems. The first one is a finite fractional difference state predictor derived on the basis of a finite-length approximation of the fractional-order state space system. The second one is a BTA-based integer-order state space approximation of the fractional-order system. Simulation results show that second approach is more promising.

关键词： Prediction algorithms Predictive control Predictive models Aerospace electronics Algorithm design and analysis Time complexity Approximation algorithms

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