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2018 23rd international conference on methods and models in automation and robotics, mmar 2018

2018 23rd International Conference on Methods and Models in ...

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23rd international conference on methods and models in automation and robotics, mmar 2018

ISBN: (纸本)9781538643259

The proceedings contain 167 papers. The topics discussed include: on initialization of adaptation in active noise control;MARAAL: a low altitude long endurance solar powered UAV for surveillance and mapping applications;implementation of the FOPID algorithm in the PLC controller - PWR thermal power control case study;on polynomial zero exclusion from an RHP sector;toward a framework for evaluation of cache-based decision making process;minimum energy control of fractional linear systems;extremal problems for parabolic systems with multiple time-varying lags;new approach to accuracy measurement of the membrane shape mapping of the heart assist pump;an enumerative algorithm for a two-machine preemptive job scheduling with a learning effect;and fast two-level image indexing based on local interest points.

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An intelligent decision-making system for autonomous units based on the mind model 23

An intelligent decision-making system for autonomous units b...

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23rd international conference on methods and models in automation and robotics (mmar)

作者： Kowalczuk, Zdzislaw Czubenko, Michal Gdansk Univ Technol Fac Elect Telecommun & Informat 11-12 Narutowicza St PL-80233 Gdask Poland

This article presents a specific part of current trends in autonomous robotics. It pays special attention to the basic aspects of cognitive architecture. After a brief introduction, we shortly describe the Intelligent... 详细信息

ISBN: (纸本)9781538643259

关键词： Cognitive informatics Cognitive robotics Cognitive science Psychology Artificial intelligence Intelligent robots Knowledge representation

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Accelerating Newton Algorithms of Inverse Kinematics for Robot Manipulators 23

Accelerating Newton Algorithms of Inverse Kinematics for Rob...

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23rd international conference on methods and models in automation and robotics (mmar)

作者： Duleba, Ignacy Karcz-Duleba, Iwona Wroclaw Univ Sci & Technol Fac Elect Janiszewski St 11-17 PL-50372 Wroclaw Poland

ISBN: (纸本)9781538643259

In this paper a few methods of accelerating computations of an inverse kinematic task for robot manipulators are discussed and compared. The methods adapt known ideas to the domain of robotics, and rely on an approximation of inverse matrices, that are computed in each iteration of the Newton algorithm of inverse kinematics, with much computationally cheaper matrix polynomials. The computational efficiency of the methods is illustrated on planar pendula with a varied degree of redundancy.

关键词： Transmission line matrix methods Kinematics Task analysis Jacobian matrices Manipulators Symmetric matrices

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A generalized Crank-Nicolson method for the solution of the subdiffusion equation 23

A generalized Crank-Nicolson method for the solution of the ...

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23rd international conference on methods and models in automation and robotics (mmar)

作者： Blasik, Marek Czestochowa Tech Univ Inst Math Czestochowa Poland

ISBN: (纸本)9781538643259

In this paper we present a numerical solution of a one-dimensional subdiffusion equation with a fractional time derivative in the Caputo sense. The proposed algorithm is an extension of the Crank-Nicolson method for a classical parabolic partial differential equation. In the final part, we also present examples illustrating the comparison of the analytical solution with the results received by the proposed numerical method.

关键词： fractional derivatives and integrals integro-differential equations numerical methods finite difference methods

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Remarks on Functional Observers for Distributed Parameter Systems 23

Remarks on Functional Observers for Distributed Parameter Sy...

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23rd international conference on methods and models in automation and robotics (mmar)

作者： Emirsajlow, Zbigniew West Pomeranian Univ Technol Dept Control & Measurements Sikorskiego 37 PL-70313 Szczecin Poland

ISBN: (纸本)9781538643259

The paper deals with the output observation problem for a class of distributed parameter systems. We describe the design procedure by deriving sufficient conditions to be satisfied by a functional observer which does the job. The plant is described by a state space model with the system operator generating a strongly continuous group. We assume that both the input and the output operators of the plant and the observer are bounded.

关键词： Observers Mathematical model Generators Distributed parameter systems Analytical models Electronic mail Hilbert space

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Development of a Model Predictive Controller for an Unstable Heavy Self-balancing Robot 23

Development of a Model Predictive Controller for an Unstable...

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23rd international conference on methods and models in automation and robotics (mmar)

作者： Okulski, Michal Lawrynczuk, Maciej Warsaw Univ Technol Inst Control & Computat Engn Ul Nowowiejska 15-19 PL-00665 Warsaw Poland

ISBN: (纸本)9781538643259

This paper describes development of a control system for a heavy self-balancing two-wheeled robot. The development process includes: model identification, model tuning, design and tuning of a Model Predictive Control (MPC) algorithm. Although a simple linear state-space model with only two state variables is used, the results of laboratory experiments clearly indicate that the MPC algorithm based on such a model works well, i.e. the algorithm is able to effectively stabilise the robot.

关键词： Mathematical model Data models Robots Predictive models Process control Prediction algorithms Control systems

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Pole-free perfect control: theory vs. simulation examples 23

Pole-free perfect control: theory vs. simulation examples

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23rd international conference on methods and models in automation and robotics (mmar)

作者： Krok, Marek Hunek, Wojciech P. Opole Univ Technol Inst Control Engn Opole Poland

ISBN: (纸本)9781538643259

The mathematical preliminaries of the pole-free perfect control is discussed in this paper. Also the intriguing differences between the pole-free perfect control theory and presented simulation examples are shown. Although, the pole-free phenomenon is described only for a range of state-space systems so far, the first attempt of generalization of this maximum-speed/maximum-accuracy control algorithm is made in this paper.

关键词： Mathematical model Control design Eigenvalues and eigenfunctions Matrices Closed loop systems Numerical models

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On Initialization of Adaptation in Active Noise Control 23

On Initialization of Adaptation in Active Noise Control

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23rd international conference on methods and models in automation and robotics (mmar)

作者： Figwer, Jaroslaw Michalczyk, Malgorzata I. Silesian Tech Univ Inst Automat Control Akad 16 PL-44100 Gliwice Poland

ISBN: (纸本)9781538643259

In the paper properties of adaptive feedforward active noise control systems with adaptation based on LMS algorithm are discussed from the point of view of initialization of adaptation. A focus on average rate of convergence of the corresponding active noise control algorithms is given. The ideas presented are illustrated by simulation examples in which mixed spectrum and wide-band noises are attenuated.

关键词： Adaptation models Adaptive systems Attenuation Noise measurement Convergence White noise Microphones

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Numerical Aspects of Extreme Learning Machine Implementation to Regression Problems 23

Numerical Aspects of Extreme Learning Machine Implementation...

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23rd international conference on methods and models in automation and robotics (mmar)

作者： Kabzinski, Jacek Lodz Univ Technol Inst Automat Control Lodz Poland

ISBN: (纸本)9781538643259

An Extreme Learning Machine (ELM) - a neural network with fixed hidden layer and adjustable output weights is able to solve complicated regression (approximation) problems, but the standard selection of input weights and biases may lead to ill-conditioning of the output weights calculation and result in high values of the output weights. Two modifications of standard ELM are discussed: deterministic generation of hidden nodes parameters and modifications of activation functions to improve numerical properties of the algorithm.

关键词： Neurons Standards Hypercubes Adaptation models Training Approximation algorithms Linear matrix inequalities

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Terminal sliding mode control with control signal and velocity constraints 23

Terminal sliding mode control with control signal and veloci...

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23rd international conference on methods and models in automation and robotics (mmar)

作者： Pietrala, Mateusz Jaskula, Marek Lodz Univ Technol Inst Automat Control 18-22 Stefanowskiego St PL-90924 Lodz Poland

ISBN: (纸本)9781538643259

In this paper the time optimal sliding mode controller for the second order systems with uncertainties is introduced. A time-varying sliding line is proposed, in order to eliminate the influence of perturbations for the whole regulation process. Moreover, it is selected to ensure the finite-time convergence of the regulation error to zero. The regulation time is minimized with respect to the control signal and velocity constraints.

关键词： Mathematical model Sliding mode control Robustness Convergence Process control Uncertainty Perturbation methods

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