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检索条件"任意字段=23rd International Conference on Methods and Models in Automation and Robotics, MMAR 2018"

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Optimal Control of Sediment in Irrigation Canals

Optimal Control of Sediment in Irrigation Canals

引用

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

作者： Miguel E. Vázquez-Méndez Lino J. Alvarez-Vázquez Aurea Martínez Carmen Rodríguez Miguel A. Vilar EPS de Enxeñería Universidade de Santiago de Compostela Lugo Spain EI Telecomunicación Universidade de Vigo Vigo Spain Facultad de Matemáticas Universidade de Santiago de Compostela Santiago Spain

In this work a 2D mathematical model for simulating the sedimentation of suspended particles in canals is proposed. This model is obtained by coupling the shallow water equations for hydrodynamics with the Exner equations for sediment transport. Looking to avoid the suspended particles settling and their unwanted effects, the model is used to formulate the problem of the management of an irrigation canal, as an optimal control problem (OCP) of partial differential equations. The OCP is solved by interfacing MIKE21 package for modelling stage, with the authors' own MATLAB code for optimizing purpose. Finally, some numerical results are presented for a realistic case.

关键词： Sediments Irrigation Mathematical model Numerical models Biological system modeling Electronic mail Minimization

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When is Naive Low-Pass Filtering of Noisy Measurements Counter-Productive for the Dynamics of Controlled Systems?

When is Naive Low-Pass Filtering of Noisy Measurements Count...

引用

international conference on methods and models in automation and robotics

作者： Andreas Rauh Swantje Romig Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

In many practical applications, noisy measurements are low-pass filtered by (quasi-)continuous-time filters with linear, fixed-order lag behavior that are manually tuned according to the designer's gut feeling. However, if the time constants of these low-pass filters are neglected during control synthesis, oscillations may arise even in cases in which the non-filtered closed-loop dynamics are described by linear system models with purely real eigenvalues. In this paper, Lyapunov methods are applied to system models given in terms of stochastic differential equations to account for measurement and process noise and to predict the influence of noise on the filter and closed-loop system dynamics. In addition, an optimization approach for the parameterization of state observers is derived which is based on these Lyapunov techniques. It is implemented by a suitable problem formulation in terms of linear matrix inequalities. Illustrative simulation case studies, including a comparison with the well-known stationary Kalman Filter, conclude this paper.

关键词： Observers Stability analysis Asymptotic stability Stochastic processes Noise measurement Optimization Lyapunov methods

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Inference methods for Detecting the Root Cause of Alarm Floods in Causal models

Inference Methods for Detecting the Root Cause of Alarm Floo...

引用

international conference on methods and models in automation and robotics

作者： Paul Wunderlich Oliver Niggemann inIT - Institut Industrial IT OWL University of Applied Sciences Lemgo Germany

Driven by the oil and chemical industry and amplified by the digitization and automation of the industry, the issue of alarm management has been gaining more and more importance. In highly automated and complex industrial systems, on the one hand, a large number of messages and alarms arise and, on the other hand fewer and fewer employees must be able to handle them. This amount of alarms is called alarm flood and it is a huge safety risk in facilities such as refineries. Therefore, it is necessary to reduce these alarm floods, thus reducing downtime, supporting the operator and preventing catastrophes. A novel approach to reducing alarm floods is concerned with learning the causal relationships between the alarms. The learned interrelations of the alarms are represented by a causal model. Based on these causal model, a root cause analysis is carried out to find out the cause of an alarm flood. This makes it possible to dramatically reduce the number of alarms and messages by displaying only the potential root causes. Therefore, we validate the approach of identifying the root cause of an alarm flood by a given causal model. The three most common inference methods are investigated and their suitability for practical application is evaluated on two demonstrators from SmartFactoryOWL.

关键词： Bayes methods Filling Inference algorithms Oils Probability distribution Complexity theory

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Input Filter Optimisation for a DTC Driven Matrix Converter-Fed PMSM Drive

Input Filter Optimisation for a DTC Driven Matrix Converter-...

引用

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

作者： Przemyslaw Siwek Institute of Control Robotics and Information Engineering Poznan University of Technology Poznan Poland

This paper presents optimisation results of input filter parameters for a Direct Torque Control driven Matrix Converter-fed PMSM drive. The main objective of performed research was to achieve better quality indicators of input filter as compared to the analytic method. DTC method is based on controlling the length and angle of a stator flux linkage vector with MC states chosen from a Switching Table. Therefore, presented method has a variable switching frequency, which makes it difficult to analytically appoint a suitable filter. The optimization was performed using one of the newest metaheuristic algorithms - Cuckoo Search. In the article author proposes an objective function, optimization restrictions and filter quality indicators connected with the power factor, electromagnetic torque error, current drawn from the grid, voltage THD and grid current. As a result of this analysis, best filters were chosen, whose performances were then compared in simulation research. Eventually, a filter appointed by mentioned optimization achieved better results for power factor and grid current distortion indicators. Remaining parameters were similar to those of analytic filter.

关键词： Power harmonic filters Optimization Matrix converters Torque Filtering algorithms Couplings Reactive power

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State-Space Transformations of Uncertain Systems With Purely Real and Conjugate-Complex Eigenvalues Into a Cooperative Form

State-Space Transformations of Uncertain Systems With Purely...

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international conference on methods and models in automation and robotics

作者： Julia Kersten Andreas Rauh Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

Cooperativity of uncertain dynamic systems can be exploited to simplify several tasks such as the computation of guaranteed state enclosures, the design of interval observers, forecasting worst-case bounds for selected system outputs in predictive control, and the identification of unknown parameters. Although many system models in biological, chemical, and medical applications are naturally cooperative, there is also a great number of systems (typically from the fields of electric, magnetic, and mechanical applications) which do not show this property if the state equations are derived using first-principle techniques. Hence, it is often desired to transform such system models into an equivalent cooperative form. Unfortunately, these transformations are often not straightforward, especially, if linear systems and nonlinear ones with state-dependent system matrices are subject to bounded parameter uncertainty. This paper presents two approaches for the transformation of state equations into a cooperative form for which the original system models do not fulfill sufficient criteria for cooperativity in their basic formulation. These are a time-invariant transformation for systems with purely real eigenvalues and a time-varying transformation in the case of conjugate-complex eigenvalues. Both procedures are tested on real-life application scenarios with interval parameters.

关键词： Eigenvalues and eigenfunctions Linear matrix inequalities Mathematical model Uncertain systems Observers Symmetric matrices Numerical models

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Relief F-Based Feature Ranking and Feature Selection for Monitoring Induction Motors

Relief F-Based Feature Ranking and Feature Selection for Mon...

引用

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

作者： Anna Stief James R. Ottewill Jerzy Baranowski ABB Corporate Research Center Krakow Poland Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

A feature is a measured property of a monitored system. Feature extraction in condition monitoring requires domain knowledge about a system and its possible fault cases. To find the most sensitive features for fault patterns, one has to evaluate the relevancy of features. In this paper the authors use ReliefF, which is a K-nearest neighbors-based feature selection algorithm, to evaluate the features extracted from an induction motor dataset. The dataset contains data from eight different health states of an induction motor. Feature relevancy is calculated for each health state. The selected features are fed into a simple Bayesian binary classifier to calculate the most likely health state. The method provides insight into the relevance of features by sensor type and also by signal processing type. The evaluation of similarity among the selected features can help identify similar faults. The results obtained emphasize the importance of domain knowledge in the proper design of features. Furthermore, by considering experimental data obtained for multiple loading and noise conditions, the feature selection method indicates features which are best suited for diagnosing specific faults, regardless of external conditions. Such information can support the creation of robust monitoring systems.

关键词： Feature extraction Induction motors Training Monitoring Classification algorithms Bayes methods Condition monitoring

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Efficient Evaluation and Optimization Of Automated Gripper Finger Design For Industrial Robotic Applications

Efficient Evaluation and Optimization Of Automated Gripper F...

引用

international conference on methods and models in automation and robotics

作者： A. Kapilavai A. Wolniakowski T. Bo Jorgensen A. P. Lindvig T. R. Savarimuthu N. Kruger SDU Robotics University of Southern Denmark OdenseM Denmark Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland

Gripper fingers design is a current and important problem in industrial robotics. Recently, advances have been made to replace the arduous manual trial-and-error design process with optimization methods based on dynamic simulations. In these approaches, the gripper fingers are parametrized and evaluated by simulating multiple grasp sets in order to obtain the quality score, which is subsequently optimized. The computational efficiency of this process depends on: (1) the choice of the scoring function that provides robust evaluation with minimal number of grasps, (2) the choice of optimization algorithm that converges to global optimum quickly and (3) the choice of optimization method and meta-parameters. In this paper, we present considerations pertaining to these three problems. We use the previously proposed gripper finger design and optimization methods for generating a finger cut-out. for an asymmetrical object used in industrial assembly tasks. We suggest two new alignment quality scores and compare their efficiency with preexisting methods. In addition, compare the performance of two optimization methods (one local and one global) and find the meta-parameters for the local method.

关键词： Grippers Grasping Robots Robustness Optimization methods Mathematical model

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Model-Free Control Approach for Fixed-Wing UAVs with Uncertain Parameters Analysis

Model-Free Control Approach for Fixed-Wing UAVs with Uncerta...

引用

international conference on methods and models in automation and robotics

作者： Jacson M. O. Barth Jean-Philippe Condomines Jean-Marc Moschetta Cedric Join Michel Fliess UAV Systems Group French Civil Aviation School Toulouse France Department of Aerodynamics Energetics and Propulsion Institut Supérieur de l'Aéronautique et de l'Espace Toulouse France CRAN Université de Lorraine BP 239 Vandoeuvre-lès-Nancy France LIX École polytechnique Palaiseau France

This paper presents first results of an innovative Model-Free Control (MFC) architecture applied to fixed-wing UAVs. MFC is an algorithm dedicated to systems with poor modeling knowledge. Indeed, the costs to derive a reliable and representative aerodynamic model for UAVs motivated the use of such a controller. By exploiting a purely numerical model, this algorithm provides an intuitive method to tune the control loop without any information about the controlled system. We propose to extend the MFC architecture to the case of fixed-wing UAVs and study the MFC properties in terms of uncertain parameters. As a first result, our designed MFC architecture provides a continuous controller able to stabilize the entire flight envelope of two different fixed-wing UAVs. These results show promising adaptive perspectives and demonstrate that MFC presents robust properties for both uncertain parameters and disturbance rejection.

关键词： Mathematical model Numerical models Aerodynamics Robustness Estimation Computational modeling Computer architecture

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Integrated Drive System of Robotic Arm Joint Used in a Mobile Robot

Integrated Drive System of Robotic Arm Joint Used in a Mobil...

引用

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

作者： P. Tomaszuk A. Łukowska M. Rećko K. Dzicrzck Departmenr of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland

The objective of the article is the design of compact cycloidal gear with built-in brushless motor and integrated driver. The assumption of the project is lightweight joint with high ratio and durability to use in a mobile robot. The main advantage of a cycloidal gear is low backlash and self-locking. One of the most significant design problems is off-axial work of some gear parts. The internal part which directly transfers torque is being put into off-axis motion by the eccentrical shaft. The solution to restoring axial movement is the application of the second stage which is orientated backwards to the first stage. The created unit is a differential pair of gears with input and output shafts move in one axis. The specificity of this system requires a difference of ratio by one between both stages to work correctly. A brushless DC motor has been applied to maintain compact size of joint. This kind of electric motor allows for precise control of angle and speed. Moreover, it can halt in any desired position while withholding the torque. The internal driver based on STM32 microcontroller unit with ARM-Cortex core is used to control the drive. Thanks to DC/DC converter power supply unit of the driver is adapted to use the same power source as the motor. A measure of the motor current allows the driver to calculate load and prevents winding overcurrent even when the motor is not rotating. The absolute magnetic encoder is fitted to precisely determine the inclination of joint. The most significant advantage of the integrated joint is standalone construction with own control unit. Control algorithm adjusts inclination and load. This independent module communicates with other units using CAN-bus. Robot's central computer sends only set values of angle, speed and acceleration.

关键词： Gears Brushless DC motors Shafts Synchronous motors Robots

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Machining with Industrial Robots: The COMET Project Approach

Machining with Industrial Robots: The COMET Project Approach

引用

international Workshop on robotics in Smart Manufacturing (WRSM 2013) / 23rd international conference on Flexible automation and Intelligent Manufacturing (FAIM 2013)

作者： Lehmann, Christian Pellicciari, Marcello Drust, Manuel Gunnink, Jan Willem Brandenburg Tech Univ Cottbus Chair Automat Technol D-03046 Cottbus Germany

ISBN: (纸本)9783642392221

Machining using industrial robots is currently limited to applications with low geometrical accuracies and soft materials due to weaknesses of the robot structure, insufficient controller performance and the lack of suitable software tools. This paper proposes a modular approach to overcome these obstacles, applied both during program generation (offline) and execution (online). Offline predictive machining errors compensation is achieved by means of an innovative programming system, based on kinematic and dynamic robot models. Realtime adaptive machining error compensation is also provided by sensing the real robot positions with an innovative tracking system and corrective feedback to both the robot and an additional high dynamic compensation mechanism on piezo-actuator basis. Due to the modularity of the approach, an individual setup can be compiled for each actual use-case. Final experimental validation of the components is currently ongoing in multiple robot cells, covering several application areas as aerospace, automotive or mould construction.

关键词： robotic machining engineering methods 3D-piezo-actuator compensation mechanism

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