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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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Installation and Control of Building automation Systems using Human-Robot-Interaction 23

Installation and Control of Building Automation Systems usin...

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

作者： Ohlenbusch, Mattes Bartner, Niklas F. H. Voege, Sarah Vox, Jan P. Flessner, Jannik Frenken, Melina Wallhoff, Frank Jade Univ Appl Sci ITAS D-26121 Oldenburg Germany

ISBN: (纸本)9781538643259

In this work, an implementation of a building automation system extendable in a dialog with a robot counterpart is designed and evaluated. The system enables its users to integrate new building automation devices into an existing configuration and control them using only voice control. The usage of a robot is meant to enhance the interaction and its ambience for users. Key findings of this work are that users of the developed system find it more desirable to be able to extend their building automation by themselves. Moreover they perceive the interaction scheme to integrate new automation components as mostly positive. The study was conducted with a group consisting of 13 subjects. The conducted tests included not only control of automation components but installation of new devices via voice commands as well. Acceptance and usability measures determined by questionnaires are shown. The presented study underpins the superiority of voice driven interaction within an installation and parametrization setting.

关键词： Human-Robot-Interaction robotics Building automation Dialog-Based Systems Voice Control

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Computationally Efficient Implementation of Dynamic Matrix Control Algorithm for Very Fast Processes Using Programmable Logic Controller 23

Computationally Efficient Implementation of Dynamic Matrix C...

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

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

ISBN: (纸本)9781538643259

This work reports implementation of the Dynamic Matrix Control (DMC) algorithm using a Programmable Logic Controller (PLC). In contrast to typical industrial implementations of the DMC algorithm with relatively long time constants (and sampling times), in this work very fast processes are considered, characterised by very short sampling times. The DMC algorithm is implemented in its most computationally efficient version in which the values of the manipulated variables are calculated from explicit formulas. Thanks to that it is shown that the DMC algorithm is able to successfully control a laboratory process with the sampling time equal to 5 ms. The first process configuration has one input and one output whereas the second one has two inputs and two outputs. The influence of the process horizon of dynamics on the algorithm execution time and PLC's memory usage is discussed.

关键词： Monte Carlo methods Heuristic algorithms Process control Prediction algorithms Pulse width modulation Embedded systems Optimization

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Least Squares and Instrumental Variables Identification of Polynomial Wiener Systems 23

Least Squares and Instrumental Variables Identification of P...

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

作者： Janczak, Andrzej Univ Zielona Gora Inst Control & Computat Engn Ul Podgorna 50 PL-65246 Zielona Gora Poland

ISBN: (纸本)9781538643259

The paper is addressed to a combined least squares (LS) and instrumental variables (IV) approach to identification of polynomial Wiener systems. It is assumed that the inverse nonlinear element can be described by a polynomial. It is shown that LS parameter estimates of polynomial Wiener system are inconsistent and to circumvent the consistency problem, the well-known IV method is used. To avoid the parameter redundancy, three different methods of calculation inverse nonlinear function parameters from the transformed model parameters are proposed. The simulation results are included that confirm the practical feasibility of the proposed approach. The highest parameter estimation accuracy has been obtained via solving an overdetermined system of equations, only insignificantly lower accuracy has been obtained using the mean value approach, and the lowest one calculating the inverse nonlinear function parameters from the sums of transformed Wiener model parameters.

关键词： Mathematical model Instruments Parameter estimation Nonlinear dynamical systems Predictive control Predictive models

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Application of iterative learning methods to control of a LEGO wheeled mobile robot 23

Application of iterative learning methods to control of a LE...

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

作者： Maniarski, Robert Paszke, Wojciech Patan, Maciej Univ Zielona Gora Inst Control & Computat Engn Zielona Gora Poland

ISBN: (纸本)9781538643259

Iterative Learning Control (ILC) is a very powerful control technique that iteratively improves the transient behaviour of systems that are repetitive in nature. In this paper it is shown how ILC algorithm is designed and implemented to improve the tracking trajectory performance of mobile robot with a differential drive. Two step design procedure is proposed where a feedback controller is chosen as a classical PID controller and involves some performance specification to attenuate non-repetitive disturbances and noises. Then, as the second step, the learning filter is determined by an appropriate application of a plant inversion method. It turns out that convergence and learning performance of this ILC scheme can be obtained for a physical system and hence practical usefulness of the scheme is verified experimentally on LEGO EV3-based mobile robot.

关键词： Mobile robots Transfer functions Wheels Mathematical model Adaptive control Task analysis

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When is Naive Low-Pass Filtering of Noisy Measurements Counter-Productive for the Dynamics of Controlled Systems? 23

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

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

作者： Rauh, Andreas Romig, Swantje Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781538643259

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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Research of the Equipment Calibration methods for Fertilizers Particles Distribution by Size Using Image Processing Measurement Method 23

Research of the Equipment Calibration Methods for Fertilizer...

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

作者： Laucka, Andrius Adaskeviciute, Vaida Valinevicius, Algimantas Andriukaitis, Darius Kaunas Univ Technol Dept Elect Engn LT-51368 Kaunas Lithuania Vytautas Magnus Univ Dept Biol LT-44248 Kaunas Lithuania

ISBN: (纸本)9781538643259

Image processing technologies nowadays are widely used in quality control. A new automated quality control system saves resources. Quality control in the fertilizer industry is carried out without interruption. Only indirect measurements can achieve the required quality production efficiency. This article presents the methodology for calibrating indirect particle measurement methods. Particle analysis is performed by processing digital images. Correction of results is carried out with a sieve correction factor. In this work, studies have been carried out using linear regression polynomial function and artificial neural network With the latter, the best results are achieved with sufficient data for training.

关键词： Particle size distribution digital image processing image segmentation computer vision

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Optimal Control of Sediment in Irrigation Canals 23

Optimal Control of Sediment in Irrigation Canals

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

作者： Vazquez-Mendez, Miguel E. Alvarez-Vazquez, Lino J. Martinez, Aurea Rodriguez, Carmen Vilar, Miguel A. Univ Santiago de Compostela EPS Enxeneria Lugo 27003 Spain Univ Vigo EI Telecomunicac Vigo 36310 Spain Univ Santiago de Compostela Fac Matemat Santiago 15782 Spain

ISBN: (纸本)9781538643259

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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State-Space Transformations of Uncertain Systems With Purely Real and Conjugate-Complex Eigenvalues Into a Cooperative Form 23

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

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

作者： Kersten, Julia Rauh, Andreas Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781538643259

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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Inference methods for Detecting the Root Cause of Alarm Floods in Causal models 23

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

引用

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

作者： Wunderlich, Paul Niggemann, Oliver OWL Univ Appl Sci inIT Inst Ind IT D-32657 Lemgo Germany

ISBN: (纸本)9781538643259

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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Performance analysis of the image fusion methods of the proposed 2D acoustic camera 23

Performance analysis of the image fusion methods of the prop...

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

作者： Rzepecki, Jaroslaw Budzan, Sebastian Wrona, Stanislaw Pawelczyk, Marek Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781538643259

In this paper the fundamental acoustic camera issues have been presented. First, design and construction of the 2D microphone array with a vision camera have been described. Finally, acoustic camera has been improved by the fusion of the sound map and digital image from the vision camera. The authors describe in details some fundamental issues related to the acoustic camera construction. Experiments have been performed with NI cDAQ acquisition system equipped with 4x4 microphone array including 2D vision camera. The experiments have been concentrated on the evaluation of different image fusion algorithms performance. In result, for the specific purposes, especially for noisy spaces, some alternative method of the image fusion might be more efficient than standard algorithm.

关键词： Acoustics Cameras Microphone arrays Array signal processing Two dimensional displays Image fusion

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