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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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Structural sensitivity of control models arising in combined chemo-radiotherapy 23

Structural sensitivity of control models arising in combined...

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

作者： Dolbniak, Marzena Smieja, Jaroslaw Swierniak, Andrzej Silesian Tech Univ Inst Automat Control Akad 16 PL-44100 Gliwice Poland

ISBN: (纸本)9781538643259

Simple mathematical models of tumor growth are commonly used to predict efficiency of different therapy protocols and to optimize therapy outcome. Nowadays, the focus is on personalized oncology, in which treatment strategy is tailored to an individual patient. Simple models with minimal number of parameters can be used to find appropriate treatment strategy. The main idea of this study is to describe effects of combined radio-chemotherapy by two control actions. In this work we compare results of different control strategies (treatment protocols) for a family of models of tumor growth. Using simulations in silico we analyse responses of a thousand patients to three possible therapy protocols. Comparing Kaplan-Meier survival curves obtained for two different tumor growth models indicates that while Gompertz model is slightly less sensitive to changes in control action than exponential and logistic models, the difference is negligible. The important finding is that the shapes of survival curves are similar in all cases. It suggests that the family of models is structurally insensitive. Obtained results imply that more attention should be paid on estimation of parameters for a tumor growth model, than on model selection.

关键词： Tumors Mathematical model Medical treatment Logistics Analytical models Cancer Cathode ray tubes

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Analytical Steady-State Model of the Pipeline Flow Process 23

Analytical Steady-State Model of the Pipeline Flow Process

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

作者： Kowalczuk, Zdzislaw Tatara, Marek Gdansk Univ Technol Fac Elect Telecommun & Informat Dept Robot & Decis Syst Ul Narutowicza 11-12 PL-80233 Gdansk Poland

ISBN: (纸本)9781538643259

The paper addresses the issue of modeling the flow process in transmission pipelines. A base model used for numerical simulation is introduced. Under certain assumptions concerning steady state analysis, the differential equations describing the process are solved analytically for two cases: zero and nonzero inclination angle alpha. These equations describe a constant flow rate and a corresponding distribution of the pressure along the considered pipeline for both cases. The pipe length at which the pipeline is choking (the mass flow is equal zero) for given boundary pressures and inclination angle, is also derived. Convergence of the proposed solution for inclination angle alpha -> 0 to the zero tilt solution, is proved. An exemplary practical relationship based on obtained equations is provided as a 3D chart. A test pipeline with adjustable inclination angles of its selected parts is considered. The analytic solution for the effective angle is compared with numerical solutions, which show relevant discrepancies between the results obtained for nonzero angles. Clearly, the numerical solution for a straight pipeline (with the increasing number of segments) is convergent to the analytic solution. Moreover, up to 16 degrees, the analytic approximation (using an effective inclination angle) is sufficient, and produces similar results as the numerical simulation.

关键词： Pipelines Mathematical model Numerical models Steady-state Computational modeling Boundary conditions Convergence

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Efficient Evaluation and Optimization Of Automated Gripper Finger Design For Industrial Robotic Applications 23

Efficient Evaluation and Optimization Of Automated Gripper F...

引用

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

作者： Kapilavai, A. Wolniakowski, A. Jorgensen, T. Bo Lindvig, A. P. Savarimuthu, T. R. Kruger, N. Univ Southern Denmark Maersk McKinney Moller Inst SDU Robot Odense M Denmark Bialystok Tech Univ Fac Mech Engn Bialystok Poland

ISBN: (纸本)9781538643259

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 23

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

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

作者： Barth, Jacson M. O. Condomines, Jean-Philippe Moschetta, Jean-Marc Join, Cedric Fliess, Michel French Civil Aviat Sch UAV Syst Grp F-31400 Toulouse France Inst Super Aeronaut & Espace Dept Aerodynam Energet & Prop F-31400 Toulouse France Univ Lorraine CNRS UMR 7039 CRAN BP 239 F-54506 Vandoeuvre Les Nancy France Ecole Polytech CNRS UMR 7161 LIX F-91128 Palaiseau France AL IEN Algebre Identificat & Estimat Numer 7 Rue Maurice Barres F-54330 Vezelise France

ISBN: (纸本)9781538643259

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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Model Reference Control for 2-D System

Model Reference Control for 2-D System

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

作者： Jerzy E. Kurek Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland

The Model Reference Control algorithm for SISO 2-D system is presented. The algorithm is simple one and can be easily used in practice. It enables simple design of 2-D system. The proposed approach is illustrated by n... 详细信息

关键词： Control systems Adaptation models Mathematical model Numerical models Solid modeling Transfer functions Adaptive control

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Sample Time Optimization for the Discrete Approximation of the Fractional Order Charef Transfer Function

Sample Time Optimization for the Discrete Approximation of t...

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

作者： Krzysztof Oprzędkiewicz Klaudia Dziedzic Dept of Automatics and Robotics AGH University Krakow Poland

In the paper the sample time optimization problem for the discrete approximation of fractional order Charef transfer function is presented. The sample time assuring the best accuracy of discrete model is assigned numerically using Particle Swarm Optimization (PSO) algorithm. Results of experiments show that the PSO method allows to find the optimal value of the sample time with relatively short duration of calculations.

关键词： Transfer functions Cost function Numerical models Optimization methods Particle swarm optimization Approximation algorithms

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

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

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international conference on methods and models in automation and robotics

作者： Marek Blasik Institute of Mathematics Czestochowa University of Technology Czestochowa Poland

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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Experimental Verification of Discrete Linear-Quadratic-Gaussian Control System of Electro-Hydraulic Servodrive

Experimental Verification of Discrete Linear-Quadratic-Gauss...

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

作者： Jakub Mozaryn Arkadiusz Winnicki Michal Micewicz Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw

This paper presents the design of a discrete Linear-Quadratic-Gaussian (LQG) controller for the electro-hydraulic servodrive position control. The controller is based on the identified linear model of the system. There are given experimental results of the proposed control system and a comparison with a control system with Proportional-Derivative (PD) controller.

关键词： Kalman filters Covariance matrices Actuators Linear systems Pistons Observers

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ADRC Load Position Controller for Two Mass System with Elastic Joint and Backlash

ADRC Load Position Controller for Two Mass System with Elast...

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

作者： Bartlomiej Wicher Poznan University of Technology Institute of Control Robotics and Information Engineering Poznan Poland

The article presents simulation research over the position control of two-mass system with backlash. Author implemented Active Disturbance Rejection Control method for this type of object. The simulation research are preliminary tests before implementation the algorithm on laboratory bench. Detailed description of each block of the control system is presented, then simulation research are conducted, next - proposed performance indexes are calculated, finally conclusions and future works are discussed.

关键词： Mathematical model Torque Position control Observers Shafts Oscillators

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Terminal Sliding Mode Control with Control Signal and Velocity Constraints

Terminal Sliding Mode Control with Control Signal and Veloci...

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

作者： Mateusz Pietrala Marek Jaskula Institute of Automatic Control Łodź University of Technology Łodź Poland

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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