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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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Numerical Aspects of Extreme Learning Machine Implementation to Regression Problems

Numerical Aspects of Extreme Learning Machine Implementation...

引用

international conference on methods and models in automation and robotics

作者： Jacek Kabzinski Institute of Automatic Control Lodz University of Technology Lodz Poland

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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Efficient Integration of Octree Based Maps in Multi-Robot System

Efficient Integration of Octree Based Maps in Multi-Robot Sy...

引用

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

作者： Michał Drwięga Department of Cybernetics and Robotics Wroclaw University of Science and Technology

The paper presents an approach for integration of three-dimensional world models (octree based maps) in multi-robot systems. The process of maps integration is based on ICP (Iterative Closest Point) algorithm that has been adapted and optimized to operate on octomaps. The presented method has been verified in numerous experiments both in simulation and with publicly available datasets captured from robots. The solution can be applied to various robotic applications such as underwater robots, aerial robots or robots equipped with manipulators - wherever 3D maps are needed and a task is performed by group of mobile robots.

关键词： Robot kinematics Octrees Robot sensing systems Three-dimensional displays Estimation Iterative closest point algorithm

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Approximate Criteria for the Evaluation of Truly Multi-Dimensional Optimization Problems

Approximate Criteria for the Evaluation of Truly Multi-Dimen...

引用

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

作者： Zdzisław Kowalczuk Tomasz Białaszewski Department of Robotics and Decision Systems Gdansk University of Technology Gdansk Poland

In this paper we propose new improved approximate quality criteria useful in assessing the efficiency of evolutionary multi-objective optimization (EMO). In the performed comparative study we take into account the various EMO algorithms of the state-of-the-art, in order to objectively assess the EMO performance in highly dimensional spaces. It is well known that useful executive criteria, such as those based on the true Pareto front in highly multidimensional spaces, can be tedious or even impossible to calculate. On the other hand, the proposed synthetic quality criteria are easy to implement, computationally inexpensive, and sufficiently informative and effective.

关键词： Optimization Task analysis Standards Two dimensional displays Volume measurement Indexes Linear programming

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Modeling and simulation of the averaged dynamics of PWM converters operating in CCM and DCM

Modeling and simulation of the averaged dynamics of PWM conv...

引用

international conference on methods and models in automation and robotics

作者： Damian Suski Dominik A. Gorski Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland Institute of Control and Industrial Electronics Warsaw University of Technology Warsaw Poland

The work concerns the problem of modeling and simulation of the averaged dynamics of PWM converters, which may operate alternately in the continuous current mode (CCM) and the discontinuous current mode (DCM). To capture different descriptions of converter dynamics in different current modes, the hybrid system concept is utilized. The derivation of the hybrid system, which models the average dynamics of the exemplary converter, is presented in details. The performance of the proposed hybrid systems is confirmed by numerical simulation tests.

关键词： Buck converters Mathematical model Switches Inductors Pulse width modulation converters Trajectory Topology

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Control Loop Performance Improvement for OPC Implementation

Control Loop Performance Improvement for OPC Implementation

引用

international conference on methods and models in automation and robotics

作者： Wojciech Grega Department of Automatics and Robotics AGH University of Science and Technology Krakow Poland

The OPC (OLE for Process Control) protocol was developed as a solution which fulfils the requirements of open data integration architecture for industrial control. The OPC standard was primarily not intended for feedback control with real-time requirements. The main complication of this control architecture is the presence of variable time delays. There are several ways to reduce the negative impact of the delays which OPC introduces into the control loop. The Smith predictor turns out to be a simple and effective compensator that rejects the time delays from the control loop.

关键词： Real-time control Data integration OPC standard Data transfer performance Delay compensation Smith predictor

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Comparison and Identifiability Analysis of Friction models for the Dither Motion of a Solenoid

Comparison and Identifiability Analysis of Friction Models f...

引用

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

作者： Hanna Wenzl Florian Straußberger Tristan Braun Stefan Wirtensohn Lothar Kiltz Johannes Reuter Harald Aschemann Institute of System Dynamics University of Applied Sciences Konstanz Konstanz Germany ZF Friedrichshafen AG Friedrichshafen Germany Chair of Mechatronics University of Rostock Rostock Germany

In this paper, the mechanical subsystem of a proportional solenoid excited by a dither signal is considered. The objective is to find a suitable friction model that reflects the characteristic mechanical properties of the dynamic system. Several different friction models from the literature are compared. The friction models are evaluated with respect to their accuracy as well as their practical identifiability, the latter being quantified based on the Fisher information matrix.

关键词： Friction Computational modeling Mathematical model Force Solenoids Correlation Actuators

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Parameter Identification for Non Integer Order, Discrete, State Space Model of Heat Transfer Process Using CFE Approximation

Parameter Identification for Non Integer Order, Discrete, St...

引用

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

作者： Krzysztof Oprzędkiewicz Wojciech Mitkowski Dept of Automatics and Robotics AGH University Krakow Poland

In the paper the parameters identification problem for a new, non integer order, discrete, state space model of heat transfer process is presented. The proposed model employes Continuous Fraction Expansion (CFE) approximation what assures good accuracy with relatively low order and short memory length. The parameters of the model are estimated via numerical minimization of the Mean Square Error (MSE) cost function. The proposed model is compared to discrete model using Power Series Expansion (PSE) approximation. Results of the comparison show, that the proposed model assures the same accuracy using significantly smaller memory length than model employing PSE approximation.

关键词： Mathematical model Numerical models Space heating Cost function Heat transfer Sensors

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Visual Feedback for Control Using Haar-Like Classifier to Identify the Quadcopter Position

Visual Feedback for Control Using Haar-Like Classifier to Id...

引用

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

作者： Konrad Urbanski Institute of Control Robotics and Information Engineering Poznan University of Technology Poznan POLAND

In order to precise control of unmanned aerial vehicles (UAV), there is a need to get information about UAV's attitude. In the paper a visual feedback is used in order to determine an altitude of the quadcopter. In a case of measure in range of meters or hundreds of meters, typical methods based on barometric sensor, or radar altimeter are used. However, in a case of range of centimeters or single meters those methods may fail. Visual feedback allows control in range of centimeters or decimeters, depend of setup of visual control. The Haar-like classifier was created in order to find in a streaming video the quadcopter image. Experimental verification of the visual feedback for control of a quadcopter is presented.

关键词： Cameras Training Visualization Transmitters Detectors Unmanned aerial vehicles Hardware

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Predictive Control of Linear Fractional-Order Systems Based on Discrete-Time Fractional-Order Laguerre Filters

Predictive Control of Linear Fractional-Order Systems Based ...

引用

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

作者： Rafał Stanisławski Krzysztof J. Latawiec Marek Rydel Marian Łukaniszyn Marcin Gałek Department of Electrical Control and Computer Engineering Opole University of Technology Opole POLAND

The paper presents a new prediction algorithm for a new class of fractional-order systems, in terms of two-layer discrete-time fractional-order Laguerre-systems. The proposed algorithm is applied to extended horizon model predictive control. Simulation examples confirm the effectiveness of the introduced prediction algorithm and usefulness of two-layer Laguerre models in design of the predictive controllers for discrete-time fractional-order systems.

关键词： Prediction algorithms Predictive control Control systems Predictive models Stochastic processes Approximation algorithms Mathematical model

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The use of an autoencoder in the problem of shepherding

The use of an autoencoder in the problem of shepherding

引用

international conference on methods and models in automation and robotics

作者： Zdzislaw Kowalczuk Wojciech Jedruch Karol Szymanski Department of Robotics and Decision Systems Gdansk University of Technology Gdansk Faculty of Navigation and Naval Weapon Polish Naval Academy Gdynia

This paper refers to the problem of shepherding clusters of passive agents consisting of a large number of objects by a team of active agents. The problem of shepherding and the difficulties that arise with the increasing number of data describing the location of agents have been described. Several methods for reducing the dimensionality of data are presented. Selected autoencoding method using a Restricted Boltzmann Machine is then discussed. Autoencoding is deployed to reduce the dimensionality of graphic representation of clusters. Reduced data is used to train the neural network which determine movements of the active agents. Genetic algorithms are used in optimization of the parameters of this network.

关键词： Shepherding Autoencoder Restricted Boltzmann Machine Genetic Algorithm

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