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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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Optimisation-Based Tuning of Dynamic Matrix Control Algorithm for Multiple-Input Multiple-Output Processes

Optimisation-Based Tuning of Dynamic Matrix Control Algorith...

引用

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

作者： Jakub Sawulski Maciej Ławryńczuk Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

This work discusses tuning of Model Predictive Control (MPC) algorithms by means of some global optimisation methods. For test purposes the Dynamic Matrix Control (DMC) algorithm applied to a Multiple-Input Multiple-Output (MIMO) process with 4 manipulated and 3 controlled variables is considered. The tuned parameters include prediction and control horizons as well as the weights of the minimised MPC cost-function. Four global optimisation methods are considered: the Particle Swarm Optimisation method, the Firefly Algorithm, the Grey Wolf Optimiser and the Jaya algorithm. They are compared in terms of the ability to find the best solution and convergence. The obtained results show that global optimisation methods can be successfully used in this type of tasks.

关键词： Process control Prediction algorithms Monte Carlo methods Heuristic algorithms Tuning Optimization methods

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

Research of the Equipment Calibration Methods for Fertilizer...

引用

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

作者： Andrius Laucka Vaida Adaskeviciute Algimantas Valinevicius Darius Andriukaitis Department of Electronics Engineering Kaunas University of Technology Kaunas Lithuania Department of Biology Vytautas Magnus University Kaunas Lithuania

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： Iron Frequency modulation IP networks

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A Novel Approach for Invasive Weeds and Vegetation Surveys using UAS and Artificial Intelligence

A Novel Approach for Invasive Weeds and Vegetation Surveys u...

引用

international conference on methods and models in automation and robotics

作者： Juan Sandino Felipe Gonzalez Institute for Future Environments Queensland University of Technology Brisbane City QLD Australia Robotics and Autonomous Systems Queensland University of Technology Brisbane City QLD Australia

Surveillance tasks of weeds and vegetation in arid lands is a complex, difficult and time-consuming task. In this article we present a framework to detect and map invasive grasses, combining UAVs and high-resolution RGB technologies and machine learning for data processing. This approach is illustrated by segmenting Buffel Grass (Cenchrus ciliaris) and Spinifex (Triodia sp.). Segmentation results produced individual detection rates of 97% for buffel grass, 96% for spinifex and 97% for the overall classification task. The algorithm is robust against variations in illumination, occlusion, object rotation and density of vegetation.

关键词： Biosecurity Cenchrus ciliaris Drones Remote sensing Triodia sp. UAV Vegetation assessments Weeds

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Application of Iterative Learning methods to Control of a LEGO Wheeled Mobile Robot

Application of Iterative Learning Methods to Control of a LE...

引用

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

作者： Robert Maniarski Wojciech Paszke Maciej Patan Institute of Control and Computation Engineering University of Zielona Góra Poland

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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Head Motion Synthesis of Human-Like Virtual Person in an Inactive Mode

Head Motion Synthesis of Human-Like Virtual Person in an Ina...

引用

international conference on methods and models in automation and robotics

作者： Maja Kocon Faculty of Electrical Engineering West Pomeranian University of Technology Szczecin Szczecin Poland

At present, in human-machine interaction systems, communication may be realized with the visual representation of a person. The use of human visualization requires human mechanisms of movement and social behaviour analysis. Naturally, the human body is in subtle motion. These small changes in body position are unintentional and in most cases involuntary. In the simulation of a virtual person, this type of motion can provide pseudo human behaviour. Therefore the paper addresses the problem of simulating human head idle gestures for avatars. The idle mode is introduced in order to increase the realism of the avatar's behaviour. The proposed mode involves the situation when the avatar is waiting for external events and can eliminate the frozen state of the character.

关键词： Magnetic heads Avatars Robots Hidden Markov models Animation Visualization conferences

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Coordination of concurrent mobile robot motion processes with composite automaton supervisor

Coordination of concurrent mobile robot motion processes wit...

引用

international conference on methods and models in automation and robotics

作者： Elzbieta Roszkowska Piotr Dulewicz Lukasz Janiec Department of Cybernetics and Robotics Wroclaw University of Science and Technology Poland

Coordination of multiple mobile robots operating in the same area requires a discrete-event supervisor, whose role is to ensure their correct concurrent motion. Performance analysis of such a system requires a hybrid model that combines the DES model of the supervisor with the continuous time models of the robot motion processes. The contribution of this paper is twofold. We propose the logic that formally ensures collision and deadlock free robot coordination and implement it in the form of a composite automaton supervisor. This allows us to to combine the supervisor with time models of robot motion processes in Matlab/Simulink/Stateflow environment. The obtained simulation model of a system of multiple mobile robots ensures their formally correct co-operation and can be directly used for prediction or experimental optimization of the system performance.

关键词： Collision avoidance Robot kinematics Mathematical model Robot motion Mobile robots Automata

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Discrepancy between derivative orders in fractional supercapacitor models for charging and discharging cycles

Discrepancy between derivative orders in fractional supercap...

引用

international conference on methods and models in automation and robotics

作者： Ryszard Kopka Department of Electrical Control and Computer Engineering Opole University of Technology Opole Poland

This paper presents results of research related to estimating a fractional order of supercapacitor models governed by non-integer differential equations. The results are determined on the basis of supercapacitors responses to voltage and current steps of different values, separately for charging and discharging cycles. The use of fractional order models makes it possible to reduce the complexity of the model and, at the same time, ensures very good compliance with the real system response. It is well known that the fractional order of the differential equations corresponds to the physicochemical properties of the supercapacitor. Three widely available supercapacitors are examined. The tests are carried out for five different values of voltage and current steps. The obtained results indicate an important dependence of the estimated non-integer order also on the conditions of their use.

关键词： Fractional calculus Fractional model Parameters estimation Supercapacitor

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

Computationally Efficient Implementation of Dynamic Matrix C...

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

作者： Andrzej Wojtulewicz Maciej Ławryńczuk Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

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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Efficiency improvements to uniformization for Markovian birth-and-death models

Efficiency improvements to uniformization for Markovian birt...

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international conference on methods and models in automation and robotics

作者： Maciej Rafal Burak Faculty of Electrical Engineering West Pomeranian University of Technology Szczecin

Finding transient solutions in queuing systems is crucial in many applications, including of service system modcling. As many of such systems are Markovian, their natural description is that of a continuous-time Markov chain (CTMC), and uniformization is widely considered an efficient method for transient analysis of CTMCs. In this paper we present significant efficiency improvements to the standard uniformization algorithm when used for transient analysis of time-inhomogenous Markovian hirth-and-death queuing models. We exploit some of the distinct properties of birth-and-death models in particular the structure of the generator matrix and the convergence properties of the model. Moreover, we utilize an example based on an realistic birth-and-death model of a call center in order to demonstrate that our proposal is especially advantageous for transient modeling of real service systems.

关键词： Transient analysis Mathematical model Computational modeling Numerical models Markov processes Standards Proposals

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Least Squares and Instrumental Variables Identification of Polynomial Wiener Systems

Least Squares and Instrumental Variables Identification of P...

引用

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

作者： Andrzej Janczak Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland

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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