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62 篇 会议

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检索条件"任意字段=24th International Conference on Methods and Models in Automation and Robotics, MMAR 2019"

共 62 条记录，以下是31-40 订阅

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Slippage Influence in Skid-Steering Platform Trajectory Tracking Quality with Unicycle Approximation

Slippage Influence in Skid-Steering Platform Trajectory Trac...

引用

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

作者： Wojciech Domski Alicja Mazur Chair of Cybernetics and Robotics Wrocław University of Science and Technology Wrocław Poland

In this paper the problem of quality control of a SSMP platform with a kinematics of an unicycle was addressed. During the movement of a SSMP platform a slippage occurs when the vehicle is changing its orientation. On the other hand, the presence of slippage is unavoidable because the platform has to induce a differential velocity on each side to change its orientation. However, when the platform moves on a trajectory without a curvature then there is no lateral slippage. It was shown that the kinematics of a SSMP platform can be approximated with a kinematics of an unicycle. the quality of the approximation depends on how much the slipping effect is introduced into the system.

关键词： Wheels Mathematical model Kinematics Vehicle dynamics Dynamics Trajectory Force

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Extremal Problems for Integral Time Lag Parabolic Systems

Extremal Problems for Integral Time Lag Parabolic Systems

引用

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

作者： Adam Kowalewski Marek Miśkowicz Faculty of Electrical Engineering AGH University of Science and Technology Cracow Poland

Extremal problems for integral time lag parabolic systems are presented. An optimal boundary control problem for distributed parabolic systems in which integral time lags appear in the state equations and in the boundary conditions simultaneously is solved. Such equations constitute in a linear approximation a universal mathematical model for many diffusion processes. the time horizon is fixed. Making use of the Dubovicki-Milutin scheme, necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance functionals and constrained control are derived.

关键词： Mathematical model Integral equations Optimal control Approximation methods Boundary value problems Distributed parameter systems

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Simulation platform for wireless data communication using a new signal reconstruction method

Simulation platform for wireless data communication using a ...

引用

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

作者： Paweł Majewski Wojciech P. Hunek Opole University of Technology Institute of Control Engineering Opole Poland

A platform for simulation of MIMO wireless data transmission processes is presented in this paper. the innovative tool implements authors' solution based on the polynomial approach related to the nonsquare matrices. through an application of some nonunique inverses of nonsquare propagation matrices it is possible to increase an efficiency of signal recovery, which is confirmed by the theoretical background and a number of simulation instances. thus, the useful environment can compete with other platforms employing different techniques. this statement is discussed in this paper.

关键词： Wireless communication Signal reconstruction MIMO communication Task analysis Data communication Data models Transmitters

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Trajectory tracking of a tri-wheel mobile robot using the castor wheel's twist angle

Trajectory tracking of a tri-wheel mobile robot using the ca...

引用

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

作者： Ryszard Beniak Tomasz Pyka Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland

this paper presents an advanced control algorithm, which accounts for an additional impact of a castor wheel on a tri-wheel robot's trajectory. It demonstrates how to use the information on the angle of twist in order to limit the errors stemming from odometry. thanks to applying the proven relationship between the trajectory's curvature and the angle of twist of a castor free wheel, we reduced the driving wheels' rotation errors in the robot's motion along the desired trajectory.

关键词： Wheels Mobile robots Trajectory Mathematical model Global Positioning System Numerical models

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Parameter identification for the fractional order, state space model of heat transfer process using Atangana-Baleanu operator

Parameter identification for the fractional order, state spa...

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, state space model of heat transfer process is presented. the proposed model uses Atangana-Baleanu derivative operator. the analytical formula of step response is proposed. the parameters of the model are estimated via numerical minimization of the Mean Square Error (MSE) cost function. Finally the proposed model is compared to fractional order models using Caputo (C) and Caputo-Fabrizio (CF) operators. Results of numerical tests show, that the accuracy of the proposed model is better than accuracy of CF model, but worse, than accuracy of the C model.

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

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Uncertainty propagation for vehicle detections in experimentally validated radar model for automotive application

Uncertainty propagation for vehicle detections in experiment...

引用

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

作者： Adam Martowicz Alberto Gallina Grzegorz Karpiel Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

the paper is devoted to the development and experimental validation of a radar model elaborated for an automotive application. the described numerical model takes into account the physical properties of a typical automotive radar, the environmental conditions as well as the properties of targeted objects. Moreover, a dedicated, very efficient algorithm of geometric transformations - implemented in the radar model for simulation of wave scattering phenomena - is presented. A phenomenological model of uncertainty is enclosed to the algorithm to represent more effectively radar detections. the solution presented by the authors is thus ready to be used in hardware-in-the-loop simulations of various road traffic scenarios.

关键词： Radar detection Mathematical model Signal processing algorithms Radar cross-sections Azimuth Uncertainty

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Modeling of switching-mode nonlinear system by exponentially weighted aggregation

Modeling of switching-mode nonlinear system by exponentially...

引用

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

作者： Paweł Wachel Przemysław Śliwiński Zygmunt Hasiewicz Faculty of Electronics Wrocław University of Science and Technology Wrocław Poland

We consider a class of non-linear dynamic systems with finite memory and nonlinear characteristic that reveals time-varying behavior. It is assumed that the considered systems can change their mode in the a priori known range of modes but the switching moments are unknown and cannot be directly detected. In the considered approach, based on the noisy measurements of the system output, we apply exponentially weighted aggregation techniques to estimate noise-free counterparts of the possessed output observations. theoretical properties of the method as well as exemplary numerical simulations are also described and discussed in the paper.

关键词： Switches Noise measurement Estimation Time-varying systems Time measurement Nonlinear systems Numerical models

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Premature Convergence in Motion Planning of Nonholonomic Systems and how to Counteract it

Premature Convergence in Motion Planning of Nonholonomic Sys...

引用

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

作者： Arkadiusz Mielczarek Ignacy Duleba Department of Cybernetics and Robotics Wroclaw University of Science and Technology Wroclaw Poland

In this paper an undesirable phenomenon of a premature convergence in nonholonomic motion planning is discussed. It relies on reaching a configuration where energy expensive motions are necessary to approach a goal configuration. An algorithm is proposed to counteract this phenomenon and to choose some sub-goals which allow for energy effective motions. the motion towards the sub-goals is evaluated using some Lie algebraic tools. the algorithm is illustrated on a simple unicycle robot. Simulations reveal that using the proposed algorithm some energy gains can be achieved, resulting paths are shorter and easy to localize within a configuration space.

关键词： Convergence Planning Robots Mathematical model Task analysis Generators Algebra

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Selected methods for Increasing the Accuracy of Vehicle Lights Detection

Selected Methods for Increasing the Accuracy of Vehicle Ligh...

引用

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

作者： Piotr Bogacki Rafal Dlugosz Aptiv Services Poland S.A. Kraków Poland Faculty of Telecommunication Computer Science and Electrical Engineering UTP University of Science and Technology Bydgoszcz Poland

the paper presents selected methods for improving the accuracy of classification of headlights and taillights of the vehicles. the methods include analyzing blob properties and locations of the detections. A new feature for describing binary blob shape has been proposed. Moreover, data augmentation technique has been used to improve the results of the classification. the referenced system is based on convolutional neural networks (CNNs). New solutions have been tested with comprehensive set of video sequences (of total duration exceeding ten hours) under various weather conditions and from different road types.

关键词： Roads Feature extraction Cameras Automobiles Switches Image color analysis

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Fusion of Gesture and Speech for Increased Accuracy in Human Robot Interaction

Fusion of Gesture and Speech for Increased Accuracy in Human...

引用

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

作者： Neha Baranwal Avinash Kumar Singh thomas Hellström Department of Computing Science Umeå University Umeå Sweden

An approach for decision-level fusion for gesture and speech based human-robot interaction (HRI) is proposed. A rule-based method is compared with several machine learning approaches. Gestures and speech signals are initially classified using hidden Markov models, reaching accuracies of 89.6% and 84% respectively. the rule-based approach reached 91.6% while SVM, which was the best of all evaluated machine learning algorithms, reached an accuracy of 98.2% on the test data. A complete framework is deployed in real time humanoid robot (NAO) which proves the efficacy of the system.

关键词： Feature extraction Speech recognition Hidden Markov models Gesture recognition Training Testing Support vector machines

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