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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51-60 订阅

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Scheduling identical jobs with linear resource usage profile to minimize schedule length

Scheduling identical jobs with linear resource usage profile...

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

作者： Rafał Różycki Grzegorz Waligóra Institute of Computing Science Poznan University of Technology Poznan Poland

We consider a resource allocation problem, where a limited renewable continuous resource has to be assigned to independent, nonpreemptable jobs in such a way that the schedule length is minimized. Each job is characterized by the same profile determined by a resource usage function. We assume that this function is linear and decreasing. Its initial value as well as a drop coefficient are the same for each job. Although there is no additional discrete resource (i.e. the number of machines is unlimited), the problem may be treated as a scheduling problem, since a limited amount of the continuous resource prevents the parallel execution of all jobs. thus, to find the schedule with the minimum length, it is necessary to find an optimal sequence of moments when consecutive jobs start. We propose an iterative algorithm to find such moments. Moreover, we describe an interesting property of solutions of the considered problem.

关键词： Schedules Batteries Resource management Iterative methods Graphics Mathematical model Optimal scheduling

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Features Matching based Merging of 3D Maps in Multi-Robot Systems

Features Matching based Merging of 3D Maps in Multi-Robot Sy...

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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 focuses on the feature matching based merging of 3D maps in a multi-robot system. the presented approach works globally what means that an initial transformation is not necessary for a proper integration of maps. the only one assumption is that the maps have a common part that can be used during a features detection, description and a matching process to compute a transformation between them. then the found initial solution is corrected by a variation of an ICP based method. the maps are stored in the octree based representation (octomaps) but during transformation estimation a point cloud representation is used as well. In addition, the presented method was verified in various experiments, both in a simulation, with Turtlebots robots and with publicly available datasets. the solution can be applied to many robotic applications such as underwater robots, aerial robots or robots equipped with manipulators. However, so far it was mostly tested in groups of wheeled robots.

关键词： Merging three-dimensional displays Computational modeling Mobile robots Robot sensing systems Estimation

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A Generic Validation Scheme for real-time capable Automotive Radar Sensor models integrated into an Autonomous Driving Simulator

A Generic Validation Scheme for real-time capable Automotive...

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

作者： Michał Jasiński APTIV Services Poland S.A. Kraków Poland

Since Advanced Driver Assistance Systems are getting more and more complex a strong effort is put into the development of open-source autonomous driving simulators. However a robust virtual environment should not only be assessed by its realistic physics or 3D assets variety, but it also has to incorporate highly accurate and real-time capable sensor models. the research presented in this paper introduces a robust method for validating radar sensor models enabling a simple proof of their reliability in a virtual scenario. To give an overview of radar sensor modeling approaches, the solutions available in the literature are evaluated in terms of usage in virtual environments based on simple criteria. Finally, an exemplary radar sensor model integrated into the CARLA simulator is presented and also a short outline of further research is depicted.

关键词： Autonomous vehicles Radar detection Real-time systems Virtual environments Physics Radar tracking

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the Quality Interaction Function Deployment for lean Human-Robot Interaction

The Quality Interaction Function Deployment for lean Human-R...

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

作者： Marco Bonini Augusto Urru Wolfgang Echelmeyer Reutlingen University ESB Logistic Research Center Reutlingen Germany

In standardized sectors such as the automotive, the cost-benefit ratio of automation solutions is high as they contribute to increase capacity, decrease costs and improve product quality. In less standardized application fields, the contribution of automation to improvements in capacity, cost and quality blurs. the automation of complex and unstructured tasks requires sophisticated, expensive and low-performing systems, whose impact on product quality is oftentimes not directly perceived by customers. As a result, the full automation of process chains in the general manufacturing or the logistic sectors is often a sub-optimal solution. Taking the distance from the false idea that a process should be either fully automated, or fully manual, this paper presents a novel heuristic method for design of lean human-robot interaction, the Quality Interaction Function Deployment, with the objective of the “right level of automation”. Functions are divided among human and automated agents and several automation scenarios are created and evaluated with respect to their compliance to the requirements of all process' stakeholders. As a result, synergies among operators (manual tasks) and machines (automated tasks) are improved, thus reducing time-losses and increasing productivity.

关键词： automation Task analysis Service robots Logistics Automotive engineering Tools

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Application of Tiny-ML methods for face recognition in social robotics using OhBot robots 26

Application of Tiny-ML methods for face recognition in socia...

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26th international conference on methods and models in automation and robotics

作者： Probierz, Eryka Bartosiak, Natalia Wojnar, Martyna Skowronski, Kamil Galuszka, Adam Grzejszczak, Tomasz Kgdziora, Olaf Silesian Tech Univ Dept Automat Control & Robot Gliwice Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

the aim of this paper is to show the possible application of Tiny-ML family neural networks to social robots for face recognition. Social robotics is a constantly developing field that allows the production and development of robots whose task is to accompany humans, participate in social situations and perform specific educational, entertainment and therapeutic tasks. One of the fundamental problems of social robotics is the proper recognition of humans by robots. this poses a critical problem because it is the moment when human-robot contact is initiated. Widespread solutions, in addition to high efficiency, also require adequate computing power, which in social robots cannot always be provided. For this purpose, solutions from the Tiny-ML stream are used, i.e. such a construction of neural networks and machine learning that would be adapted to limited technological resources and, at the same time, equally effective. the paper uses a YOLOv4-tiny network, which was compared to a YOLOv5s solution, both in terms of efficiency and processing time. the proposed networks were tested on social robots of the OhBot type and with extended capabilities, by using Neural Sticks. the results obtained show the highest efficiency of the implemented YOLOv5s network using a Raspberry Pi along with an accelerator. the presented research is an opportunity to draw attention to the problem of computational complexity in robotic applications, and also has the potential to popularize social robots and their use in everyday life.

关键词： Social robots OhBot robots Face detection Tiny-YOLO Neural networks

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Design of a Takagi-Sugeno State and Disturbance Observer for a Torque-Controlled Hydrostatic Transmission

Design of a Takagi-Sugeno State and Disturbance Observer for...

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

作者： Dang Ngoc Danh Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

In this paper, a Takagi-Sugeno (TS) state and disturbance observer is designed. the corresponding estimates are employed in a decentralized control approach for the normalized tilt angle of the hydraulic motor as well as the motor torque of a hydrostatic transmission. For the observer design, a nonlinear state-space model is written in quasi-linear form and extended by two integrator disturbance models. the observer gain matrix is derived by an exact interpolation of optimal designs at the vertices of a polytopic description using corresponding membership functions. Asymptotic stability of the observer error dynamics is guaranteed by solving a set of linear matrix inequalities (LMIs) resulting in a joint Lyapunov function. For an accurate trajectory tracking, feedback control is extended by feedforward control. the estimated disturbances from the TS observer are used for a subsequent disturbance rejection. the performance of the observer-based control structure is shown by simulations based on a validated model of a dedicated test rig which is available at the Chair of Mechatronics, University of Rostock.

关键词： Hydraulic systems Observers Torque Takagi-Sugeno model Angular velocity Mathematical model Numerical models

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Motor Failure Tolerant Control System With Self Diagnostics for Unmanned Multirotors

Motor Failure Tolerant Control System With Self Diagnostics ...

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

作者： Leszek Ambroziak Ashutosh Simha Ewa Pawluszewicz Ülle Kotta Arkadiusz Bożko Miroslaw Kondratiuk Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland TalTech TTU Software Science Department Tallinn Estonia

the paper presents a method for rotor failure detection and control system reconfiguration in case of unmanned multirotor propulsion system breakdown. the proposed algorithm uses onboard IMU measurements for failure detection and isolation. An adaptive fault tolerant control is designed for detecting and correcting partial or complete rotor failures. In case of a complete failure, the center of mass is reconfigured and control system is switched to a tri-rotor configuration. It has been demonstrated through simulations that the adaptive parameters converge to the true values of rotor efficiency. Further, in-flight experiments were conducted to demonstrate the failure detection and fault tolerant controller on a MAV quadrotor. Obtained results validate the effectiveness of the proposed motor failure tolerant control method to effectively compensate for complete loss of one rotor, leading to a resilient flight control mechanism.

关键词： Rotors Control systems Fault tolerance Fault tolerant systems Standards Mechanical engineering Adaptation models

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the Application of Virtual Logic models to Simulate Real Environment for Testing Advanced Driving-Assistance Systems

The Application of Virtual Logic Models to Simulate Real Env...

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

作者： Michal Pikus Jaroslaw Was Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Krakow Poland

Advanced driving-assistance systems (ADAS) have become more popular and received more aid in automotive business. ADAS systems evolution requires more efforts to prepare efficient and reliable systems. Because of safety restrictions we need to validate systems by driving over several million kilometers in different conditions. that is why research, development and verification processes are highly required. the best solution to solve this problem are computer simulations. Application of digital scenarios saves time, money and human resources. there are many simulators which are developed by automotive companies. In our paper we would like to present set of simulators which are used to simulate and validate camera sensors, control and path planning algorithms for ADAS. Our tools are able to simulate/emulate vehicle components and road environment elements. However, mainly in case of ADAS systems this is a difficult task. Our paper presents approaches the methodology of virtual simulations [1].

关键词： Software Sensors Hardware Automobiles Roads Safety

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AN INTERPOLATION APPROACH TO thE INTEGER-ORDER APPROXIMATION OF FRACTIONAL-ORDER SYSTEMS

AN INTERPOLATION APPROACH TO THE INTEGER-ORDER APPROXIMATION...

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

作者： Daniele Casagrande Wiesław Krajewski Umberto Viaro Polytechnic Dept. of Eng. and Arch. University of Udine Udine Italy Systems Research Institute Polish Academy of Sciences Warsaw Poland

A state-space integer-order approximation of a commensurate-order systems is obtained using a data-driven interpolation approach based on Loewner matrices. Precisely, given the values of the original fractional-order transfer function at a number of generalised frequencies, a descriptor-form state-space model matching these frequency response values is constructed from a suitable Loewner matrix pencil, as already suggested for the reduction of high-dimensional integer-order systems. Even if the stability of the resulting integer-order system cannot be guaranteed, such an approach is particularly suitable for approximating (infinite-dimensional) fractional-order systems because: (i) the order of the approximation is bounded by half the number of interpolation points, (ii) the procedure is more robust and simple than alternative approximation methods, and (iii) the procedure is fairly flexible and often leads to satisfactory results, as shown by a pair of examples taken from the literature. Clearly, the approximation depends on the location, spacing and number of the generalised interpolation frequencies but there is no particular reason to choose the interpolation frequencies on the imaginary axis, which is a natural choice in integer-order model reduction, since this axis does not correspond to the stability boundary of the original fractional-order system.

关键词： Interpolation Transfer functions Numerical models Computational modeling Data models Stability analysis Numerical stability

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System Identification and model comparison of a Tension Leg Platform for Floating Offshore Wind Turbines

System Identification and model comparison of a Tension Leg ...

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

作者： thomas Hansen Maria A. B. Jørgensen Van Roy Tran Kasper Jessen Mohsen N. Soltani Department of Energy Technology Aalborg University Esbjerg Denmark

this paper will focus on using system identification on experimental data for building a mathematical model for the platform of a floating offshore wind turbine and analyzing the behavior of the structure. the floating offshore wind turbine examined in this paper uses a scaled tension leg platform as its foundation and the wind turbine is a 1:35 scaled model of the 5 MW NREL offshore wind turbine. the mathematical model of the platform will describe the displacement of the TLP in surge when affected by an irregular wave series generated from a scaled Pierson-Moskowitz wave spectrum. To obtain such a mathematical model, an examination of the displacement of the platform due to the hydrodynamic loads will be conducted on the foundation of the floating offshore wind turbine. the height of the waves and the displacement of the floating offshore wind turbines will be measured by resistive wave gauges and OptiTrack cameras, respectively, at the offshore laboratory at Aalborg University Esbjerg. System identification is used on the data obtained from the experiments, to build multiple mathematical models with different model structures, in order to find the most appropriate model structure. It is concluded from the analysis of the different mathematical models, that the Autoregressive Moving Average and Extra input model structure is the most accurate model at describing the dynamics of the platform of a floating offshore wind turbine. the model is valid for a specific operating range of Pierson-Moskowitz waves generated with a wind speed corresponding to 2 meters per seconds.

关键词： Mathematical model Wind turbines Autoregressive processes Analytical models Data models Parametric statistics Surges

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