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检索条件"任意字段=25th International Conference on Methods and Models in Automation and Robotics"

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Observer-based predictive temperature control for distributed heating systems based on the method of integrodifferential relations

Observer-based predictive temperature control for distribute...

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

作者： Andreas Rauh Luise Senkel Christina Dittrich Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

In many practical applications, the control design for thermal systems aims at either preventing local overtemperatures or at achieving temperature distributions which are homogeneous in the spatial coordinates. For the purpose of control synthesis, the nonstationary system model, which is naturally given by a parabolic partial differential equation, is commonly discretized in the spatial coordinate to derive realtime applicable control laws. However, classical finite volume discretization procedures as well as finite element techniques do not allow for a direct quantification of the resulting approximation quality of the finite-dimensional model that is used for the control synthesis. In contrast, the method of integrodifferential relations (MIDR) provides a direct possibility to quantify the approximation quality. In this paper, the MIDR is therefore employed to design an observer-based predictive control strategy for a distributed heating system. Moreover, experimental results are presented in which the advantages of the MIDR system formulation are highlighted in comparison with a cascaded state and output feedback control approach derived on the basis of a classical finite volume model.

关键词： Temperature measurement Irrigation Heating Approximation methods Temperature distribution Heat transfer Atmospheric modeling

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Kalman Filter based leak localization applied to pneumatic systems

Kalman Filter based leak localization applied to pneumatic s...

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international conference on Control, automation, robotics and Vision (ICARCV)

作者： Tim Nagel Chao Zhang Steven Liu Institute of Control Systems Department of Electrical and Computer Engineering University of Kaiserslautern Germany

ISBN: (纸本)9781467318716

An approach for a leak detection and localization scheme is presented. With respect to developing methods for diagnosis in commercial vehicles, applicability of existing approaches for leak diagnosis in pipelines has been evaluated. A leakage localization strategy using an Extended Kalman Filter (EKF) in combination with the Method of Characteristics (MOC) is adapted to pneumatic systems and implemented in Matlab/Simulink. To deal with boundary limitations due to possible sections for leak localization along the pipe, a methodical extension based on the idea of virtual pipes is proposed and integrated into the overall method. Verifications, resulting from a simulation model as well as from measurements at a real test bench, are presented. the promising results are discussed and suggestions for possible steps of further development are given.

关键词： Mathematical model Adaptation models Pneumatic systems Kalman filters Boundary conditions Sensors Equations

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Path planning methods for mobile robots with linear programming

Path planning methods for mobile robots with linear programm...

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4th international conference on Modelling,Identification and Control(ICMIC 2012)

作者： Liying Yang, Member, IEEE, Juntong Qi, Jianda Han the State Key Laboratory of robotics, Shenyang Institute of automation (SIA), Chinese Academy of Sciences (CAS),Member, IEEE,the State Key Laboratory of robotics, SIA, CAS the State Key Laboratory of robotics, SIA, CAS

In this paper, the path planning method with two different obstacle avoiding models are proposed to solve the target pursuit and obstacle avoid problem (TPOA). Both of the models are originated from linear programming (LP). One model introduced integer variable to describe the relative position of robot and obstacles, then MILP based obstacle-avoided model is built;the other used a tangent line to define the feasible and infeasible region of robot in obstacle area, thus LP based obstacle-avoided constraints are given. Simulations are demonstrated comparatively to show the effectiveness of the proposed methods.

关键词： Path planning, Target pursuit and obstacle avoiding (TPOA), Linear Programming (LP), Mixed integer linear programming

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Hyperspectral imaging for determination of some quality parameters for olive oil

Hyperspectral imaging for determination of some quality para...

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international conference on automation and Computing (ICAC)

作者： D. Martínez Gila P. Cano Marchal J. Gámez García J. Gómez Ortega Robotics Automation and Computer Vision Group Agrifood Campus of International Excellence (ceiA3) University of Jaén Jaen Spain

the analysis of the quality of a virgin olive oil involves the determination of a series of chemical indexes and organoleptic characteristics. In this work we propose an online prediction model for three chemical indexes: acidity, peroxide index and humidity content, based on an hyperspectral artificial vision system. Two methods have been developed for the construction of the model: (1) partial least squares regression (PLS) using all the captured spectral components, and (2) partial least squares regression over a subset of the components obtained applying a genetic algorithm (GA-PLS). the design and validation was carried out using olive oil samples from different seasons analysed by a renowned laboratory.

关键词： Hyperspectral imaging Predictive models Genetic algorithms Calibration Moisture Indexes Cameras

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An Error-In-Variables (EIV) based Bayesian probabilistic approach to estimating cell mechanical properties using Atomic Force Microscopy

An Error-In-Variables (EIV) based Bayesian probabilistic app...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Rajarshi Roy Lei Li Carol Keefer Jaydev P. Desai Robotics Automation and Medical Systems (RAMS) Laboratory University of Maryland College Park MD USA Department of Animal and Avian Sciences University of Maryland College Park MD USA

Contact mode Atomic Force Microscopy (AFM) is popularly used by the biophysics community to study mechanical properties of cells and tissue due to its ability to quantify biological processes like disease proliferation and stem cell differentiation. While AFM indentation experiments are relatively straightforward, interpretation of the AFM data is subject to some debate. three factors make the AFM force data prone to incorrect interpretation, namely, the appropriate contact model to use to fit the post-contact AFM data, identifying the point when the AFM probe contacts the cell, and variability in the stiffness of the probe used to estimate material properties of cells. A lot of research has been directed towards developing constitutive models based on sample material property assumptions, however, variability in the AFM probe stiffness and contact point uncertainty has received limited attention. this suggests the need to have an integrated probabilistic model to estimate mechanical properties from the AFM force data which can account for errors contributed from these two sources. In this work, we have developed an Error-In-Variables (EIV) based Bayesian Changepoint model to estimate the contact point and the Young's Modulus from AFM force curves on fixed mouse Embryonic Stem cells (mESC) in the indentation range of 1-1.5 μm. Our results indicate that the EIV-based Bayesian Approach can be used to obtain robust estimates of material properties of biomaterials.

关键词： Probes Young's modulus Force Bayesian methods Uncertainty Calibration

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Attention Driven Grasping for Clearing a Heap of Objects

Attention Driven Grasping for Clearing a Heap of Objects

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IEEE/RSJ international conference on Intelligent robotics and Systems

作者： Karthik Mahesh Varadarajan Ekaterina Potapova Markus Vincze Vienna University of Technology Automation and Control Institute Gusshausstrasse 30 / E376 A-1040 Vienna Austria

ISBN: (纸本)9781467317375

Generation of grasps for automated object manipulation in cluttered scenarios presents major challenges for various modules of the pipeline such as 2D/3D visual processing, 3D modeling, grasp hypothesis generation, grasp planning and path planning. In this paper, we present a solution framework for solving a complex instance of the problem - represented by a heap of unknown and unstructured objects in a bounded environment - in our case, a box;with the goal being removing all objects in the box using an attention driven object modeling approach to cognitive grasp planning. the focus of the algorithm delves on Grasping by Components (GBC), with a prioritization scheme derived from scene based attention and attention driven segmentation. In order to overcome the traditional challenge of segmentation performing poorly in cluttered scenes, we employ a novel active segmentation approach suited to our scenario. While the attention module helps prioritize objects in the heap and salient regions, the GBC scheme segments out parts and generates grasp hypotheses for each part. GBC is a very important component of any scalable and holistic grasping system since it abstracts point cloud object data with parametric shapes and no apriori knowledge (such as 3D models) is required. Earlier work in 3D model building (such as CAD based, simple geometries, bounding boxes, Superquadrics etc.) have depended on precise shape and pose recognition as well as exhaustive training to learn or exhaustive searching in grasp space to generate good grasp hypotheses. these methods are not scalable for real-time scenarios, complex shapes and unknown environments - key challenges in robotic grasping. In order to alleviate this concern, we present a novel parametric algorithm to estimate grasp points and approach vectors from the 3D parametric shape model, along with innovative schemes to optimize the computation of the parametric models as well as to refine the generated grasp hypotheses based on th

关键词： Superquadrics Grasp Hypotheses Active Segmentation Approach Vectors Attention Grasp hyperquadric heap Path planning Boxes Buxus sempervirens segmentation

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Dynamic Modeling and Simulation of Rowing with a robotics Formalism

Dynamic Modeling and Simulation of Rowing with a Robotics Fo...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Rongere, Francois Khalil, Wisama Kobus, Jean-Michel LMF Nantes France IRCCyN Nantes France

ISBN: (纸本)9781457709142

this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.

关键词： Rowing simulating dynamic models robotics kinematics inverse kinematics modeling and simulation Boats Frameworks formalism BRANCH STRUCTURES

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Asymptotic Stability of the Positive Switched 2D Linear Systems Described by the Roesser models

Asymptotic Stability of the Positive Switched 2D Linear Syst...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Cimochowski, Robert Bialystok Tech Univ Fac Elect Engn Bialystok Poland

the positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roess... 详细信息

ISBN: (纸本)9781457709142

关键词： asymptotic stability region Linear system Positive Sufficient conditions

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A methodology of estimating hybrid black-box - prior knowledge models of an industrial processes

A methodology of estimating hybrid black-box - prior knowled...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Stachura, Marcin Janiszowski, Krzysztof Warsaw Univ Technol Fac Mechatron Warsaw Poland

ISBN: (纸本)9781457709142

the paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.

关键词： physical models Industrial processes BOX models Dynamic systems particle swarm algorithm basic sequence methodology Pneumatic actuators

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New method of fractional order integrator analog modeling for orders 0.5 and 0.25

New method of fractional order integrator analog modeling fo...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Sierociuk, Dominik Dzieinski, Andrzej Warsaw Univ Technol Inst Control & Ind Elect Warsaw Poland

ISBN: (纸本)9781457709142

In the paper a novel method of analog modeling of fractional order integrators is presented. In particular, two special cases are discussed, i.e. integrators of order alpha = 0.25, and alpha = 0.5. the method proposed is based on the domino ladder approximation of irrational transfer function. It allows to obtain an analog model using only electric elements like resistors and capacitors of standard produced values.

关键词： Analog models integrators fractional order new methods Resistor Device Component LADDER APPROXIMATION

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