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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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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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Direct Adaptive Fuzzy Control for a Two-Link Space Robot

Direct Adaptive Fuzzy Control for a Two-Link Space Robot

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

作者： Ulrich, Steve Sasiadek, Jurek Z. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781457709142

An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.

关键词： adaptive fuzzy control Fuzzy control reference model aerospace robotics control strategy fuzzy logic system controller gain End Point Mentoring Zero follow error Joint space Robot System

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High-level controller for an arm rehabilitation robot - positioning algorithms with respect to EMG data

High-level controller for an arm rehabilitation robot - posi...

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

作者： Gmerek, Artur Jan Tech Univ Lodz Inst Automat Control PL-90924 Lodz Poland

ISBN: (纸本)9781457709142

this paper touches upon the issue of dexterous control of rehabilitation robots. there have been proposed a high-level control system and algorithms used for training patients. Emphasis was made especially on the gravitation compensation algorithm, because of the low velocity and acceleration of movement parameters during rehabilitation. the direction of movements was estimated based on the model of surface electromyographic (sEMG) signal, which renders muscle activity very well. the model of manipulator is stable, behaves in a predictable way and, according to the EMG interpretation block, satisfyingly deduces the intention of motion and controls the model.

关键词： Rehabilitation robotics Moving parameter level controller low speed control systems algorithms acceleration Controllers surface modeling

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Modeling and Exact Feed Forward Control of Air and Burned Gas Fraction within SI Engine Cylinders

Modeling and Exact Feed Forward Control of Air and Burned Ga...

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

作者： Beckmann, Robert Drewelow, Wolfgang Univ Rostock Inst Automat D-2500 Rostock 1 Germany

ISBN: (纸本)9781457709142

A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tracks given reference values of these masses. this is done by utilizing the exact linearization approach [1]. the final feed forward control law is verified in combination with a slightly modified design model as well as the original model.

关键词： Engine cylinders FEEDFORWARD CONTROL GAS FRACTION AIR CONTROLLING air Modeling Design models Burns original model Nonlinear models control law reference value

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An unscented Kalman filter approach to designing GMDH neural networks: Application to the tunnel furnace

An unscented Kalman filter approach to designing GMDH neural...

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

作者： Luzar, Marcel Mrugalski, Marcin Witczak, Marcin Korbicz, Jozef Univ Zielona Gora Inst Control & Computat Engn PL-65246 Zielona Gora Poland

ISBN: (纸本)9781457709142

this paper presents an identification method of dynamic systems based on the Group Method of Data Handing. In particular, a new structure of the dynamic neuron in pole representation is proposed. Moreover, a new training algorithm based on the Unscented Kalman Filter is presented. the final part of this work contains an illustrative example regarding the application of the proposed approach to an identification of the tunnel furnace.

关键词： Kalman filters Dynamic systems Identification methods Neural network Kalman filter theory

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Modified Bilateral Control by Using Intervention Impedance Based on Passivity of Flexible Master-Slave Manipulators and Its Design methods

Modified Bilateral Control by Using Intervention Impedance B...

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international conference on Control, automation and Systems

作者： Takahiko Mori Department of Electronic Control Engineering Gifu National College of Technology

ISBN: (纸本)9781467322478

Recently, study on a control of flexible manipulators have been receiving increasing attension in the domain of master-slave system. the master-slave system is a control system to operate a manipulator for objects in a remote environment which is at a distance from the presence of a human operator. In order to consider the influence by the elasticity of flexible manipulators, it is necessary to study on the control of vibration of flexible master-slave manipulators and the passivity. thus in this paper, we discuss about a new modified bilateral controller considering the elasticity by using intervention impedance in basis on the passivity and a control performance of the system. this paper is organized in the following way: First, we introduce mechanical models of manipulators. Second, we propose bilateral controls by using intervention impedance based on passivity. third, we transeform each models represented by time domain into models represented by s-plain, find the scattering matrix, and prove the passivity of system. Fourth, we propose a new modified controller controller for the purpose of realizaion. Lastly, we show some results of experiments in order to verify the usefulness of proposed controller.

关键词： Tele-robotics Flexible Structure Manipulator Bilateral Control Passivity

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Continuation method approach to trajectory planning in robotic systems

Continuation method approach to trajectory planning in robot...

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

作者： Karpinska, Joanna Tchon, Krzysztof Wroclaw Univ Technol Inst Comp Engn Control & Robot PL-50372 Wroclaw Poland

ISBN: (纸本)9781457709142

this paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1 parameter family of control functions. this family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. the approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.

关键词： trajectory planning rolling ball control systems Continuation methods Homotopy Differential equations kinematics

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2010 15th international conference on methods and models in automation and robotics, MMAR 2010

2010 15th International Conference on Methods and Models in ...

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2010 15th international conference on methods and models in automation and robotics, MMAR 2010

ISBN: (纸本)9781424478279

the proceedings contain 78 papers. the topics discussed include: composite control of periodic-review just-in-time inventory systems with asymmetric costs;sensitivity-based feedforward and feedback control using algorithmic differentiation;robust polynomial eigenstructure assignment control of a class of nonlinear systems;constrained robot motion planning: imbalanced Jacobian algorithm vs. optimal control approach;control of nonholonomic autonomous vehicles and their formations;energy saving control in low cost pneumatic positioning systems;autonomous navigation of transport robot in the urban environment;application of adaptive neural network to dishwasher operation control;Takagi-Sugeno-Kang type fuzzy models with fuzzy equations in the consequence part;numerical method for drag minimization in compressible flows;adaptive tracking-control synthesis for functionally uncertain systems via modified backstepping;and sensitivity analysis of infinite order hyperbolic optimal control problems.

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Investigation in online-methods estimating the oscillating frequency to improve control adaptively

Investigation in online-methods estimating the oscillating f...

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

作者： Haeuptle, Peter Hubinsky, Peter Gruhler, Gerhard Slovak Tech Univ Fac Elect Engn & Informat Technol Bratislava 81219 Slovakia Heilbronn Univ Fac Mech & Elect D-74081 Heilbronn Germany

ISBN: (纸本)9781457709142

the automation industry seeks for positioning systems with high dynamics and precision. In robotics or other lightweight applications where mechatronic drives are used, the end-effector often undesirably oscillates due to a relatively low system damping. Knowing the frequency of the damped oscillation would allow, e. g. "posicast"-or "input shaping"-control methods. thus, suppression or even elimination of such an oscillation can be achieved. When the frequency changes due to e. g. variable loads or gravitational issues, the control settings should be changed as well. then dynamics/precision can be held among non oscillation. Having a method which adapts e. g. a shaper to the actual frequency would allow a better suppression of such an oscillation. During run time, several sensor data of a mechatronic system contains this frequency more or less incisive. Several methods which may estimate online (during run time) this frequency in "transient"-as well as "semi-steady"-state were discussed in the following.

关键词： oscillation frequency Runtime damped oscillation Shapers Positioning systems Sensor Data robotics variable amplitude loading

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