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

共 1217 条记录，以下是101-110 订阅

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Comparison of improving servo drive position accuracy methods 19

Comparison of improving servo drive position accuracy method...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Broel-Plater, Bogdan Jaroszewski, Krzysztof West Pomeranian Univ Technol Fac Elect Engn PL-70310 Szczecin Poland

ISBN: (纸本)9781479950812

the main aim of this paper is to present a new start-aid method to control servo drive in case of very small velocity and distance changes are required. Using resetting of integration in the position controller and friction compensation as well as the initial phase correction - start-aid methods are compared and results of simulations are presented. Moreover, models of the drive and friction are delivered and schemas of control systems are presented.

关键词： servodrive micro motion friction compensation current loop control correction servo drive with start-aid integration reseting

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Real-time simulation of ship movements for a robot-assisted e-fueling process: A pathway to decarbonization through sector coupling 28

Real-time simulation of ship movements for a robot-assisted ...

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28th international conference on methods and models in automation and robotics (MMAR)

作者： Senkbeil, Max Anton Raup, Dominik Wree, Christoph Finkemeyer, Bernd Univ Appl Sci Kiel Dept Comp Sci & Elect Engn Kiel Germany

ISBN: (纸本)9798350362350;9798350362343

As part of the energy transition, the UN shipping organization has decided that by 2050 the oceans should be sailed in a climate-neutral way. As most ships are still based on fossil fuels, alternative propulsion systems such as hydrogen or electrically powered units must now be investigated. In the development of new ships, autonomous steering systems are also increasingly being researched. therefore, the development of an autonomous fueling process for ships, based on sustainable e-fuels, is crucial for implementing sector coupling and thus decarbonizing the transportation industry. To execute the autonomous fueling process in a test environment, robots can be used to emulate the movement of the ship and accomplish the autonomous plugging and fueling process. When simulating ship movements multiple approaches are known, ranging from simple algebraic equations up to complex numerical simulations based on differential equations. We present an approach for a real-time-capable simulation of ship movements that can be performed by a collaborative robot kinematics. the wave simulation is based on the oceanographic spectra and the Inverse Fast Fourier Transform. With this approach, simulation times of less than ten milliseconds are demonstrated.

关键词： robotics wave simulation autonomous ship fueling e-fuels real-time simulation

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Application of the Rayleigh-Ritz method to solve a class of fractional variational problem 20

Application of the Rayleigh-Ritz method to solve a class of ...

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20th international conference on methods and models in automation and robotics (MMAR)

作者： Blaszczyk, Tomasz Czestochowa Tech Univ Inst Math Al Armii Krajowej 21 PL-42201 Czestochowa Poland

ISBN: (纸本)9781479987016

the aim of this paper is to investigate a direct numerical method for solving a class of a fractional variational problem (FVP). the fractional derivative in the FVP is in the Caputo sense. the Rayleigh-Ritz method is introduced for the numerical solution of the FVP. the corresponding Euler-Lagrange equation contain the left and right Caputo fractional derivatives. We approximate the solution of the FVP by using the trigonometric function. Finally, the illustrative example is presented.

关键词： Rayleigh-Ritz methods Numerical methods Circular Functions Euler-Lagrange equation Solve Lagrangian equations

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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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Robust Regulation of Infinite-Dimensional Systems

Robust Regulation of Infinite-Dimensional Systems

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18th international conference on methods and models in automation and robotics (MMAR)

作者： Pohjolainen, Seppo Tampere Univ Technol Dept Math FI-33101 Tampere Finland

ISBN: (纸本)9781467355087;9781467355063

One of the classical problems in control theory is the robust output regulation problem. the output of a system is required to asymptotically follow a given reference signal, despite disturbance signals and perturbations in the system's parameters. Wonham & Francis, and Davison on the other hand, developed independently the theory and construction of finite-dimensional robust controllers. Wonham's approach was based on geometric theory while Davison introduced a combination of servo-compensator and stabilizing compensator. they discovered the famous Internal Model Principle, which states that a robust feedback controller must contain a copy of the dynamics of the exosystem generating the reference and disturbance signals.

关键词： robotics

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Modification of human circulatory system model for the purpose of physical reproduction of apex of the heart conditions

Modification of human circulatory system model for the purpo...

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18th international conference on methods and models in automation and robotics (MMAR)

作者： Siewnicka, Alicja Janiszowski, Krzysztof Warsaw Univ Technol Inst Automat Control & Robot Warsaw Poland

ISBN: (纸本)9781467355087;9781467355063

the paper presents the proposition of a numerical model of the human circulatory system modification for the purpose of physical reproduction of conditions prevailing in the apex of the heart on a hybrid simulator. this is a physical-numerical stand which performs a generation of hydraulic conditions occurring in the selected points of circulatory system. However, so far, there was no possibility of reproduction the apex of the heart point. the paper presents the nature of the problem and suggest solution. the results of simulation tests and analysis of assumptions correctness are shown. Description of further development works is included.

关键词： robotics

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Optimal route determining for LQ problem with optimally stopped horizon 20

Optimal route determining for LQ problem with optimally stop...

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20th international conference on methods and models in automation and robotics (MMAR)

作者： Kozlowski, Edward Lublin Univ Technol Dept Quantitat Methods Nadbystrzycka 38 PL-20618 Lublin Poland

ISBN: (纸本)9781479987016

the routing problem with optimal stopping of linear system is investigated in this paper. the classical linear quadratic control problem was replaced by determining the optimal trajectory (way, track, path). the general aim of optimal stopping and route determining consists of minimization of composite cost function. To illustrate the optimal track a numerical example is included.

关键词： optimum route LQ Linear system numerical example Optimal composite cost Horizon Track linear quadratic control stopping Routing Problem

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A Compliance Testing Structure for Implementation of Industry Standards through OPC UA 25

A Compliance Testing Structure for Implementation of Industr...

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25th IEEE international conference on Emerging Technologies and Factory automation (ETFA)

作者： Mathias, Selvine G. Schmied, Sebastian Grossmann, Daniel Mueller, Ralph Klaus Mross, Bjoern TH Ingolstadt Zentrum Angew Forsch D-85049 Ingolstadt Germany TH Ingolstadt Fac Engn & Management D-85049 Ingolstadt Germany AUDI AG Planungssteuerung Antriebe D-85053 Ingolstadt Germany

ISBN: (纸本)9781728189567

Information exchange across different departments in factories must be structured and verified for effective production processes. However, any such exchange across networks to clients must be compliant to company standards so that uniformity and security in data dispensation is maintained. Open Platform Communications Unified Architecture (OPC UA) solutions provide users with the flexibility of discharging information through network based protocols. this paper aims to build a compliance testing methodology for external vendors of an organisation who are interconnected with the OPC UA Server-Client Protocols. the structure is built on a host of UA clients that test UA specifications and information models from these vendors. this enables an organisational entity, for example, a manufacturer, to provide its clients, in this case external vendors such as suppliers, with the flexibility of conforming to prescribed standards in a testing phase on an automated digital platform rather than with older methods such as data transfer though databases or documents. An implementation of this approach is presented using example servers created for this purpose. It follows that external vendors can perform compliance testing and possibly improve their standards to match the company standards through remote testing after proper authentication measures provided by OPC UA.

关键词： OPC UA compliance testing information models servers clients

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Generating an industrial process graph from 3D pipe routing information 25

Generating an industrial process graph from 3D pipe routing ...

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25th IEEE international conference on Emerging Technologies and Factory automation (ETFA)

作者： Sierla, Seppo Azangoo, Mohammad Vyatkin, Valeriy Aalto Univ Dept Elect Engn & Automat Espoo Finland Lulea Univ Technol Dept Comp Sci Elect & Space Engn Lulea Sweden

ISBN: (纸本)9781728189567

the automatic generation of digital twins of industrial processes requires the integration of several sources of information. If the twin is expected to accurately capture thermo-hydraulic phenomena, dimensions of tanks and other process components as well as detailed pipe routing information is relevant. Such information is not comprehensively captured in P&IDs (Piping & Instrumentation Diagrams), but it is available from 3D CAD models. However, information about control loops is not available from 3D CAD models, but is available from P&IDs. Previous research has demonstrated the extraction of such information from machine-readable P&IDs and 3D CAD models and converting this information to graphs. Further research is expected on applying graph matching methods for integrating these separate graphs to a common graph-based data structure that captures all of the desired information. this common model could support further work to develop digital twins. A major obstacle to this is that the graphs that have currently been generated from P&IDs and 3D CAD models are at very different abstraction levels, so graph matching methods are not feasible. this article address this obstacle by building on previous work, in which graphs were generated from P&IDs and 3D CAD models. the contribution of this paper is several novel algorithms for preprocessing a 3D CAD generated graph, until it is at the same level of abstraction as a P&ID generated graph of the same industrial process. the algorithms are demonstrated in the context of a laboratory process.

关键词： industry 4.0 process industry digitisation automation modelling and simulation digital twins 3D modeling 3D CAD digital plant plant design

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Warehouse automation solution through a goods-to-person AMR 28

Warehouse automation solution through a goods-to-person AMR

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28th international conference on methods and models in automation and robotics (MMAR)

作者： Zotou, Dimitra Papadam, Stefanos theodoridou, Christina Kargakos, Andreas Tsiakas, Kosmas Alexiou, Dimitrios Kostavelis, Ioannis Giakoumis, Dimitrios Morenos, Nikolaos Ioannidis, Dimosthenis Tzovaras, Dimitrios Ctr Res & Technol Hellas Informat Technol Inst CERTH ITI Thessaloniki Greece Int Hellen Univ Dept Supply Chain Management Katerini Greece TETTIX N MORENOS SINGLE MEMBER PC Thessaloniki Greece

ISBN: (纸本)9798350362350;9798350362343

the use of goods-to-person robotic systems in a warehouse enhances storage density by devoting specific areas for Automated Mobile Robots (AMRs). Nevertheless, operation in narrow aisles and confined spaces presents notable challenges. this study outlines a comprehensive approach for AMRs to autonomously navigate within narrow aisles of a warehouse, ensuring safety and streamlining order completion. the goal is to independently collect and transport bins with products referred to the order, to the workstation area, where workers finalize order packing. Precise positioning of fiducial markers on the floor, initiates a fusion-based localization system that merges information from wheel odometry and fiducial detection. the markers are organized as an undirected graph to facilitate navigation purposes and Dijkstra algorithm is employed to successfully generate both safe and optimal paths. A pipeline has been established for the retrieval and positioning of bins from shelves or workstations to optimize the order picking process. the proposed method has been tested on a simulation environment with realistic constraints stem from the development of an autonomous warehouse environment.

关键词： navigation localization robotic system warehouse sensor fusion

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