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Energy saving control in low cost pneumatic positioning systems

Energy saving control in low cost pneumatic positioning syst...

引用

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

作者： Krzysztof Janiszowski Maciej Kuczyński Warsaw University of Technology Faculty of Mechatronics Warsaw Poland

the paper presents a novel approach to a problem of control in pneumatic positioning systems that is based on open loop control with specially created control strategy. this strategy is focused on low compressed air consumption and reduction of control time at positioning. the resulting transients while positioning did not induce overshoot but yields some errors at initial strokes. this error is reduced in an adaptive way very effectively to a margin that is acceptable in different industrial applications. Simulation results have been confirmed by extended program of testing performed on laboratory stand. the proposed approach can be a basis for development of efficient, low cost, industrial pneumatic positioning devices.

关键词： Pistons Valves Artificial neural networks Switches Accuracy Approximation methods

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An LPV fractional Hayami model for canal control

An LPV fractional Hayami model for canal control

引用

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

作者： Y. Bolea R. Martinez-Gonzalez A. Grau H. Martinez-Garcia Automatic Control Department Technical University of Catalonia Barcelona Spain Electronics Engineering Department Technical University of Catalonia Spain

In this paper an LPV non-integer order control Hayami model of an irrigation canal is derived from system identification experiments. this model is physically deduced by the simplification of Saint-Venant equations and experimentally obtained by using the described LPV fractional identification procedure. this procedure consists on the identification of a non-linear order model in each operation point of the canal. the global LPV model is obtained by the polynomial interpolation of the parameters of the local models. the validation results show that fractional models are more accurate than integer models. therefore the fractional models have an important role to play in management and efficient use of water resources.

关键词： Irrigation Mathematical model Data models Estimation Equations System identification Prototypes

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Topology represention and analysis of carton manipulation

Topology represention and analysis of carton manipulation

引用

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

作者： Guowu Wei Ruirui Zhang Jian S Dai School of Physical Sciences and Engineering King''s College London UK

this paper presents models for description and identification of various cartons in their discrete states, and proposes a new approach to describe the transformation of configuration states during carton manipulation in a packaging process. the method makes use of matrix operations which can be used to identify and model the steps and changes in carton manipulation at different stages of a packaging process. this gives an analytical way of presenting and identifying information of a carton and of modeling carton packaging manipulation and presents a new way for carton packaging automation.

关键词： Packaging Matrix decomposition Analytical models Transmission line matrix methods Joints Erbium Technological innovation

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RISE mobile robot operator training design

RISE mobile robot operator training design

引用

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

作者： Janusz Bedkowski Piotr Kowalski Paweł Musialik Andrzej Masłowski Marek Kacprzak Andrzej Kaczmarczyk Tomasz Pichlak Institute of Automation and Robotics Warsaw University of Technology Poland Institute of Mathematical Machines IMM Warsaw Poland

In the paper the framework for RISE (risky intervention and environmental surveillance) mobile robot operator training design is presented. the basic idea of the framework is to provide advanced software tools to improve the performance of the mobile robot simulation design that are applicable for operator training. the simulator is the end product of the framework. To achieve realistic rigid body simulation and realistic rendering the NVIDIA PhysX engine and the OGRE engine are used. It has to be noticed that the compatibility between the framework software and CAD modeling tools such as Solid Works was essential, therefore virtual models are exchangeable via COLLADA files. the simulator can be integrated with control panel of the mobile robot. It is possible to simulate the behavior of several types of robots such as caterpillar or wheeled. It is important to emphasize that presented result is a new approach related to mobile robots applications and potentially can improve the process of advance mobile robot application design and professional training of the operators.

关键词： Training Mobile robots Solid modeling Robot sensing systems Computational modeling Service robots

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Switched-structure of linear MIMO controllers for positioning of a drillship on a sea surface

Switched-structure of linear MIMO controllers for positionin...

引用

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

作者： Stanisław Bańka Michał Brasel Paweł Dworak Krzysztof J. Latawiec Chair of Control Engineering and Robotics West Pomeranian University of Technology in Szczecin Szczecin Poland Institute of Control and Computer Engineering Opole University of Technology Opole Poland

In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. the considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. the nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. the system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.

关键词： Marine vehicles Control systems Mathematical model Drilling Observers MIMO Vectors

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Experiments with a continuum robot structure

Experiments with a continuum robot structure

引用

作者： Cojocaru, Dorian Dumitru, Sorin Manta, Florin Boccolato, Giuseppe Manea, Ion Faculty of Automation Computers and Electronic University of Craiova Bld. Decebal Craiova Romania Faculty of Mechanics University of Craiova Calea Bucuresti Str. Craiova Romania

ISBN: (纸本)9789898425010

A continuum arm prototype was designed and implemented using two different shapes: cylinder like and cone like. this new robot is actuated by stepper motors. the rotation of these motors rotates the cables which by correlated screwing and unscrewing of their ends determine their shortening or prolonging, and by consequence, the tentacle curvature. the kinematics and dynamics models, as well as the different control methods developed by the research group were tested on these robots. the lack of no discrete joints is a serious and difficult issue in the determination of the robot's shape. A solution for this problem is the vision based control of the robot, kinematics and dynamics. An image - based visual servo control where the error control signal is defined directly in terms of image feature parameters was designed and implemented. In this paper, we analyze some mechanical capabilities of this type of continuous robots. We present the structure of the tentacle robot, it's kinematics model and the results for a series of tests regarding the mechanical behaviour of the robotic structure.

关键词： Kinematics

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Stability analysis for 2-D discrete systems with varying delay

Stability analysis for 2-D discrete systems with varying del...

引用

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

作者： Shuxia Ye Weiqun Wang Juan Yao School of Automation Nanjing University of Science and Technology of PLA Nanjing China School of Science Nanjing University of Science and Technology of PLA Nanjing China

this paper is concerned with stability analysis for two-dimensional (2-D) discrete systems described by the Roesser models (RM) with varying delay in the state. By utilizing the delay partitioning idea and the Lyapunov method, a new stability criteria is proposed in terms of linear matrix inequalities (LMIs). this result is delay-dependent and also dependent on the partitioning size. A numerical example is given to demonstrate the effectiveness and the benefits of the presented methods.

关键词： Delay Stability criteria Numerical stability Symmetric matrices Linear matrix inequalities Signal processing

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Constructive algorithm determining knowledge base of NARX local model network

Constructive algorithm determining knowledge base of NARX lo...

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

作者： Adrian Herberg Krzysztof Jaroszewski Faculty of Electrical Engineering West Pomeranian University of Technology Szczecin Poland

the article presents new way of learning, determining suitable Takagi-Sugeno (TS) fuzzy-neural network structure for modeling nonlinear process. the whole structure consists of the NARX models (Nonlinear Auto-Regressive model with eXogenous input) set. Offered algorithm uses for learning in its action cluster method to determine initial divisions of the input space. then, according to this algorithm the fuzzy-neural network, in which the rules of the knowledge base arise as a combination "peer-to-peer" adequate areas of input is being created. the consequents parameters are determined by means of a well-known Least Squares Method (LSM). Algorithm in the learning process sets an appropriate amount of membership functions, their distribution centers and width. In order to reduce the knowledge base the annihilation method was used like in, moreover the fusion operator was proposed. the structure formed in described way is characterized by reduced unnecessary membership functions, lack of nearly activated rules and structure optimized through dividing input space on the worst match areas. In addition, the article presents review of methods using for teaching the TS. Moreover advantages and disadvantages of these methods and main differences in contrast to the presented methods for learning networks were described.

关键词： Computational modeling Mathematical model Algorithm design and analysis Knowledge based systems Adaptation model Takagi-Sugeno model Least squares methods

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Subspace identification and model predictive control for buildings

Subspace identification and model predictive control for bui...

引用

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

作者： Jiří Cigler Samuel Prívara Department of Control Engineering Faculty of Electrical Engineering of Czech Technical University Prague Czech Republic

Model predictive controller presented in this article makes use of both weather forecast and thermal model of a building to control inside temperature. this, by sharp contrast to conventional control strategies such as weather-compensated heating control (heating-curve controller), enables utilization of thermal capacity of the building, thus minimization of energy consumption. the inside temperature can be maintained at desired levels independent of the outside weather conditions using modified formulation of predictive controller. Nevertheless, proper identification of the building model is crucial. the models of multiple-input multiple-output systems can be identified using subspace methods. the controller was tested on (and applied to) the real building and results were compared with a present heating control.

关键词： Buildings Water heating Predictive models Computational modeling Predictive control

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Singularly impulsive model of genetic regulatory networks

Singularly impulsive model of genetic regulatory networks

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

作者： Natasa A. Kablar Univerzitet u Beogradu Beograd Beograd RS

In this paper we present singular and singularly impulsive model of genetic regulatory networks. Concrete example consists of two gene - two proteins simple synthetic network, and posses two fundamentally present parts in biochemical networks - positive and negative feedback loops. these are important structural parts of biochemical networks and are interesting for control theoreticians. By investigating purpose of positive and negative feedback presence, we see for example that they lead either to bistability (or multistability, in general) in case of positive feedback or generate oscillatory behaviour in case of negative feedback what we show. Mathematical model is derived in form of nonlinear two dimensional dynamical system which is further approximated to singular and singularly impulsive dynamical system. Importance of this example is singular systems approximation which in this particular example leads to interesting and well known phenomena - of relaxation oscillation. this phenomena is consequence of multiple-scale network, i.e. fast-slow decomposition. Jump phenomena that appears as a consequence of time scale differences is very different from jumps (impulsive behaviour) that we have in impulsive systems approximation of, for example, sigmoidal function response by piece-wise linear function in order to reduce complexity.

关键词： Mathematical model Genetics Proteins Oscillators Biological system modeling Approximation methods Switches

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