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

共 1225 条记录，以下是151-160 订阅

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Development of a Dynamic Model of an Underwater Manipulator in Identification Form 9th

Development of a Dynamic Model of an Underwater Manipulator ...

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9th international conference on Interactive Collaborative robotics, ICR 2024

作者： Filaretov, Vladimir Zuev, Aleksandr Timoshenko, Aleksandr Institute of Automation and Control Processes FEB RAS 5 Radio St. Vladivostok690041 Russia M.D. Ageev Institute of Marine Technology Problems FEB RAS 5a Sukhanova St Vladivostok690091 Russia Far Eastern Federal University 12/2 Mordovtseva St. Vladivostok690091 Russia

ISBN: (纸本)9783031713590

the paper proposes a new method for constructing dynamic models of underwater manipulators installed on board autonomous underwater vehicles. these models are designed to identify unknown parameters of the interaction of an underwater manipulator with a viscous medium during its movement. A feature of these models is that unknown parameters, including coefficients of added masses and damping coefficients, are included in the equations of dynamics of the manipulator linearly relative to known kinematic parameters. these coefficients can be determined using classical identification methods such as the least squares method or methods based on the application of the linear Kalman filter. the identified parameters can then be used in adaptive underwater manipulator control systems to implement automatic execution of underwater technological operations. To do this, the identification procedure must be carried out in close proximity to the intended working area of the underwater vehicle with a manipulator, where the desired coefficients can be considered constant. the correctness of the proposed models and the possibility of identifying these coefficients were verified during mathematical simulation of the movement of an underwater vehicle with a manipulator mounted on it at various initial parameters of a viscous medium. © the Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Kalman filters

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the polynomial approach to accessibility of nonlinear fractional order difference system

The polynomial approach to accessibility of nonlinear fracti...

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

作者： Ewa Pawluszewicz Faculty of Mechanical Engineering Białystok University of Technology Wiejska 45 C Białystok Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the focus of the paper are accessibility (in a finite number of steps) conditions for nonlinear control systems with the Grünwald-Letnikov fractional order h-difference operator. these conditions are presented in terms of the greatest left common divisors of shifted polynomials associated with the given system. the obtained results extend the polynomial approach to accessibility problem of nonlinear discrete-time control systems on fractional case.

关键词： automation Nonlinear control systems Polynomials Nonlinear systems Robots

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Machine Learning models for the Recognition of Commands in Smart Home Technologies 1

Machine Learning Models for the Recognition of Commands in S...

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1st international conference on Smart automation and robotics for Future Industry, SMARTINDUSTRY 2024

作者： Mochurad, Lesia Babii, Viktoriia Greguš, Michal Lviv Polytechnic National University 12 Bandera street Lviv79013 Ukraine Faculty of Management Comenius University Bratislava Odbojárov 10 Bratislava 25820 05 Slovakia

Researching the possibilities of using smart home technologies to support the independent life of lonely elderly people involves considering various aspects that can improve their comfortable and safe stay at home. For instance, health monitoring systems, access to medical information resources, nutritional care, home security, assistance in everyday affairs. the main purpose of this work is to research the application of data analysis methods and machine learning to develop a model that can recognize commands and perform various functions to ensure a comfortable and safe life for older people. Machine learning models used to recognize smart home commands such as Random Forest (RF), Support vector method (SVM), XGBoost, CatBoost, Multilayer Perceptron (MLP), Lightgradient boosted machine (LGBM) was analyzed. the models that were trained used data collected from Kaggle, a public repository of datasets. Optimal parameters in machine learning algorithms for the classification of smart home commands were determined. As a result of the comparative analysis conducted according to the experimental assessment, the MLP deep learning model demonstrated better results compared to other methods. the proposed model achieved accuracy at 91%. this indicator can be improved in the future by using different deep learning models. © 2024 Copyright for this paper by its authors.

关键词： Deep learning

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Application of Control Scheme for Trajectory Tracking of Hovercraft and Indoor Airship

Application of Control Scheme for Trajectory Tracking of Hov...

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

作者： Przemyslaw Herman Institute of Automation and Robotics Poznan University of Technology Poznan Poland

this paper is concerned with the application of a velocity transformation-based control scheme developed for underpowered marine vehicles to other vehicles with a similar mathematical model to the underwater vehicle. the problem of applicability of known control algorithms to systems that differ from the original is important in that its solution makes it possible to adapt a known control strategy for a similar class of vehicles. It is then not necessary to construct a new algorithm, but it is enough to transform one that is known. the effectiveness of the proposed approach was verified using simulations for a 3 DOF hovercraft model and an 3 DOF indoor airship.

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A Comparison of the Effects of One-Step Integration methods on Nonlinear MPC-Based Controllers for Trajectory Tracking 28

A Comparison of the Effects of One-Step Integration Methods ...

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28th international conference on automation and Computing, ICAC 2023

作者： Huang, Zhejun Yang, Lili Li, Wenfei Southern University of Science and Technology Department of Statistics and Data Science Shenzhen China Research Center for Intelligent Transportation Zhejiang Lab Hangzhou China

ISBN: (纸本)9798350335859

Model predictive control (MPC) has been widely used in a wide range of industrial fields. How to balance the accuracy and real-time of the MPC-based controllers is still a challenging problem. In terms of the controller's accuracy, most studies focus on the problem of how to improve the system model's accuracy to improve the controller's performance without considering the algorithm errors of the integration methods used to establish the prediction model. In this paper, we investigate the effects of four distinct one-step integration methods (i.e. explicit and implicit Euler method, midpoint, and Heun's method) on nonlinear MPC-based trajectory tracking controllers. these integration methods are used to establish the predictive models to build up different MPC-based trajectory tracking controllers for autonomous driving vehicles. the performance of the MPC-based controllers is tested on a double-line change path. It is demonstrated that the choices of the control horizon and integration methods affect MPC-based controllers' tracking performance. MPC-based controllers using the backward Euler method with the optimal control horizon have the best tracking performance. © 2023 IEEE.

关键词： Model predictive control

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PDDL optimal planning as the Linear Programming Problem in a seaport container terminal

PDDL optimal planning as the Linear Programming Problem in a...

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

作者： Daniel Wójtowicz Krzysztof Puszyński Adam Gałuszka Dept.: Automatic Control and Robotics Silesian University of Technology Gliwice Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

international Seaports, as in the Shanghai international Container Seaport example, have problem with Planning Seaport Operations and one of the approaches to solve this planning problem is Seaport Operations Planning in the Planning Domain Description Language (PDDL). the problem with the PDDL planning is that it is computational resource intensive. that is why we have introduced transformation from the PDDL planning to linear programming in order to solve it. Linear programming is computational resource light. the plan computed in this way requires binary decision on an action. therefore the nonbinary decision of linear programming algorithm computation has been interpreted as degrees of truth.

关键词： Integer programming automation Computational modeling Seaports Containers Linear programming Planning

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A Deeping-Learning-Based Foreign Object Inspection System Design for Overhead Power Transmission Lines 8

A Deeping-Learning-Based Foreign Object Inspection System De...

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8th IEEE international conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Yue, Xiang Feng, Yan Qi, Kai Zhang, Yang Song, Yifeng Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110866 China College of Engineering Shenyang Agricultural University Shenyang110866 China

ISBN: (纸本)9798350300178

Overhead power transmission lines are widely used to transmit electrical energy for generation plants to distribution substations. Foreign objects such as kites, kite string or balloons may be accidently twisted on the power lines, which may lead to power outages if there are not removed. this paper proposed a foreign object inspection system based on deep learning for power transmission lines to overcome the shortages such as poor operation efficiency, high cost and time consuming of ordinary inspection methods. the system is consisted of inspection equipment and ground control station. the inspection equipment travels on the ground line of power transmission lines, and the deep learning algorithm is embedded in the software installed on the computer of the ground station, which can be used to control the inspection equipment remotely. the YOLOv3 algorithm is used to detect the foreign object, and the model is trained and tested in the field. Experimental results show the inspection system can inspect the lines semi-autonomously and the algorithm is capable of inspecting the foreign objects with 25fps in speed and 84% in accuracy, which helps in regular inspection task of the power transmission lines. © 2023 IEEE.

关键词： Learning algorithms

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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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Reference model based sliding mode control of a platoon of vehicles

Reference model based sliding mode control of a platoon of v...

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

作者： Piotr Leśniewski Institute of Automatic Control Łodź University of Technology Łódź Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, a reference model based sliding mode controller for the task of platoon control is developed. Among its advantages are: maintaining a safe distance between the vehicles, rapidly achieving the maximum allowable speed, and arriving at the exact desired position in minimum time. the approach has no limits on the platoon size, moreover only local information is used. Each vehicle only needs to monitor the distance and relative speed to its predecessor. this makes the solution easily scalable. the properties are demonstrated analytically and verified in numerical simulations.

关键词： Costs automation Numerical simulation Numerical models Monitoring Sliding mode control Robots

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A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems

A Triangular Normal Form for x-Flat Control-Affine Two-Input...

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

作者： Conrad Gstöttner Bernd Kolar Markus Schöberl Institute of Automatic Control and Control Systems Technology JKU Linz Austria

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cases. We derive conditions under which a system with given x-flat output can be transformed into the proposed triangular form. Based on the triangular form we motivate a simple algorithm for identifying candidates for flat outputs.

关键词： automation Control systems Robots

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