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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161-170 订阅

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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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the virtual reality system used for upper extremity rehabilitation

The virtual reality system used for upper extremity rehabili...

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17th international conference on methods and models in automation and robotics (MMAR)

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

ISBN: (纸本)9781467321242

this paper presents a complete Virtual Reality (VR) system used for upper extremity rehabilitation. the system consists of sensors, the computer application and stereoscopic display glasses. the system is designed to cooperate with special mechanical orthosis used for arm rehabilitation. Patients can see their movements in the 3D virtual space during exercises. the system has a key role in development of rehabilitation robot, because numerous researches show that exercises in VR decreases the time of rehabilitation.

关键词： Rehabilitation Lake Restoration Upper Extremity Variable reluctance STEREOSCOPIC DISPLAYS Rehabilitation robotics Exercise virtual reality Virtual Space APPLIED COMPUTER SCIENCE

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Automated Monitoring of Pollinators With Agricultural Robots 8

Automated Monitoring of Pollinators With Agricultural Robots

引用

8th international conference on automation, robotics and Applications (ICARA)

作者： Abdel-Raziq, Haron Petersen, Kirstin Cornell Univ Dept Elect & Comp Engn Ithaca NY 14853 USA

ISBN: (纸本)9781665483834

With a growing population, global food demand continues to rise. Many crops depend on wild and managed pollinators that are experiencing steep population declines. this directly impacts growers' ability to increase food production and is compounded by a lack of systems for monitoring and understanding pollinator behavior. Here, we present task allocation methods that would allow us to leverage existing agricultural robots to monitor both natural and wild pollinator behavior. this would supply growers with information key to improving orchard management such as the interaction between foragers and the orchard as well as the effect of foragers on crop growth. We compare three different task allocation methods for visual monitoring of pollinators designed around the type of activities necessary for an agricultural robot. Our approach is tested in a comprehensive simulator that considers the structure and bloom of an orchard and the time-evolving nature of honey bee flights. Our results indicate that intermittently monitoring an orchard permits estimations with a small (3-9 out of 25) pollinator error margin and that this strategy can also be used to detect spontaneous events.

关键词： social agents agricultural automation robotics in agriculture

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Speed calculation methods in electrical drive with non-ideal position sensor 19

Speed calculation methods in electrical drive with non-ideal...

引用

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

作者： Luczak, Dominik Nowopolski, Krzysztof Siembab, Krzysztof Wicher, Bartiomiej Poznan Univ Tech Inst Control & Informat Engn Poznan Poland

ISBN: (纸本)9781479950812

In this paper three methods of electric motor angular speed calculation are compared. the source of the measurement signal is a 14-bit absolute encoder. the authors compared the well-known classic methods M with more advanced approaches. First of the complex methods is based on utilization of phase loop lock system in an estimation process using on-line system model. the third method discussed in the paper is focused on application of Chebyshev filter. Short description of all of the mentioned method is followed by simulation and experimental results. the results are presented on an instance of permanent magnet synchronous motor drive, with both speed controller and speed calculation algorithms implemented in a digital signal processor system.

关键词： speed measurement absolute encoder position sensor electrical drive PLL DSP Chebyshev filter low-pass filter digital filtering spectral analysis

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Multipurpose Supernumerary Robotic Limbs for Industrial and Domestic Applications 20

Multipurpose Supernumerary Robotic Limbs for Industrial and ...

引用

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

作者： Srinivas, Samvrit Virk, Gurvinder Singh Haider, Usman RNS Inst Technol Dept Mech Engn Bangalore Karnataka India Univ Gavle KTH Royal Inst Technol Stockholm Sweden Univ Gavle Dept Elect Sci & Maths Gavle Sweden

ISBN: (纸本)9781479987016

Robotic exoskeleton arms have been around for a long time and they have successfully evolved from research prototypes to commercial products. Multipurpose supernumerary robotic limbs (MSRLs) have been recently introduced as new types of aids which do not directly replace missing limbs, but they are additional mechanical arms with changeable end-effectors which can be worn by the user to provide needed functionalities. this paper presents the mechanical design and kinematics modelling and control of a MSRL system. the MSRL presented could have good application in industrial and domestic situations.

关键词： robotic arm wearable personal robotics leader-follower method AHRS kinematics mechanical design

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Selection of the objective function of reduction parameter optimization algorithm, and its impact on the properties of reduced MIMO models 20

Selection of the objective function of reduction parameter o...

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

作者： Rydel, Marek Stanislawski, Wlodzimierz Opole Univ Technol Dept Elect Control & Comp Engn Opole Poland Univ Appl Sci Inst Comp Sci Nysa Poland

ISBN: (纸本)9781479987016

this article presents a range of approximation error measures for reduced mathematical MIMO models of controlled objects. these measures can be of use in evaluations of reduction quality. the impact of selection of a particular approximation error measure as the objective function of the reduction parameter optimization algorithm on the frequency characteristics of the reduced model was analyzed. Particular emphasis was given to those cases where the individual channels of a MIMO model differ significantly from one another. the results are presented on the example of a one-phase zone evaporating tubes model of a BP-1150 steam boiler.

关键词： Objective function multiple input multiple output systems Approximation error IMPACT PROPERTIES Parameter optimization frequency characteristic reduced model controlled object COHERENT TUBE MODEL annonacin-A-one

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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...

引用

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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Selected methods for Increasing the Accuracy of Vehicle Lights Detection 24

Selected Methods for Increasing the Accuracy of Vehicle Ligh...

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24th international conference on methods and models in automation and robotics (MMAR)

作者： Bogacki, Piotr Dlugosz, Rafal Aptiv Serv Poland SA Ul Podgorki Tynieckie 2 PL-30399 Krakow Poland AGH Univ Sci & Technol Fac Comp Sci Elect & Telecommun Krakow Poland UTP Univ Sci & Technol Fac Telecommunicat Comp Sci & Elect Engn Bydgoszcz Poland

ISBN: (纸本)9781728109336

the paper presents selected methods for improving the accuracy of classification of headlights and taillights of the vehicles. the methods include analyzing blob properties and locations of the detections. A new feature for describing binary blob shape has been proposed. Moreover, data augmentation technique has been used to improve the results of the classification. the referenced system is based on convolutional neural networks (CNNs). New solutions have been tested with comprehensive set of video sequences (of total duration exceeding ten hours) under various weather conditions and from different road types.

关键词： computer vision headlight control night time vehicle detection

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A numerical method for shape and topology optimization for semilinear elliptic equation

A numerical method for shape and topology optimization for s...

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15th international conference on methods and models in automation and robotics (MMAR)

作者： Scheid, Jean-Francois Sokolowski, Jan Szulc, Katarzyna Univ Nancy 1 Inst Elie Cartan Math Lab F-54506 Vandoeuvre Les Nancy France

ISBN: (纸本)9781424478279

Shape optimization problem for semilinear elliptic equation is considered. there is an optimal solution which is computed by the Levelset method. To this end the shape derivative of the functional is evaluated. In order to predict the topology changes the topological derivative is employed. Numerical results confirm that the proposed framework for numerical solution of shape optimization problems is efficient.

关键词： Numerical methods

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Accurate Pose Determination for Autonomous Vehicle Navigation

Accurate Pose Determination for Autonomous Vehicle Navigatio...

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

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

ISBN: (纸本)9781467355087;9781467355063

In this paper, the translational accuracy performance of two algorithms that allow the pose of an Unmanned Aerial Vehicle (UAV) to be estimated is reported, based on preliminary data. the two algorithms are the 2D Homography and the 3D Iterative Closest Point (ICP) algorithm. Performance is measured against real image data taken with a digital Nikon D70 camera, with lens set at 3 different focal lengths. It is shown that best accuracy is achieved with the 3D Iterative Closest Point algorithm and that focal length itself has little or no bearing on this performance. Calibration errors may impact accuracy.

关键词： Iterative methods

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