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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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A constraint based control architecture for Urban Autonomous Vehicles

A constraint based control architecture for Urban Autonomous...

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

作者： Filippo Bernabei Cristian Secchi Department of Sciences and Methods of Engineering University of Modena and Reggio Emilia Reggio Emilia Italy

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this study explores the application of Control Barrier Function (CBFs) for a dynamic constrained control for autonomous vehicle addressing road rules such as lane-keeping, lane changing, overtaking, and right-of-way. In particular, it shows the suitability of CBFs in encoding specific driving styles and strategies. this architecture doesn’t need Vehicle-to-Vehicle (V2V) communication, relying only on vehicle and infrastructure sensors. Results from experiments in a simulated urban scenarios highlight the feasibility and efficiency of the proposed approach.

关键词： automation Roads Vehicular ad hoc networks Robot sensing systems Encoding Sensors Vehicle dynamics

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Local Path Planning Algorithm Based On Artificial Potential Field With Adaptive Scaling Factor

Local Path Planning Algorithm Based On Artificial Potential ...

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

作者： Rafal Szczepanski Faiza Gul Institute of Engineering and Technology Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University in Torun Torun Poland Department of Electrical Engineering Air University Aerospace & Aviation Campus Kamra Pakistan

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the paper presents an adaptive local path planner based on the Artificial Potential Field algorithm and the WidrowHoff rule. the proposed algorithm maintains the required distance from obstacles. the limitation of the scaling factor of repulsive potential allows for proper continuous operation. It provides smooth, collision-free, and goal-reaching operation of mobile robots. the impact of adaptation gain and the required distance from obstacles on robot movement have been examined in randomly generated environments.

关键词： Adaptation models automation Predictive models Prediction algorithms Path planning Angular velocity Mobile robots

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A geometric measurement system using a robot as handling system and reference system

A geometric measurement system using a robot as handling sys...

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

作者： Kevin Blümel Marco Gerlach Alexander Winkler Christian thormann Professorship Digital Manufacturing and Quality Monitoring Hochschule Mittweida University of Applied Sciences Mittweida Germany Professorship Factory Automation Hochschule Mittweida University of Applied Sciences Mittweida Germany

Collaborating robots are used at production processes to interact with workers and they don’t need separation by protective devices. these robots could be used for in-place geometric measurements through some adjustments. this paper deals with the advantages of highly accurate geometric measurements using a cobot, steps of adjustments are described and some first startup measurements are presented.

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Applying Inertia Matrix Decomposition to Determine Controller Gains for Marine Vehicles

Applying Inertia Matrix Decomposition to Determine Controlle...

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

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

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this work concerns an attempt to solve the problem of selecting controller gains based on decompositions of the inertia matrix. the results presented are limited to the task of trajectory tracking by fully actuated underwater vehicles. the proposed approach uses properties of Inertial Quasi-Velocities (IQV) known from the literature. the novelty is to show that by means of the examination of vehicle dynamics, it is possible to tune the controller described by classical variables and to show the effects of disturbances not adequately taken into account due to the displacement of the vehicle’s center of mass. An algorithm for conducting gain selection and simulation examples of its application to a 6 DOF underwater vehicle model are proposed.

关键词： Symmetric matrices Trajectory tracking Heuristic algorithms Dynamics Mathematical models 6-DOF Matrix decomposition

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Occupational diseases forecasting for Polish coal mining based on Prophet algorithm

Occupational diseases forecasting for Polish coal mining bas...

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

作者： Nataliia Kashpruk Marta Kraszewska Jerzy Baranowski Mariusz Kapusta Department of Automatic Control and Robotics AGH University of Krakow Kraków Poland Faculty of Civil Engineering and Resource Management AGH University of Krakow Kraków Poland

In paper, forecasting models using Prophet algorithm for occupational diseases incidence rate for Polish coal mining are presented. Prior to this, data is analyzed and approach for building forecasting models in Prophet is described in details. Forecasting models for occupational diseases incidence rate are revealed, respectively for all sectors in Poland, mining industry and finally for coal mining including only pneumoconiosis. Improved forecast accuracy with presented models might provide coal mine enterprises more precise data, supporting safety management in those organizations.

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AMCL hybrid localization through the incorporation of visual rectangular landmarks

AMCL hybrid localization through the incorporation of visual...

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

作者： Germán Vega-Martínez Javier Laserna Moratalla Paloma De La Puente Universidad Politécnica de Madrid Madrid Spain Center for Automation and Robotics (CAR) Madrid Spain

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the increasing integration of robots into daily life requires enhanced autonomy capabilities and better levels of robustness. To address robot localization, this work proposes Hybrid AMCL, an extension of the original Adaptive Monte Carlo Localization (AMCL) algorithm, incorporating visual cues in the form of natural rectangles, usually present indoors, to overcome difficulties posed by scenarios lacking geometric features such as corridors. To this end, this work also introduces Rectangle Intersection-based Detector using Graphs and Elongation (RIDGE), a novel algorithm based on the idea of finding quadrilaterals in images, corresponding to real-world rectangles. the effectiveness of Hybrid AMCL is validated both in simulation using Isaac Sim and in a real-world environment. Our results show its potential for more accurate localization in challenging situations.

关键词： Location awareness Visualization Monte Carlo methods automation Accuracy Detectors Robustness

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Multiscale Dual-Channel Attention Network for Point Cloud Analysis 16th

Multiscale Dual-Channel Attention Network for Point Cloud An...

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16th international conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Wentao Cui, Jian Cao, Haiqing Zhu, Huixuan Lin, Sen Tang, Yandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Unit 32681 PLA Tieling112609 China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China

ISBN: (纸本)9789819964918

Point clouds are the most popular representation of 3D vision tasks and have a wide range of applications in the field of smart robots today. the disordered and unstructured nature of 3D points makes it more difficult for researchers to extract information from point clouds. When extracting information from point clouds, most methods ignore the geometric structure of local regions, making information extraction insufficient and thus affecting the model effect;or over-construct complex feature extractors to obtain more adequate information in local regions, which leads to extremely complex network models and dilutes the importance of points in the global structure. To this end, our approach proposes a multiscale dual-channel attention convolutional neural network model that considers both the extraction of information in the local structure and ensures the effectiveness of global information aggregation. the model effectively balances the fusion of local and global features and considers the effective combination of local and global features of point clouds in a more comprehensive way. It shows good performance on the classical datasets ModelNet40 and ShapeNet Part. © the Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Neural network models

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Efficient Heat Source Control with Transportation Delay Synchronization

Efficient Heat Source Control with Transportation Delay Sync...

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

作者： Pawel Nowak Patryk Grelewicz Michal Fratczak Jakub Musial Jakub Pospiech Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper presents the temperature control system designed for a heat source system in the form of an electric flow heater ensuring high performance of output temperature stabilization in the presence of significant flow rate variations. For this purpose, the PI controller was supplemented with a gain scheduling technique and a feedforward compensator based on a simple dynamic model. Two approaches for designing the feedforward compensator are verified. Simulation studies and practical verification show that control performance can be increased by introducing additional transportation delay time synchronization in the feedforward compensator.

关键词： Transportation Process control Predictive models Dynamic scheduling Delays Synchronization Feedforward systems

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Estimation of Faults for Some Class of Fractional-Order Systems

Estimation of Faults for Some Class of Fractional-Order Syst...

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

作者： Stefan Domek Marcin Witczak Marcin Pazera Department of Automatic Control and Robotics West Pomeranian University of Technology in Szczecin ul. Sikorskiego 37 Szczecin Poland Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 Zielona Góra Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper presents the design of a robust estimator for simultaneous actuator and sensor faults aimed at Fault Diagnosis (FD) in a specific class of fractional-order digital systems. the proposed ${\mathcal{H}}_{\infty}$ estimator design methodology ensures a specified disturbance attenuation level and convergence, making it suitable for both fault diagnosis and fault-tolerant control applications.

关键词： Fault diagnosis Fault tolerance Actuators Digital systems Design methodology Fault tolerant systems Estimation

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Mechanical input-output linearization and decoupling of mechanical control systems

Mechanical input-output linearization and decoupling of mech...

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

作者： Marcin Nowicki Witold Respondek Institute of Automatic Control and Robotics Poznan University of Technology Poznaň Poland Institute of Automatic Control Lodz University of Technology Łódź Poland Emeritus Professor at Normandie Université INSA de Rouen Saint-Etienne-du-Rouvray France

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, we present a mechanical counterpart of the problem of simultaneous input-output feedback linearization and decoupling that is designed for control systems that possess a mechanical structure. We show how our problem differs from the classical one and what are the supplementary conditions for preserving the mechanical structure of the system. Unlike our previous works, here we treat a mechanical control system $(\mathcal{M S O})$ as a control system on $\mathrm{T} Q$ with a special structure of the drift and control vector fields.

关键词： Manifolds automation Control systems Vectors Planning Feedback linearization Mechanical systems

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