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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221-230 订阅

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Feedforward Control Design for a Four-Rotor UAV using Direct and Indirect methods

Feedforward Control Design for a Four-Rotor UAV using Direct...

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

作者： Gruening, Tobias Rauh, Andreas Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781467321242

To calculate feedforward control strategies by means of dynamic optimization procedures, the alternatives of direct and indirect methods are compared in this paper. the direct optimization approaches that are considered in this paper make use of the Hermite-Simpson method and of the Legendre Pseudospectral method as underlying discretization strategies. their description is followed by a short introduction to the maximum principle of Pontryagin, i.e., the indirect method. All procedures are employed to compute feedforward control sequences for the flight control of a four-rotor UAV, which is an unstable, nonlinear multi-input multi-output system. the optimization results are compared with respect to their accuracy and applicability.

关键词： FEEDFORWARD CONTROL maximum principle Indirect Method Mentoring Unmanned Aerial Vehicle drone honey bees Aircraft control

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Vehicle Classification Using Measurements From Accelerometers Mounted On the Road Surface 19

Vehicle Classification Using Measurements From Accelerometer...

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

作者： Obertov, Dmitri Andrievsky, Boris ITMO Univ St Petersburg 199178 Russia RAS Inst Problems Mech Engn St Petersburg 199178 Russia

ISBN: (纸本)9781479950812

A new method for vehicle classification is presented. An axle parameter estimation gives advanced results for the distances between axles as well as transferred energy of vibrations. Measured road vibrations are analyzed and the phenomena are studied. Algorithms for vehicle classification based on the findings are described and their performance, advantages and disadvantages are evaluated and discussed. Correct classification of vehicles by wheelbases using accelerometers is about 89 %.

关键词： accelerometers axles control engineering computing intelligent transportation systems parameter estimation pattern classification road traffic control road vehicles vibration control vibration measurement wheels accelerometers measurements axle parameter estimation road surface road vibrations measurement transferred energy vehicle classification wheelbases Accelerometers Artificial intelligence Axles Roads Smoothing methods Vehicles Vibrations Vehicle classification Axle accelerometers PAVEMENTS control engineering computing smoothing methods Vibration vibration monitoring Intelligent transportation systems vehicle road vehicles Parameter estimation Road Pattern recognition vibration control

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Investigation in online-methods estimating the oscillating frequency to improve control adaptively

Investigation in online-methods estimating the oscillating f...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Haeuptle, Peter Hubinsky, Peter Gruhler, Gerhard Slovak Tech Univ Fac Elect Engn & Informat Technol Bratislava 81219 Slovakia Heilbronn Univ Fac Mech & Elect D-74081 Heilbronn Germany

ISBN: (纸本)9781457709142

the automation industry seeks for positioning systems with high dynamics and precision. In robotics or other lightweight applications where mechatronic drives are used, the end-effector often undesirably oscillates due to a relatively low system damping. Knowing the frequency of the damped oscillation would allow, e. g. "posicast"-or "input shaping"-control methods. thus, suppression or even elimination of such an oscillation can be achieved. When the frequency changes due to e. g. variable loads or gravitational issues, the control settings should be changed as well. then dynamics/precision can be held among non oscillation. Having a method which adapts e. g. a shaper to the actual frequency would allow a better suppression of such an oscillation. During run time, several sensor data of a mechatronic system contains this frequency more or less incisive. Several methods which may estimate online (during run time) this frequency in "transient"-as well as "semi-steady"-state were discussed in the following.

关键词： oscillation frequency Runtime damped oscillation Shapers Positioning systems Sensor Data robotics variable amplitude loading

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An algorithm for design of deadbeat controllers of spatially invariant systems 19

An algorithm for design of deadbeat controllers of spatially...

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

作者： Augusta, Petr Galkowski, Krzysztof Acad Sci Czech Republ Inst Informat Theory & Automat CR-18208 Prague Czech Republic Univ Zielona Gora Inst Control & Computat Engn Zielona Gora Poland

ISBN: (纸本)9781479950812

In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. the algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.

关键词： control system synthesis partial differential equations polynomials bivariate polynomial deadbeat controller design linear equation parabolic partial differential equation polynomial methods spatial variable spatially invariant system temporal variable Algorithm design and analysis Arrays Heating Mathematical model Polynomials Transfer functions Polynomial Linear equation Algorithm design and analysis time variable Differential equations control system synthesis TRANSFER FUNCTIONS dead-beat Partial differential equations Mathematical Model Algorithm design

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Adaptive Control System for Quadrotor Equiped with Robotic Arm 19

Adaptive Control System for Quadrotor Equiped with Robotic A...

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

作者： Bazylev, Dmitry Zimenko, Konstantin Margun, Alexey Bobtsov, Alexey Kremlev, Artem ITMO Univ St Petersburg Russia

ISBN: (纸本)9781479950812

this article proposes a new control design of quadrotor with attached 2-DOF robotic arm. Proposed adaptive control law is based on combined application of feedback linearization and consecutive compensator methods. Real time computation of the inertia tensor, center of mass position and the reactive torque generated by the manipulator is used to compensate the mutual influence of the system parts. the usefulness of the method is demonstrated by simulation results of the system with external perturbations in comparison with widespread PD controller.

关键词： adaptive control aircraft control compensation control system synthesis feedback helicopters manipulators perturbation techniques tensors adaptive control system attached 2-DOF robotic arm compensator methods control design external perturbations feedback linearization inertia tensor quadrotor real time computation Manipulator dynamics Mathematical model Tensile stress Trajectory Adaptive control systems inertia tensor design control Aircraft control manipulator dynamics control system synthesis Manipulators Helicopters adaptive control Tensile stress Tensor robotic arm trajectory Feedback Mathematical Model

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the average 6 DOF path estimation with the use of initial approximation curve 19

The average 6 DOF path estimation with the use of initial ap...

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

作者： Fracczak, Lukasz Podsedkowski, Leszek Moll, Maciej Tech Univ Lodz Fac Prod Engn PL-90924 Lodz Poland Inst Ctr Zdrowia Matki Polki Kardiol Klin Lodz Poland

ISBN: (纸本)9781479950812

the paper presents the average path estimation algorithm. this algorithm is based on the approximation curve, which shape should by defined as closely as possible to the shape of the analyzed path. With the use of this initial curve, the data space is divided into the intervals. All of the interval paths points are averaged individually. After the calculations, there is only one average point for each path. Next, these average points are averaged to one point in each interval. the set of these averaged points define the average path. thanks to this algorithm the input paths can be non-linear and independent of time. the analyzed path can begin and end in any point in the 6DOF space, as well as reverse and loop. this paper presents the general model description and example of the use of the presented algorithm.

关键词： approximation theory curve fitting path planning robots approximation curve average path estimation algorithm data space loop path path estimation path planning optimization reverse path robotics development Approximation algorithms Approximation methods Equations Mathematical model Robots Surgery Trajectory

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Reasonable Grasping based on Hierarchical Decomposition models of Unknown Objects 15

Reasonable Grasping based on Hierarchical Decomposition Mode...

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15th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Xia, Chongkun Zhang, Yunzhou Shang, Yanli Liu, Tongbo Northeastern Univ Coll Informat Sci & Engn Shenyang Liaoning Peoples R China Northeastern Univ Fac Robot Sci & Engn Shenyang Liaoning Peoples R China Univ Sci & Technol Beijing Sch Comp & Commun Engn Beijing Peoples R China

ISBN: (纸本)9781538695821

Reasonable grasping for unknown objects is an interesting and important problem for autonomous robots in unstructured environment. Current grasping methods for unknown objects mostly focus on precision and stability. Until now there are few specific studies or reports describing reasonable grasp of unknown objects for service robots such as home service robots and nursing robots. In the paper we proposed a reasonable grasping method for unknown objects based on hierarchical decomposition point cloud models using a vision sensor. As a complex task, vision-based grasp is composed of a series solution of a mixture of subproblems. therefore, we adopt an improved superquadrics fitting algorithm with the improved cuckoo search strategy (S-ICS) to achieve restoration and segmentation of incomplete point cloud data of unknown objects in a single visual angle. then a reasonable region decision method based on hierarchical decomposition models is proposed to evaluate the reasonableness of grasped positions of unknown objects. Finally, we use a simulation to verify the effectiveness of the proposed method. Moreover, we also perform an extensive real-world grasping experiment on a set of unknown objects in daily use. the results also verify the effectiveness of our approach.

关键词： Optimization

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A Generic Validation Scheme for real-time capable Automotive Radar Sensor models integrated into an Autonomous Driving Simulator 24

A Generic Validation Scheme for real-time capable Automotive...

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

作者： Jasinski, Michal AGH Univ Sci & Technol Dept Automat & Biomed Engn Al A Mickiewicza 30 PL-30059 Krakow Poland APTIV Serv Poland SA Ul Podgorki Tynieckie 2 PL-30399 Krakow Poland

ISBN: (纸本)9781728109336

Since Advanced Driver Assistance Systems are getting more and more complex a strong effort is put into the development of open-source autonomous driving simulators. However a robust virtual environment should not only be assessed by its realistic physics or 3D assets variety, but it also has to incorporate highly accurate and real-time capable sensor models. the research presented in this paper introduces a robust method for validating radar sensor models enabling a simple proof of their reliability in a virtual scenario. To give an overview of radar sensor modeling approaches, the solutions available in the literature are evaluated in terms of usage in virtual environments based on simple criteria. Finally, an exemplary radar sensor model integrated into the CARLA simulator is presented and also a short outline of further research is depicted.

关键词： sensor models validation autonomous driving simulator CARLA radar systems real-time applications

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Mobility Aware Topology Control Framework for Dynamic Multi-Robot Networks

Mobility Aware Topology Control Framework for Dynamic Multi-...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Varadarajan, Karthik Mahesh Vincze, Markus TU Vienna ACIN Vienna Austria

ISBN: (纸本)9781457709142

Multi-robot networks used in surveillance, industrial manufacturing, defense and distributed monitoring require maximal coverage and connectivity while adapting to changes in environmental and channel conditions. Traditional algorithms attempt at solving this issue using deployment schemes and power control. In the case of mobile robot networks, the additional degree of freedom rendered by the mobility of the robots can additionally be used. In this paper we introduce a novel robot topology control mechanism aiming at maximizing coverage, connectivity and reliability using an irregular hexagonal static/ mobile multi-robot deployment scheme. Experimental data, along with simulation results demonstrate connectivity enhancement under signal loss.

关键词： Multi-robot Networks Topology Control Outage Fading models Hexagon Deployment Rayleigh Log-Normal Dynamic Network Topology Mobile Sensors

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Benchmarking Nonlinear Model Predictive Control with Input Parameterizations 26

Benchmarking Nonlinear Model Predictive Control with Input P...

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26th international conference on methods and models in automation and robotics

作者： Fusco, Franco Allibert, Guillaume Kermorgant, Olivier Martinet, Philippe Univ Cote Azur I3S CNRS Sophia Antipolis France Cent Nantes Lab Sci Numer Nantes LS2N Nantes France Univ Cote Azur INRIA Sophia Sophia Antipolis France

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

Model Predictive Control (MPC) while being a very effective control technique can become computationally demanding when a large prediction horizon is selected. To make the problem more tractable, one technique that has been proposed in the literature makes use of control input parameterizations to decrease the numerical complexity of nonlinear MPC problems without necessarily affecting the performances significantly. In this paper, we review the use of parameterizations and propose a simple Sequential Quadratic Programming algorithm for nonlinear MPC. We benchmark the performances of the solver in simulation and compare them with state-of-the-art solvers. Results show that parameterizations allow to attain good performances with (significantly) lower computation times.

关键词： Software libraries Benchmark testing Prediction algorithms Hardware Numerical models Reliability Quadratic programming

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