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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231-240 订阅

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Optimization Design of Trigger Timing for Multi-Stage Coil Launcher

Optimization Design of Trigger Timing for Multi-Stage Coil L...

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Pulsed Power conference, international conference on High-Power Particle Beams and international Symposium on Electromagnetic Launch Technology (EAPPC/BEAMS/EML), Euro-Asian

作者： Yadong Zhang Jianping Cao Ao Zhou School of Electrical Engineering and Automation Wuhan University Wuhan China

ISBN: (数字)9789038661353

ISBN: (纸本)9798350352733

To reasonably set the triggering time of each stage coil of the energy recovery type reluctance launcher and improve efficiency, this paper proposes a method based on Bayesian Random Forest Model (BO-RF) and Northern Goshawk Optimization algorithm (NGO) to predict and optimize the on-off timing of IGBT switches in each stage coil. the method was validated by building a simulation model of a 5-stage energy recovery reluctance launcher. the results showed that after optimization, the armature muzzle velocity increased from 71.2m/s to 89.89m/s, and the launcher efficiency increased from 26.78% to 32.86%.

关键词： Coils Insulated gate bipolar transistors Forestry Switches Predictive models Prediction algorithms Timing Bayes methods Integrated circuit modeling Optimization

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Acceptance tests of BIM models using the IDS standards within openBIM

Acceptance tests of BIM models using the IDS standards withi...

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

作者： Tomasz Owerko Maciej Wrzosek Maciej Rochel Karolina Tomaszkiewicz Jędrzej Pasalski Dariusz Kasznia Paweł Łaguna Faculty of Geo-Data Science Geodesy and Environmental Engineering AGH University of Krakow Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the article explains an interoperable method for the exchange construction information, particularly concerning civil infrastructure projects. Open BIM standards offer a neutral platform for information exchange, enhancing data integration throughout all construction and operation phases. the Information Delivery Specification Standard (IDS), a component of open BIM standards, along with the Information Delivery Manual (IDM), facilitates the timely and organized exchange of information. the research was aimed to determine if generating requirements for open BIM models could be automated in accordance with IDS standards. It was also assumed that the input data are the requirements from the BIM Execution Plan (BEP). the research results show the ability to generate IDS files automatically, which improves model verification and enables quick adjustments. Despite the challenges, the use of IDS as an element of open BIM standards enhances the construction processes.

关键词： automation Data integration Manuals Standards Robots Information exchange

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Modeling a dynamic object with distributed parameters

Modeling a dynamic object with distributed parameters

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

作者： Igor Korobiichuk Viktorij Mel’Nick Vera Kosova Zhanna Ostapenko Viktoriia Pavlenko Józef Wrona Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP Warsaw Poland National Technical University of Ukraine Igor Sikorsky Kyiv Polytechnic Institute Kyiv Ukraine The Ukrainian Scientific and Research Institute of Special Equipment and Forensic of the Security Service of Ukraine Kyiv Ukraine

this article is developed and improved a mathematical model that describes the influence of errors in determining the structure of the approximating function on the results of automatic control object identification. A dynamic string with a load fixed at both ends is considered, an approximation is made and its modeling is carried out. methods for determining the parameters of the selected approximating structure from the system’s response to a known input signal have been analyzed. An unconventional method for determining the transfer function using the method of least squares has been proposed. the universality of the mathematical description expands the possibilities of taking into account many factors that affect its properties and also establishes the validity degree of assumptions and simplifications in the process of analyzing the dynamics as a whole.

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Voxel Based Motion Prediction for Efficient HRC Utilizing Latent Space 19

Voxel Based Motion Prediction for Efficient HRC Utilizing La...

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19th IEEE international conference on automation Science and Engineering, CASE 2023

作者： Spielbauer, Niklas Reichard, Daniel Bolano, Gabriele Stelzer, Annett Suppa, Michael Leske, Michael Steinbronn, Janus Rothe, Diana Roennau, Arne Dillmann, Rudiger Haid-und-Neu-Strase 10-14 Karlsruhe76131 Germany Roboception GmbH Kaflerstraße 2 München81241 Germany Ruhrbotics GmbH Maria-von-Linden-Str. 27 Recklinghausen45665 Germany pi4 Robotics GmbH Gustav-Meyer-Allee 25 Berlin13355 Germany

ISBN: (纸本)9798350320695

Safe human-robot-collaboration requires the robot not to pose a risk to the operator in the shared workspace. To avoid collisions different approaches such as sekleton-model based motion predictions of the human operator have been explored. those approaches limit themselves to the motion of the operator and neglect other dynamic or movable objects in the workspace. We propose an approach that utilizes a purely voxel based prediction of motion in an arbitrary workspace without the use of models to predict any type of motion. this is done by encoding the voxelized 3D space as a latent vector and predict future occupation of the workspace by predicting possible future latent vectors. To archive this a combination of a Variational Autoencoder (VAE) and a GRU based prediction network is utilized. through the nature of the used latent vectors it is possible to remove noise and complete hidden voxels from the input data and allow interpolation between similar voxel configurations. Interpolation is key to enable a meaningful decoding of prediced latent vectors back into the voxel domain. the VAE and GRU training are evaluated on two complex workspaces without prior knowledge. With our approach we can reconstruct complex environments without the need of any models with high accuracy and can predict human and object motion. As a second contribution the extensive workspace data sets will be made publicly available. © 2023 IEEE.

关键词： Interpolation

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A Criterion for the Transient Stability of the PLL-based Grid Synchronization

A Criterion for the Transient Stability of the PLL-based Gri...

引用

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

作者： Alexander Schöley Torsten Jeinsch Faculty of Electrical Engineering and Computer Science Institute of Automation University of Rostock Germany

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

A successful grid synchronization is essential for grid-following converters. Usually, a phase-locked loop (PLL) is applied to synchronize the converter to the grid, but this process can fail in weak grid scenarios, resulting in an unstable converter controller. Studies have been carried out to investigate this issue, but there are no applicable conditions that guarantee the stability in the transient case. the PLL-based grid synchronization of a grid-side converter with output filter of LC-type and grid impedance of RL-type is investigated in this work. A transient stability condition is known for this system, but its evaluation requires the time domain solution of the underlying differential equations. In this paper, a criterion is derived, that shows the fulfilment of the condition without the need for the time domain solution. Since the criterion is based on conservative estimates, it provides only a sufficient proof of stability. the criterion is implemented and validated in numerical simulations.

关键词： Stability criteria Differential equations Power system stability Steady-state Synchronization Transient analysis Time-domain analysis

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Excitation signals to state-space realization and linear-regression identification methods applied to a MIMO system

Excitation signals to state-space realization and linear-reg...

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

作者： Dirceu Soares Alberto Luiz Serpa Department of Industrial Automation Serra Federal Institute of Espirito Santo - IFES Vitoria ES Brazil Department of Computation Mechanics FEM University of Campinas - UNICAMP Campinas SP Brazil

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this work presents a new approach in the comparative analysis of three excitation signals applied in a system identification process. the excitation signals employed are Pseudo-Random Binary Sequence (PRBS), Sine Sweep (CHIRP), and Gaussian White Noise (GWN). Moreover, with comparative purposes, two algorithms are used to identify a Multiple-Input-Multiple-Output (MIMO) system of 100 degrees of freedom: a State-space identification method based on the traditional Eigensystem Realization Algorithm (ERA) and the linear-regression method ARMAX. the MIMO system is submitted to five levels of additive measurement noise: 1%, 1.5%, 2%, 2.5%, and 3%. the results are statistically analysed composed by 100 simulations for each set of algorithm parameters. the simulations show that, apart from the GWN, well-known as an appropriated excitation signal for application in systems with the characteristics portrayed in the present work, the PRBS can be another feasible signal to identify the MIMO system simulated accordingly with the identification method chosen.

关键词： Analytical models automation Chirp White noise Polynomials System identification Noise measurement

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Multi-Robot Path Planning for Comprehensive Area Coverage in Complex Environments

Multi-Robot Path Planning for Comprehensive Area Coverage in...

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

作者： Manish Kumar Arindam Ghosh Muneendra Ojha Department of IT IIIT - Allahabad Prayagraj India

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Multi-robot coverage path planning (mCPP) involves devising efficient motion sequences for robots to cover all positions within a workspace, excluding obstacles. this paper focuses on addressing the path-planning challenge of a Divide Area based on Robot’s Initial Positions (DARP), where a group of mobile robots is tasked with covering a predefined area containing obstacles. this work proposes an improved DARP algorithm for efficient coverage. the proposed algorithm, combined with the $A^{*}$ and the spanning tree coverage algorithm, assigns tasks to robots to optimally achieve full coverage of the desired area. It transforms the initial mCPP problem into individual coverage path planning tasks of single-robot, combining their solutions to form the optimal solution for mCPP. this method significantly improves performance by reducing coverage time, minimizing the number of turns taken by robots, and enhancing overall coverage efficiency.

关键词： automation Robot kinematics Refining Transforms Path planning Multi-robot systems Mobile robots

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eGENSIM: GENERATING ROBOTIC SIMULATION TASKS VIA LARGE LANGUAGE models 12

eGENSIM: GENERATING ROBOTIC SIMULATION TASKS VIA LARGE LANGU...

引用

12th international conference on Learning Representations, ICLR 2024

作者： Wang, Lirui Ling, Yiyang Yuan, Zhecheng Shridhar, Mohit Bao, Chen Qin, Yuzhe Wang, Bailin Xu, Huazhe Wang, Xiaolong MIT CSAIL United States UC San Diego United States Shanghai Jiao Tong University China Tsinghua University China University of Washington United States CMU United States

Collecting large amounts of real-world interaction data to train general robotic policies is often prohibitively expensive, thus motivating the use of simulation data. However, existing methods for data generation have generally focused on scene-level diversity (e.g., object instances and poses) rather than task-level diversity, due to the human effort required to come up with and verify novel tasks. this has made it challenging for policies trained on simulation data to demonstrate significant task-level generalization. In this paper, we propose to automatically generate rich simulation environments and expert demonstrations by exploiting a large language models' (LLM) grounding and coding ability. Our approach, dubbed GENSIM, has two modes: goal-directed generation, wherein a target task is given to the LLM and the LLM proposes a task curriculum to solve the target task, and exploratory generation, wherein the LLM bootstraps from previous tasks and iteratively proposes novel tasks that would be helpful in solving more complex tasks. We use GPT4 to expand the existing benchmark by ten times to over 100 tasks, on which we conduct supervised finetuning and evaluate several LLMs including finetuned GPTs and Code Llama on code generation for robotic simulation tasks. Furthermore, we observe that LLMs-generated simulation programs can enhance task-level generalization significantly when used for multitask policy training. We further find that with minimal sim-to-real adaptation, the multitask policies pretrained on GPT4-generated simulation tasks exhibit stronger transfer to unseen long-horizon tasks in the real world and outperform baselines by 25%. © 2024 12th international conference on Learning Representations, ICLR 2024. All rights reserved.

关键词： robotics

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An Autonomous Navigation Approach based on Bird’s-Eye View Semantic Maps

An Autonomous Navigation Approach based on Bird’s-Eye View ...

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

作者： Juan Galvis Dimitrios Pediaditis Khawla Saif Almazrouei Nikos Aspragathos Autonomous Robotics Research Center Technology Innovation Institute Abu Dhabi United Arab Emireates Mechanical Engineering Aeronautics Department University of Patras Patras Greece

With the continuous expansion of the use of mobile robots, providing them with autonomous navigation capabilities for different environments has become a very active research topic. In most cases, navigation systems are built around sensors like LiDAR which are expensive, not only due to the sensor cost but also to the computational power required for the processing of Point-Clouds. To provide an alternative to such systems, we propose a navigation approach that only requires a front-facing RGB Camera. In this system, every image is processed online using a semantic segmentation model to build a Bird’s-Eye view semantic map, from which a local path and the corresponding motion commands can be calculated. Our method is evaluated first in simulation and later on, in a real mobile robot. the results show that our system enables the robot’s successful navigation and collision avoidance through simulated and real indoor and outdoor environments.

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Modeling of thermal processes in microcontroller system by fractional order, discrete, hybrid transfer function using CFE approximation

Modeling of thermal processes in microcontroller system by f...

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

作者： Krzysztof Oprzedkiewicz Maciej Rosol Wojciech Mitkowski Dept. of Aut. Control and Robotics AGH University Krakow Poland

In the paper the problem of modeling of thermal processes in microcontroller system is addressed. the proposed model describes temperature of critical elements in the working development board of STM32 family. the temperature is measured using the industrial thermal camera. the proposed model is the discrete, hybrid transfer function, containing both Integer Order (IO) and Fractional Order (FO) parts. the FO part is described using Continuous Fraction Expansion (CFE) approximation. the step responses of the proposed transfer function are computed numerically using MATLAB. Results of experiments confirm the good accuracy of the proposed model in the sense of Mean Square Error (MSE) cost function. Such a model of thermal processes in a microcontroller system has not be presented yet. It can be employed to predict of overheating of microcontroller systems or other integrated circuits.

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