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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241-250 订阅

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Design of a Takagi-Sugeno State and Disturbance Observer for a Torque-Controlled Hydrostatic Transmission 24

Design of a Takagi-Sugeno State and Disturbance Observer for...

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

作者： Danh, Dang Ngoc Aschemann, Harald Univ Rostock Chair Mechatron Justus Von Liebig Weg 6 D-18059 Rostock Germany

ISBN: (纸本)9781728109336

In this paper, a Takagi-Sugeno (TS) state and disturbance observer is designed. the corresponding estimates are employed in a decentralized control approach for the normalized tilt angle of the hydraulic motor as well as the motor torque of a hydrostatic transmission. For the observer design, a nonlinear state-space model is written in quasi-linear form and extended by two integrator disturbance models. the observer gain matrix is derived by an exact interpolation of optimal designs at the vertices of a polytopic description using corresponding membership functions. Asymptotic stability of the observer error dynamics is guaranteed by solving a set of linear matrix inequalities (LMIs) resulting in a joint Lyapunov function. For an accurate trajectory tracking, feedback control is extended by feedforward control. the estimated disturbances from the TS observer are used for a subsequent disturbance rejection. the performance of the observer-based control structure is shown by simulations based on a validated model of a dedicated test rig which is available at the Chair of Mechatronics, University of Rostock.

关键词： Hydraulic systems Observers Torque Takagi-Sugeno model Angular velocity Mathematical model Numerical models

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Some remarks on discretisation of spatially invariant systems 19

Some remarks on discretisation of spatially invariant system...

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

作者： Augusta, Petr Acad Sci Czech Republic Inst Informat Theory & Automat CR-18208 Prague Czech Republic

ISBN: (纸本)9781479950812

the paper deals with discretisation of 2-D spatially invariant systems. three different discretisation schemes are used -Tustin's approximation, backward difference scheme and Crank-Nicolson discretisation. their properties and importance are discussed in the paper. As an example a heat conduction in a rod is considered. Its model discrete in both time and space is obtained using all the above mentioned difference schemes. To determine whether the discrete model converges to the solution, von Neumann analysis of stability is applied to each scheme. the system is stabilised with use of each of obtained discrete models. Numerical simulations are included. Experiments with changing the parameters of discretisation are also given.

关键词： approximation theory closed loop systems partial differential equations stability Crank-Nicolson discretisation Tustin approximation backward difference scheme discretisation parameter heat conduction spatially invariant systems system discretisation scheme von Neumann stability analysis Approximation methods Closed loop systems Equations Heating Mathematical model Numerical models Transfer functions Closed loop systems Conductive heat transfer Approximation method Approximation theory TRANSFER FUNCTIONS difference scheme numerical models Mathematical Model Discretization Time invariant systems Partial differential equations

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20-sim implementation of bond graph models of flexible photovoltaic arrays based on data sheets 20

20-sim implementation of bond graph models of flexible photo...

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

作者： Villa-Villasenor, Noe Galindo-Orozco, Rene Autonomous Univ Nuevo Leon Fac Mech & Elect Engn San Nicolas De Los Garza Mexico

ISBN: (纸本)9781479987016

A computer simulator for PhotoVoltaic (PV) systems is developed for analysis and design, based on a set of descriptive formulas. this set of formulas allows implementing modular models, able to reproduce the behavior of photovoltaic systems in various operating conditions. the formulas use information contained in data sheets provided by manufacturers of solar panels. this feature allows the proposed model to represent commercially available photovoltaic arrays. the used modeling tool is oriented to bond graph. We used the 20-sim program for the numerical solution and simulation of the proposed model. 20-sim has the advantage of model integration, enabling, the automatic formulation and solution of the inherent non-linear-implicit equations. Also, 20-sim model components are highly editable, which offers ease to implement the non-linear mathematical formulas studied in this work. the proposed model is developed and its validation is performed through simulations that reproduce the behavior of solar panels operating at given conditions.

关键词： Bond graph modeling 20-sin Photovoltaic systems One diode PV model Simulator

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A comparison of Gaussian and mean curvatures estimation methods on triangular meshes

A comparison of Gaussian and mean curvatures estimation meth...

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20th IEEE international conference on robotics and automation (ICRA)

作者： Surazhsky, T Magid, E Soldea, O Elber, G Rivlin, E Technion Israel Inst Technol Ctr Graph & Geometr Comp Dept Appl Math IL-32000 Haifa Israel

ISBN: (纸本)0780377362

Estimating intrinsic geometric properties of a surface from a polygonal mesh obtained from range data is an important stage of numerous algorithms in computer and robot vision, computer graphics, geometric modeling, industrial and biomedical engineering. this work considers different computational schemes for local estimation of intrinsic curvature geometric properties. Five different algorithms and their modifications were tested on triangular meshes that represent tesselations of synthetic geometric models. the results were compared with the analytically computed values of the Gaussian and mean curvatures of the non uniform rational B-spline (NURBs) surfaces, these meshes originated from. this work manifests the best algorithms suited for total (Gaussian) and mean curvature estimation, and shows that indeed different alogrithms should be employed to compute the Gaussian and mean curvatures.

关键词： geometric modeling principal curvatures Gaussian curvature total curvature mean curvature polygonal mesh triangular mesh range data

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Model-Based Control of Solenoid Actuators Using Flux Channel Reluctance models

Model-Based Control of Solenoid Actuators Using Flux Channel...

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

作者： Reuter, Johannes Jaekle, Matthias Prausse, Felix Rey, Felix Univ Appl Sci Konstanz Inst Syst Dynam Constance Germany Karlsruhe Inst Technol Karlsruhe Germany

ISBN: (纸本)9781457709142

Control-oriented magnetic models for solenoid actuators are analyzed and evaluated subject to their capabilities to reflect important features of the magnetic properties. Moreover, it is shown that undesired tuning requirements can be omitted by use of flux channel models. the focus here is put on the modeling of eddy currents since the accurate calculation of eddy current losses is a requirement for control strategies that are designed to minimize these losses. It is shown that flux channel models provide good results while the computational burden is low in comparison to finite element models. However, flux channel models require an additional step when used in flatness-based optimization schemes. this step is called state-decomposition and is explained in the second part of this paper.

关键词： electromagnetic actuators channel model Solenoids actuators eddy current losses Eddy current Fuzzy control FLUX CHANNEL(S)

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Lifelong education in robotics and mechatronics

Lifelong education in robotics and mechatronics

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

作者： Rojko, Andreja Kozlowski, Krzysztof Univ Maribor FERI Inst Robot SLO-2000 Maribor Slovenia Delft Univ Technol Dept Elect Sustainable Energy NL-2600 AA Delft Netherlands Poznan Univ Tech Chair Control & Syst Engn Poznan Poland Univ Maribor FERI Maribor Slovenia Delft Univ Technol FERI Delft Netherlands

ISBN: (纸本)9781467321242

Livelong education in electro-mechanical industry is increasingly important as it allows practicing engineers and technicians to gain the knowledge necessary to cope with the fast development and consequently with higher demands on their workplaces. this paper addresses different aspects of development and execution of such industrial training. Concrete solutions and results are presented including: (1) extensive international knowledge needs analysis in electro-mechanical sector, (2) e-learning solutions for industry including learning management systems and application of remote working stations/experiments for practical part of the training and (3) examples of the training modules from robotics developed for industry. Applied solutions and education methodology is evaluated by feedback obtained from the training participants. Based on a gained experience a long-term perspective and possible further development direction of modern industrial education is also addressed.

关键词： lifelong learning robotics robotics and mechatronics electric machines Microelectromechanical devices Gain Industrial education Functional training Legal Executions

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Ensemble Machine Learning methods for Unsteady Aerodynamics Modeling from Flight Data 10

Ensemble Machine Learning Methods for Unsteady Aerodynamics ...

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10th international conference on Control, automation and Robotic (ICCAR)

作者： Kumar, Ajit Ghosh, Ajoy Kanti IITRAM Ahmedabad Dept Mech & Aerosp Engn Ahmadabad Gujarat India IIT Kanpur Dept Aerosp Engn Kanpur Uttar Pradesh India

ISBN: (纸本)9798350373172;9798350373189

In this paper, two ensemble machine learning-based methods, Bagging and Boosting, are applied to model the unsteady aerodynamics of an aircraft from flight test data. Bagging generates a predictive model by combining multiple decision trees that have been trained using the bootstrap on different input-output datasets. Boosting generates a predictive model by growing trees sequentially based on previously grown trees, with each decision tree fitting on a modified version of the data. the effectiveness of these two data-driven methods is investigated and validated by estimating the standard research aircraft's force and moment coefficients. the proposed methods' estimated results are statistically analysed and found to be highly correlated with measured data and to have a significantly lower root mean squared error (RMSE). Furthermore, these estimated aerodynamic force and moment coefficients are compared to the estimated coefficient model from the most commonly used maximum likelihood estimation method (MLE). the estimated results were found to be on par with the MLE predicted aerodynamic models. Moreover, Bagging and Boosting-based methods do not require the solution of the equation of motion, which is advantageous for generalised nonlinear modelling applications such as load estimation, aeroelasticity, and fault diagnosis, detection, and identification.

关键词： Ensemble learning Bagging Boosting Unsteady Aerodynamic Modeling Flight test data

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Modeling and identification of a fractional-order discrete-time SISO Laguerre-Wiener system 19

Modeling and identification of a fractional-order discrete-t...

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

作者： Stanislawski, Rafal Latawiec, Krzysztof J. Galek, Marcin Lukaniszyn, Marian Opole Univ Technol Dept Elect Control & Comp Engn PL-45758 Opole Poland

ISBN: (纸本)9781479950812

this paper presents a new implementable strategy for modeling and identification of a fractional-order discretetime nonlinear block-oriented SISO Wiener system. the concept of modeling of a linear dynamics by means of orthonormal basis functions (OBF) is employed to separate linear and nonlinear submodels, which enables a linear regression formulation of the parameter estimation problem. Finally, discrete-time Laguerre filters are uniquely embedded in modeling of the fractional-order dynamics, eliminating the disastrous bilinearity issue. Simulation experiments show a very good identification performance for a fractional-order Laguerre-based Wiener model, both in terms of low prediction errors and accurate reconstruction of the actual system characteristics.

关键词： Wiener filters discrete time filters discrete time systems parameter estimation prediction theory regression analysis OBF discrete-time Laguerre filters fractional-order discrete-time SISO Laguerre-Wiener system identification fractional-order discrete-time SISO Laguerre-Wiener system modeling fractional-order dynamics modeling linear dynamics modeling linear regression formulation nonlinear submodel orthonormal basis functions parameter estimation problem prediction errors Adaptation models Approximation methods Computational modeling Mathematical model Nonlinear dynamical systems Predictive models Stability analysis

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Perception model for the aspiration process of a biologically inspired sniffing robot

Perception model for the aspiration process of a biologicall...

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2013 18th international conference on methods and models in automation and robotics, MMAR 2013

作者： Villarreal, B. Lorena Gordillo, J.L. Center for Robotics and Intelligent Systems Tecnológico de Monterrey Monterrey Mexico

ISBN: (纸本)9781467355063

Robots have capabilities emulating senses as they can now see, hear and touch, but the sense of smell is just starting to be implemented in mobile applications. the principal task of a smell capable robot is the odor source localization. Nevertheless, to obtain the best algorithmic results, the perception of the environment is crucial. One of the difficulties when developing chemical sensors is that the odor exposure saturates the sensor and chemical reactions change the sensor which needs time to be restarted. In this paper we are focusing on the perception problem by including the biologically inspired aspiration process and the qualitative model for the sensorial design. the implementation of proposed design would be an aid to optimize odor source localization techniques. © 2013 West Pomeranian University of Technology.

关键词： Robots

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Fusion of Multiview Images for EV Battery Disassembly 11

Fusion of Multiview Images for EV Battery Disassembly

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11th international conference on Control, Mechatronics and automation (ICCMA)

作者： Bilal, Muhammad Talha Tyapin, Ilya Choux, Martin Marie Hubert Univ Agder Dept Engg Sci Grimstad Norway

ISBN: (纸本)9798350315684

automation in Electric Vehicle (EV) Li-Ion Battery (LIB) pack disassembly is getting a lot of attraction with increased number of EVs being manufactured. Highly cluttered components placed in complex configurations present a unique challenge for object detection models. To get maximum coverage of the components in the EV battery pack, images from multiple viewpoints are considered and merged using Multiple-View Super Resolution (MVSR). the proposed method provides 7% higher accuracy in the screw detection task than the statistical methods previously derived [1].

关键词： Camera placement Image fusion object localization battery disassembly industrial robotics

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