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检索条件"任意字段=25th International Conference on Methods and Models in Automation and Robotics"

共 1211 条记录，以下是41-50 订阅

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General Dynamic Neural Networks for the Adaptive Tuning of an Omni-Directional Drive System for Reactive Swarm robotics 25

General Dynamic Neural Networks for the Adaptive Tuning of a...

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25th international conference on methods and models in automation and robotics

作者： Zhao, Hanqing Dorigo, Marco Allwright, Michael Univ Libre Bruxelles IRIDIA Brussels Belgium

ISBN: (纸本)9781728173818;9781728173801

We demonstrate the use of general dynamic neural networks (GDNNs) for the online tuning of an omni-directional drive system for reactive swarm robots. the drive system used in this work consists of four motor-encoder-microcontroller modules each constituting a single-input single-output (SISO) proportional, integral, and differential (PID) control system. For a given target velocity, a neural network generates the parameters for each PID control system. In this paper, we evaluate and compare two different network structures for generating the PID parameters for the control systems using a hardware platform that we also presented in this paper. We analyze the performance of the system with respect to ISO performance indicators, our results show that both network structures are able to learn and tune the parameters for each PID control system to increase the accuracy of the drive system in comparison to fixed untuned PID parameters that are close to the output of a randomly initialized network.

关键词： Training PI control Neural networks Swarm robotics SISO communication Trajectory PD control

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Game Against Nature Based Control of an Intelligent Wheelchair with Adaptation to Pedestrians' Behaviour 25

Game Against Nature Based Control of an Intelligent Wheelcha...

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25th international conference on methods and models in automation and robotics

作者： Skrzypczyk, Krzysztof Silesian Tech Univ Dept Automat Control & Robot Gliwice Poland

ISBN: (纸本)9781728173818;9781728173801

this paper addresses the problem of synthesis of the control law for intelligent wheelchair navigation assistant, intended to support the navigation in dynamic and populated areas. the method presented in this paper uses a deterministic, model-based prediction strategy to generate the wheelchair motion. the motion has the feature that is acceptable by the patient being transported on the wheelchair. Using the long-term pedestrians motion prediction the minimal collision risk control strategy is applied. While concerning the wheelchair navigation and its environmental interactions, an issue arises which is related to the pedestrians' empathy towards a disabled person being carried by the wheelchair. In this work we propose to use this phenomena for designing adaptive, driving strategy of the intelligent wheelchair. An intelligent motion controller proposed in this paper, generates collision free trajectory based on safe distance policy and evaluation of the environmental response. By comparing the predicted pedestrians behaviour to the real one, the system adapts control strategy coming from game against nature formalism and Hurwicz criterion based solution. the method performance was evaluated in a simulated environment. Relevant simulation scenarios are presented and discussed.

关键词： Space vehicles Adaptation models Uncertainty Navigation Wheelchairs Games Predictive models

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Research on effective analysis and forecasting of demand in ERP systems - case studies 25

Research on effective analysis and forecasting of demand in ...

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25th international conference on methods and models in automation and robotics

作者： Grobler-Debska, Katarzyna Zak, Bartlomiej Baranowski, Jerzy Kucharska, Edyta Domagala, Adam AGH Univ Sci & Technol Dept Automat Control & Robot Krakow Poland InfoConsulting Sp Zoo Dept Prod & Serv Dev Krakow Poland InfoConsulting Sp Zoo Dept ERP Implementat Katowice Poland

ISBN: (纸本)9781728173818;9781728173801

Supply chain planning, and especially demand forecasting in companies, is a difficult task for organizations and both crucial for their profits and for market penetration. the main difficulty is that there is a lack of analysts in manufacturing companies and the lack of an adequate forecasting method. Although science provides many methods for forecasting, business cannot apply them. the main software supporting management in companies are ERP systems. ERP support decision-making at the strategic, tactical and operational level. It must also have an intuitive forecasting tool. the paper presents the results of the InfoConsulting research and development project related to the adaptation of the forecasting tool based on IFS Application so that it meets the requirements of Polish companies from mass customization and pharmacy industry and the development of a quick implementation method.

关键词： ERP systems forecasting methods supply chain planning case studies

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Stability Investigation of PLL-Based Grid Synchronization 25

Stability Investigation of PLL-Based Grid Synchronization

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25th international conference on methods and models in automation and robotics

作者： Schoeley, Alexander Jeinsch, Torsten Univ Rostock Fac Elect Engn & Comp Sci Inst Automat Rostock Germany

ISBN: (纸本)9781728173818;9781728173801

this contribution investigates the grid synchronization procedure of grid-side inverters, i.e. the correct determination of the grid voltage frequency. A phase-locked loop (PLL) can be seen as the standard method for grid synchronization. Due to the grid impedance, the grid voltage cannot be measured directly and the measured voltage is a superposition of the grid voltage and the inverter voltage. therefore it is possible that the PLL loses synchronism with the grid and tracks the inverter voltage instead. In stiff grid scenarios this effect may be neglected, but in the case of a weak grid, a failure of the PLL to synchronize with the grid is likely. Since the grid synchronization procedure depends not only on the grid impedance but also on the filter impedance of the inverter as well as on the point of operation, a comprehensive analysis under what circumstances the loss of synchronism occurs is needed. In this paper the described scenario is studied and a necessary condition for a successful grid synchronization in the stationary case is derived. the condition depends on all parameters of the system model and is verified in numerical simulations.

关键词： Voltage measurement Impedance measurement Inverters Stability analysis Numerical models Synchronization Impedance

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On Assignment of the Upper Bohl Exponent for Linear Discrete-Time Systems in Infinite-Dimensional Spaces 25

On Assignment of the Upper Bohl Exponent for Linear Discrete...

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25th international conference on methods and models in automation and robotics

作者： Makarov, Evgenii Niezabitowski, Michal Popova, Svetlana Zaitsev, Vasilii Zhuravleva, Marina Natl Acad Sci Belarus Inst Math Minsk 220072 BELARUS Silesian Tech Univ Fac Automat Control Elect & Comp Sci PL-44100 Gliwice Poland Udmurt State Univ Izhevsk 426034 Russia

ISBN: (纸本)9781728173818;9781728173801

In this paper we study linear discrete-time control systems in infinite-dimensional spaces with periodically time-varying bounded input and output operators. For such systems we consider a problem of arbitrary assignability of the upper Bohl exponent by non-stationary linear static state feedback and by non-stationary linear dynamic output feedback. this is a generalization of the stabilization problem, which has been well studied for systems of various types. the main results present sufficient conditions for considered types of assignability.

关键词： Discrete-time systems Sufficient conditions State feedback automation Aerospace electronics Control systems Time-varying systems

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Method for Road Occlusions Handling in Generic Sensor models 25

Method for Road Occlusions Handling in Generic Sensor Models

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25th international conference on methods and models in automation and robotics

作者： Jasiriski, 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)9781728173818;9781728173801

Due to the increasing complexity of Advanced Safety systems, a strong endeavor is required to acquire realistic and real-time capable simulations, in order to enable robust and easily reproducible system verification in virtual environments. To make simulations reliable, high-fidelity sensor models are required. One of the approaches is to implement a generic sensor model that explicitly emulates the output of an object detection algorithm, based on high-level simulation data. However, such a model has to accurately handle object-based occlusions, to assure that shadowed objects are not detected. Various generic sensor models available in the literature already solve the problem of how to estimate occlusions, given a set of objects. Nevertheless, none of the models takes into account a road profile, i.e. hills. the method proposed in this paper provides an accurate and easy to implement road profile estimation using a set of bounding boxes. thanks to the generated structures, a road-based shadowing can be enabled in any of the object-based generic sensor models. the obtained results clearly show the robustness and usefulness of the proposed methodology.

关键词： sensor models simulation virtual validation occlusions estimation

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Evaluation of Hybrid Particle Swarm Optimization in the Multi-door Cross-docking Problem 25

Evaluation of Hybrid Particle Swarm Optimization in the Mult...

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25th international conference on methods and models in automation and robotics, MMAR 2021

作者： Pasko, Kamil Kucharska, Edyta Baranowski, Jerzy AGH University of Science and Technology Department of Automatic Control and Robotics Krakow30-059 Poland

ISBN: (纸本)9781728173801

the paper deals with a cross-docking problem which is an example of real-word logistics problem and belongs to the class of NP-hard optimization problems. Cross-docking is a transshipment platform, where products from suppliers to several destinations are deconsolidated, sorted, consolidated based on the customer's orders, and shipped out to the end customers using outbound trucks. In particular, multiple inbound and outbound doors cross-docking is under consideration. the aim is to optimize the sequence of inbound and outbound trucks and truck dock assignment in cross-docking systems with multiple inbound and outbound dock doors. A particle swarm optimization hybridized with simulated annealing is proposed to solve this problem. the paper also presents the results of computational experiments. © 2021 IEEE.

关键词： Trucks

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Electric Vehicle Charging Demand Prediction using Multiresolution Sinusoidal Neural Network Optimized with Addax Optimization

Electric Vehicle Charging Demand Prediction using Multiresol...

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Trends in Material Science and Inventive Materials (ICTMIM), international conference on

作者： Rajesh Munirathnam Rohit P. Jadhav Nilesh M. Mahajan Amit Barve M. E. Shashi Kumar Natrayan L Data & Analytics Division TechnoGen Inc Hillsborough New Jersey USA Department of Robotics and Automation D.Y. Patil College of Engineering Akurdi Pune Maharashtra Department of Computer Science and Engineering Parul Institute of Technology Faculty of Engineering and Technology Parul University Limda Gujarat Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Bengaluru Karnataka Department of Mechanical Engineering Saveetha School of Engineering SIMATS Chennai Tamil Nadu

ISBN: (数字)9798331501488

ISBN: (纸本)9798331501495

Electric Vehicle (EV) charging demand prediction, while essential for optimizing charging infrastructure and energy management, faces challenges such as data inaccuracies and uncertainties in user behavior patterns. these issues define inaccurate demand forecasts which cause the wrong placement of charging stations and distribution of energy. Also, as the pattern of the EV charging is not static may change due to many factors such as climate, time of day, price preference among others, the prediction models may not handle the dynamism and hence lower the reliability of the forecast results. To overcome these drawbacks, this manuscript proposes an efficient approach for EV charging demand prediction. the data is gathered from a dataset on EV charging. the data is then sent to pre-processing. Using the Maximum Correntropy Quaternion Kalman Filter (MCQKF), the pre-processing section eliminates missing values and normalizes the input. To forecast EV charging demand, the Multiresolution Sinusoidal Neural Network (MSNN) receives the results of the pre-processing data. MSNN’s weight parameter is optimized using Addax Optimization (AO). the proposed MSNN-AO is utilized within the MATLAB platform. the proposed MSNN-AO technique is compared with the existing techniques such as Long Short-Term Memory Neural Network (LSTMNN), Heterogeneous Spatial-Temporal Graph Convolutional Network (HSTGNN) and Artificial Neural Networks (ANN), respectively. the MSNN-AO method achieves an accuracy of 97%, precision of 95%, and a Root Mean Square Error (RMSE) of 2.2%, demonstrating its superior performance in predicting EV charging demand. this highlights the proposed method’s effectiveness in minimizing prediction errors, reducing RMSE by 22.36%, and improving precision by 14.89% compared to existing methods. the MSNN-AO method’s higher accuracy and precision, coupled with its robust performance, make it a reliable and efficient solution for EV charging demand forecasting.

关键词： Accuracy Uncertainty Quaternions Energy resolution Electric vehicle charging Reliability Kalman filters Spatial resolution Root mean square Optimization

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra 28

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

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28th international conference on methods and models in automation and robotics (MMAR)

作者： Bayro-Corrochano, Eduardo Alvarado-Mejia, Daniel Poznan Univ Tech Inst Automat Control & Robot Poznan Poland CINVESTAV Dept Elect Engn & Comp Sci Guadalajara Jalisco Mexico

ISBN: (纸本)9798350362350;9798350362343

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. the modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Motor algebra Conformal Geometric Algebra Newton-Euler Dynamics Modelling robotics

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Controlling and programming a robot using virtual reality 28

Controlling and programming a robot using virtual reality

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28th international conference on methods and models in automation and robotics (MMAR)

作者： Gorzelak, Maksymilian Grzejszczak, Tomasz Silesian Tech Univ Dept Automat Control & Robot Gliwice Poland

ISBN: (纸本)9798350362350;9798350362343

the paper presents software that allows a user to control and program a robot using virtual reality. the user will be equipped with a Virtual Reality kit and will be able to use it to manipulate the robot arm as if they were physically interacting with it. One key feature of the software will be the ability to set the robot in a specific position, allowing the user to create and execute complex movement sequences for the robot to follow. the use of VR technology in this context offers a unique and immersive way for users to interact with and program the robot, making it an exciting and innovative approach to robotic control.

关键词： Virtual Reality robotics Human-Robot Interface Teleoperation

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