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

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Application of Iterative Learning Control methods for a Service Robot with Multi-Body Kinematics 20

Application of Iterative Learning Control Methods for a Serv...

引用

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

作者： Bassler, Sandra Duenow, Peter Marquardt, Mathias Daasch, Andreas Univ Technol Business & Design Hsch Wismar Wismar Germany IAV GmbH Ingenieurgesell Auto & Verkehr Wismar Germany

ISBN: (纸本)9781479987016

this paper describes the investigation of linear and parametric iterative learning control (ILC) methods with an integrated computed torque control approach and the application in a mobile multi-body service robot. In addition to the controller structure, the development of the nonlinear dynamic model and the trajectory generation for the robot-configuration control are briefly explained.

关键词： Service robots many-body Iterative learning control Torque control body kinematics kinematics controller structure

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Application of the Rayleigh-Ritz method to solve a class of fractional variational problem 20

Application of the Rayleigh-Ritz method to solve a class of ...

引用

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

作者： Blaszczyk, Tomasz Czestochowa Tech Univ Inst Math Al Armii Krajowej 21 PL-42201 Czestochowa Poland

ISBN: (纸本)9781479987016

the aim of this paper is to investigate a direct numerical method for solving a class of a fractional variational problem (FVP). the fractional derivative in the FVP is in the Caputo sense. the Rayleigh-Ritz method is introduced for the numerical solution of the FVP. the corresponding Euler-Lagrange equation contain the left and right Caputo fractional derivatives. We approximate the solution of the FVP by using the trigonometric function. Finally, the illustrative example is presented.

关键词： Rayleigh-Ritz methods Numerical methods Circular Functions Euler-Lagrange equation Solve Lagrangian equations

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Adaptive Control of Nonlinear Resonant Systems with Damping 20

Adaptive Control of Nonlinear Resonant Systems with Damping

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

作者： Kabzinski, Jacek Mosiolek, Przemyslaw Lodz Univ Technol Inst Automat Control Lodz Poland

ISBN: (纸本)9781479987016

the paper describes a nonlinear controller design technique for a servo drive in the presence of: 1) nonlinear friction (or any other load torque), 2) a flexible shaft that connects the motor and the load. the shaft is characterized by the stiffness and the damping coefficients. the proposed controller is based on adaptive backstepping, modified by the use of command filtering. Although in the presence of damping the model is not in a strict-feedback form, the proposed approach allows to accomplish the rigorous proof of the closed-loop system stability. Several experiments prove the control effectiveness and robustness against un-modelled dynamics.

关键词： adaptive control resonant systems friction compensation drive automation

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Practical analog realization of multiple order switching for recursive fractional variable order derivative 20

Practical analog realization of multiple order switching for...

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

作者： Sierociuk, Dominik Malesza, Wiktor Macias, Michal Warsaw Univ Technol Inst Control & Ind Elect Koszykowa 75 PL-00662 Warsaw Poland

ISBN: (纸本)9781479987016

In the paper, a novel practical analog modeling of multiple-switching fractional order systems based on recursive fractional variable order integrals, is introduced. Presented circuit, based on domino ladder approximation of half order impedance, allows to multiple-switching between orders 0.5 and 1. Moreover, numerical scheme for solving variable order differential equations is introduced. Experimental results of modeling are also presented and compared with numerical simulations.

关键词： variable order Analog models Instruction repertory Recursive multiples LADDER APPROXIMATION

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Dynamics Effects on Natural Frequencies in modal analysis of PKMs 20

Dynamics Effects on Natural Frequencies in modal analysis of...

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

作者： Prades, Julien Jourdan, Franck Company, Olivier Krut, Sebastien Pierrot, Francois Univ Montpellier Dept Robot LIRMM Montpellier France CNRS F-75700 Paris France Univ Montpellier LMGC Montpellier France

ISBN: (纸本)9781479987016

Technology improvement makes PKM faster and faster. From this speed it appears uncontrolled vibrations which disrupt PKM functioning. the urge to produce modelling enabling to predict dynamic perturbations is more and more important. To this day, linearized dynamic models are incomplete, ignoring account of speed and acceleration over trajectory. In this paper, a complete dynamic linearization will be presented, and will allow to reveal high speed influence among PKM eigenvalues.

关键词： pyruvate kinase, muscle modal analysis Natural frequencies technology improvement dynamic models trajectory acceleration Modeling speed

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Advanced methods of Controller Design for Pneumatic Servodrives 20

Advanced Methods of Controller Design for Pneumatic Servodri...

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

作者： Ciganek, J. Kozak, S. Noge, F. Slovak Univ Technol Bratislava Fac Elect Engn & Informat Technol Bratislava Slovakia

ISBN: (纸本)9781479987016

A development of advanced control methods based on robustness, optimality and prediction is an important and challenging task. In recent years, a new control approaches have emerged to replace or augment conventional control engineering methods. the paper presents: design, verification and comparison of three advanced methods (IMC, MPC, PLM) applied in the control of dynamic processes with complex dynamics. In this paper three different methods were tested and applied to the position control of pneumatic servodrives. the presented and tested methods guarantee robust stability and high performance of the pneumatic servodrives control.

关键词： algebraic theory control system closed loop factorization filter IMC MPC pole-placement

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Non-Gaussian models in Particle Filters 20

Non-Gaussian models in Particle Filters

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

作者： Kozierski, Piotr Sadalla, Talar Horla, Dariusz Poznan Univ Tech Fac Elect Engn Inst Control & Informat Engn Piotrowo St 3a PL-60965 Poznan Poland Poznan Univ Tech Fac Comp Chair Control & Syst Engn Div Signal Proc & Elect Syst PL-60965 Poznan Poland

ISBN: (纸本)9781479987016

the impact of the usage another than the Gaussian probability density functions in transition and measurement models has been verified in the article. Cases, in which wrong models have been assumed, also have been taken into account. Simulations have been performed for two different objects. Based on the obtained results, it can be said that in some cases incorrect modelling can allow the best estimation quality.

关键词： particle filter state estimation measurement model transition model

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FAST VIGNETTING REDUCTION MEthOD FOR DIGITAL STILL CAMERA 20

FAST VIGNETTING REDUCTION METHOD FOR DIGITAL STILL CAMERA

引用

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

作者： Kordecki, Andrzej Palus, Henryk Bal, Artur Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781479987016

the effect of vignetting is undesirable in image processing and analysis. It cause fall-off of pixel intensity from centre towards edges of the image. In this paper, we propose a new procedure of fast vignetting reduction based on two images acquired with different camera/lens settings. the change of lens aperture or focal length will also change the effect of vignetting in images. these differences are used to estimate a vignetting function, which is used for vignetting reduction. the obtained image after vignetting reduction is not significantly different from the image without vignetting.

关键词： VIGNETTING Digital cameras REDUCTION methods edge image images Imagery (Psychotherapy) FOCAL LENGth LENS APERTURE

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Linearised coupling of elasticity and Navier-Stokes equations 20

Linearised coupling of elasticity and Navier-Stokes equation...

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

作者： Lasiecka, Irena Szulc, Katarzyna Zochowski, Antoni Polish Acad Sci Syst Res Inst Newelska 6 PL-01447 Warsaw Poland

ISBN: (纸本)9781479987016

In the paper we consider a coupled problem of the linearly elastic body immersed in the flowing fluid which is modelled by means of incompressible Navier-Stokes equations. the approach is based on transforming the variable domain occupied by the fluid to the fixed one corresponding to the un-deformed elastic inclusion. the main idea consists in performing the linearisation of this transformation, similarly as in linear elasticity one assumes the smallness of strains. We base our approach on the observation that the gradients of the suitably defined transformation are bounded by traces of strains on the surface of the elastic body.

关键词： Coupled Problems Linear elasticity Navier-Stokes equation Topological Derivative Shape Optimization Numerical methods

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Neural Networks for a Dynamic Decoupling of a Nonlinear MIMO Dynamic Plant 20

Neural Networks for a Dynamic Decoupling of a Nonlinear MIMO...

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

作者： Dworak, Pawel Jaroszewski, Krzysztof West Pomeranian Univ Technol Szczecin Chair Control Engn & Robot Szczecin Poland

ISBN: (纸本)9781479987016

In the paper a method of synthesis of a neural controller which goal is to reduce effects of coupling of the nonlinear multi-input multi-output (MIMO) plant inputs and outputs is presented. the designed neural controller contains a set of neural nets that determine values of parameters of linear decoupling controllers calculated for the adopted nonlinear plant model at its operating points. A known dynamic decoupling technique is used to generate training and evaluation data for the synthetized neural nets. the resulting neural (gain-scheduling) controller varies its parameters depending on the current plant operating point.

关键词： Neural network DECOUPLING Controllers plant models multiple input multiple output systems nonlinearity plants

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