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

共 1225 条记录，以下是701-710 订阅

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Multipurpose Supernumerary Robotic Limbs for Industrial and Domestic Applications 20

Multipurpose Supernumerary Robotic Limbs for Industrial and ...

引用

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

作者： Srinivas, Samvrit Virk, Gurvinder Singh Haider, Usman RNS Inst Technol Dept Mech Engn Bangalore Karnataka India Univ Gavle KTH Royal Inst Technol Stockholm Sweden Univ Gavle Dept Elect Sci & Maths Gavle Sweden

ISBN: (纸本)9781479987016

Robotic exoskeleton arms have been around for a long time and they have successfully evolved from research prototypes to commercial products. Multipurpose supernumerary robotic limbs (MSRLs) have been recently introduced as new types of aids which do not directly replace missing limbs, but they are additional mechanical arms with changeable end-effectors which can be worn by the user to provide needed functionalities. this paper presents the mechanical design and kinematics modelling and control of a MSRL system. the MSRL presented could have good application in industrial and domestic situations.

关键词： robotic arm wearable personal robotics leader-follower method AHRS kinematics mechanical design

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Laboratory Experimentation of Stereo Vision-Based Relative Navigation with Unknown Spinning Spacecraft 20

Laboratory Experimentation of Stereo Vision-Based Relative N...

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

作者： Yazdkhasti, Setareh Ulrich, Steve Sasiadek, Jurek Z. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781479987016

In this paper, a vision-based relative navigation strategy applicable for an unknown and spinning target object in space is presented. Specifically, the relative navigation system uses a calibrated stereo monochrome camera, and is developed for estimating the relative position, linear velocity and angular velocity between the inspector spacecraft and the unknown target object, while minimizing the computational requirements. Experimental results in a dark room with a scaled model of a spacecraft spinning about its major axis of rotation are reported to demonstrate the performance and applicability of the navigation system for small inspection spacecraft.

关键词： laboratory experimentation laboratory procedure Navigation systems Spacecraft navigation scale models Unknown Spin Spinning major axis ANGULAR VELOCITY rotating shafts DARKROOMS Family Members

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Selection of the objective function of reduction parameter optimization algorithm, and its impact on the properties of reduced MIMO models 20

Selection of the objective function of reduction parameter o...

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

作者： Rydel, Marek Stanislawski, Wlodzimierz Opole Univ Technol Dept Elect Control & Comp Engn Opole Poland Univ Appl Sci Inst Comp Sci Nysa Poland

ISBN: (纸本)9781479987016

this article presents a range of approximation error measures for reduced mathematical MIMO models of controlled objects. these measures can be of use in evaluations of reduction quality. the impact of selection of a particular approximation error measure as the objective function of the reduction parameter optimization algorithm on the frequency characteristics of the reduced model was analyzed. Particular emphasis was given to those cases where the individual channels of a MIMO model differ significantly from one another. the results are presented on the example of a one-phase zone evaporating tubes model of a BP-1150 steam boiler.

关键词： Objective function multiple input multiple output systems Approximation error IMPACT PROPERTIES Parameter optimization frequency characteristic reduced model controlled object COHERENT TUBE MODEL annonacin-A-one

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Approximate State-Space Model Predictive Control 20

Approximate State-Space Model Predictive Control

引用

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

作者： Lawrynczuk, Maciej Warsaw Univ Technol Inst Control & Computat Engn Ul Nowowiejska 15-19 PL-00665 Warsaw Poland

ISBN: (纸本)9781479987016

this paper is concerned with a Model Predictive Control (MPC) algorithm for dynamic systems described by nonlinear state-space models. A unique feature of the algorithm is the fact that the current value of the manipulated variable (i.e. the decision variable of MPC) is not calculated from an optimisation problem, but from an analytical linear control law. the coefficients of the control law, due to a nonlinear nature of the process, are time-varying. they are found on-line by an approximator (a neural network is used for this purpose). the approximator is trained off-line in such a way that the resulting MPC algorithm mimics the suboptimal MPC technique with on-line model linearisation. thanks to such an approach, successive on-line model linearisation is not successively performed and some other calculations are not necessary. For a polymerisation reactor off-line training of the approximator is described and the approximate algorithm is compared with the classical MPC algorithms with on-line model linearisation.

关键词： Maximum Allowable Concentration on-line model control law Predictive control POLYMERISATION REACTOR manipulated variable State space models State-space methods Dynamic systems models, Space Approximate OFF LINE algorithms

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Continuous-Time Input-Output Linear Dynamic System Identification using Sampled Data 20

Continuous-Time Input-Output Linear Dynamic System Identific...

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

作者： Figwer, Jaroslaw Silesian Tech Univ Inst Automat Control Akad 16 PL-44100 Gliwice Poland

ISBN: (纸本)9781479987016

In the paper an approach to parametric continuous-time input-output linear dynamic system identification based on a randomized search method is presented. During identification experiment the excitation signal is generated directly from D/A converter that is equipped only with zero-order or first-order hold filter - the corresponding low-pass analogue reconstruction filter is not used. In this experiment only samples of the system output signal are gathered. In the corresponding data acquisition system there is no analogue antialiasing filter. Samples of the system output signal are acquired with a deterministic constant or random sampling interval. Properties of the presented approach are illustrated by simulation experiments.

关键词： Data sampling Dynamic systems System identification INPUT-OUTPUT excitation signal output(systems) DATA ACQUISITION SYSTEMS Search methods antialiasing filter reconstruction filter DOE DESIGN AGENCY designer's alterations DA

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Application of Computer Aided Tools and methods for Unmanned Cargo Aircraft Design 20

Application of Computer Aided Tools and Methods for Unmanned...

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

作者： Czyba, Roman Hecel, Micha Jablonski, Karol Lemanowicz, Marcin Platek, Krzysztof Silesian Tech Univ Dept Automat Control Fac Automat Control Elect & Comp Sci 16 Akad St PL-44100 Gliwice Poland Silesian Tech Univ Fac Chem Dept Chem Engn & Proc Design PL-44100 Gliwice Poland Silesian Tech Univ Fac Mech Engn PL-44100 Gliwice Poland

ISBN: (纸本)9781479987016

Nowadays, novel construction materials, more efficient power supplies and advanced artificial intelligence algorithms allow one to use unmanned aerial vehicles (UAV) in various fields of life. One of the biggest events promoting this idea is the Air Cargo Challenge (ACC) competition. In this paper the motivation for ACC participation and the overall procedure of CAD aided UAV design are presented. the nonlinear aircraft model as well as Computational Fluid Dynamic simulations are discussed. Finally, some details concerning designed UAV prototype are revealed.

关键词： UAV CAD CFD Rapid Prototyping

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Night vision applicability in anti-sway vision-based solutions 20

Night vision applicability in anti-sway vision-based solutio...

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

作者： Hyla, Pawel AGH Univ Sci & Technol Fac Mech Engn & Robot PL-30059 Krakow Poland

ISBN: (纸本)9781479987016

this paper describes a common issues in architecture of the variety kind of vision-based sway sensors dedicated for the anti-sway solution as a feedback in close-loop systems. However, in the statement the author's attention was focused on the issue related with vision sensor architecture insensitiveness on actual exposure light conditions. the night vision functionality was obtained through use infrared radiation. Author main attention was focused on possibility of use IR as a solution for insufficient light condition and their usefulness in different non-contact vision-based sensor architecture. All obtained results and considerations were conducted on the base vision sway sensor integrated with infrared illuminator assembled on the physical scaled model of the overhead travelling crane with hosting capability of 150 kg.

关键词： night vision infrared radiation swinging sensor overhead travelling crane vision methods smart camera

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Iterative Learning Control of Polyhydroxybutyrate Production in a Sequencing Batch Reactor 20

Iterative Learning Control of Polyhydroxybutyrate Production...

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

作者： Jung, Seyong Zhang, Jie Oliveira, Rui Newcastle Univ Sch Chem Engn & Adv Mat Newcastle Upon Tyne NE1 7RU Tyne & Wear England Univ Nova Lisboa FCT Dept Chem P-2829516 Caparica Portugal

ISBN: (纸本)9781479987016

this study investigates the iterative learning control of a sequencing batch reactor for the production of polyhydroxybutyrate (PHB). In order to overcome the effect of model plant mismatches and unknown disturbances, a batch to batch iterative learning control strategy with incrementally updated models is developed. the reference batch is taken as the immediate previous batch in order to cope with nonlinearities and process variations. After each batch, the newly obtained process operation data is added to the historical process data base and an updated linearised model is re-identified. To cope with colinearity in the modeling data, principal component regression and partial least squares regression are used in identifying batch-wise linearised models. the proposed technique has been successfully applied to a sequencing batch reactor for the production of PHB.

关键词： iterative learning control PHB batch processes sequencing batch reactor linearised models

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Application of Subspace State-space Identification methods on Actuated Multibody Systems 20

Application of Subspace State-space Identification Methods o...

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

作者： Marquardt, Mathias Duenow, Peter Bassler, Sandra Wobbe, Frank Univ Technol Business & Design Hsch Wismar Wismar Germany IAV GmbH Ingenieurgesellsch Auto & Verkehr Berlin Germany

ISBN: (纸本)9781479987016

In the last years subspace-based system identification methods have been developed for the application in open and even closed loop conditions. In this paper some of those methods are selected and applied to a nonlinear mechanical system in order to identify a local linear state space description of the underlying system. the considered plant is an actuated multibody system with two inputs and two outputs. the nonlinear nature of such a system leads to unstable behavior in some operating conditions so the system has to be operated in closed loop control during the identification procedure too. Considering these demands for the process of system identification the capability of subspace-based methods to identify stable and unstable MIMO systems using input-output data obtained from closed loop control experiments is investigated.

关键词： Identification methods bar linkage System identification multiple input multiple output systems state space Loops Contraceptive Coil Subspace Operating conditions Control Groups Unstable CLOSED LOOP CONTROL

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Model Selection to Enhance Prediction Performance in the Presence of Missing Data 20

Model Selection to Enhance Prediction Performance in the Pre...

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

作者： Bashir, Faraj Wei, Hua-Liang Benomair, Abdollha Univ Sheffield Dept Automat Control & Syst Engn Mapping St Sheffield S1 3JD S Yorkshire England

ISBN: (纸本)9781479987016

Most nonlinear modelling approaches focus on solving a model selection problem with complete data, and in many cases original data are pre-processed with some nonlinear transforms such as Box-Tidwell and fractional polynomial transformation. Often these approaches can lead to models that are better than traditional models (for example, logistic model and quadratic model). However, in the case of missing data, it is not easy to predict the relationship between the predictor and dependent variables;traditional nonlinear models in some cases of missing data analysis give poor results. this paper explains nonlinear model selection techniques for missing data. It includes an overview of nonlinear model selection with complete data, and provides accessible descriptions of Box-Tidwell and fractional polynomial methods for model selection. In particular, this paper focuses on a fractional polynomial method for nonlinear modelling in cases of missing data and presents analysis examples to illustrate performance of the method.

关键词： model selection missing data Nonlinear models Polynomial

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