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

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

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

作者： Noé Villa-Villaseñor René Galindo-Orozco Faculty of Mechanical and Electrical Engineering Autonomous University of Nuevo Leon

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 nonlinear-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： three-dimensional displays Artificial intelligence 5G mobile communication Iron FAA

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Online motion planning for UAVs with multi-constraints using C/GMRES method

Online motion planning for UAVs with multi-constraints using...

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

作者： Yongchang Zhang Jie Li College of Mechatronics Engineering and Automation National University of Defense Technology Changsha China

this paper presents an online motion planning method based on Continuation/Generalized Minimum Residual (C/GMRES) to solve a receding horizon optimization problem for unmanned aerial vehicles (UAVs). Hard constraints, such as nonlinear state, input saturation constraints and obstacle constraint are included into the problem formulation by introducing the dummy factors. the optimal control problem model of motion planning for UAVs in Bolza form is constructed and the necessary optimality conditions are derived based on the Lagrange Multipliers method. the singularity that method may exist is avoided by adding a small penalty to the Lagrange function. Compared with conventional iterative methods, the proposed method requires much less computational burden, since the linear equation is solved only once at each sampling time and the product of a matrix and a vector is replaced with forward difference approximation, then GMRES is used to rapidly solve a large linear equation. Finally, the proposed method is applied to motion planning problem for a fixed-wing UAV in both obstacle-free and obstacle environment. Simulation results show that the method can generate a feasible trajectory from initial position to destination while satisfying all constraints and the real-time performance.

关键词： Planning Real-time systems Optimal control Approximation methods Iterative methods Mathematical model Trajectory

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New Control Scheme for a Lane-Keeping Evasive Maneuver Exploiting the Free Space Optimally

New Control Scheme for a Lane-Keeping Evasive Maneuver Explo...

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international conference on methods and models in automation and robotics

作者： Stefan Hahn Klaus Zindler Konrad Doll Ulrich Jumar University of Applied Sciences Aschaffenburg Würzburger Str. 45 63743 Aschaffenburg Germany ifak - Institute of Automation and Communication Werner-Heisenberg-Str. 1 39106 Magdeburg Germany

ISBN: (纸本)9781479987023

One focus of current vehicle research is on the development of evasive pedestrian protection systems. Such safety systems avoid an imminent collision with a pedestrian by performing an evasive maneuver autonomously within the lane. For this purpose, a new lateral control scheme is proposed in this paper. the main idea is to ensure a lane-keeping evasive maneuver exploiting the free space optimally within the lane by controlling the vehicle's front left corner on an evasive trajectory ending up on the center line. Hence, a nonlinear model beyond the state of the art describing the dynamics of a lateral displaced point at the vehicle front as well as its lateral deviation to a defined trajectory is developed. Based on this model, the method of input-output linearization is used to design a lateral control system to ensure a precise track guidance. Furthermore, experimental results are presented.

关键词： New Control Scheme Free Space Optimally One focus

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A feedback model of evolutionary adaptation

A feedback model of evolutionary adaptation

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

作者： Daniele Casagrande Wiesław Krajewski Umberto Viaro Department of Electrical University of Udine Udine Italy Polish Academy of Sciences Systems Research Institute Warsaw Poland

Many aspects of human adaptation to changing environment remain unanswered, even if a substantial progress has been made towards a better understanding of populations evolution in recent years. this paper proposes an explanatory model of evolutionary adaptation that seems to account fairly well for certain qualitative dynamic patterns pointed out by geneticists. this model is characterised by the presence of feedback loops (in addition to feedforward channels that are certainly present, too). Although the importance of feedback in the evolution process is widely accepted today, no explicit representation of this phenomenon has been presented yet. this task is humbly undertaken from a control engineering perspective in this note which does not claim to be scientifically accurate, but simply to stimulate discussion among the experts in this delicate and manifold field. Specifically, the proposed model consists of four nested loops characterised by different time scales and embracing different spheres. On the basis of this simple model, some considerations on the system stability as well as on its transient and asymptotic behaviour are made.

关键词： Evolution (biology) Transfer functions Adaptation models Biological system modeling Organisms Delays Electronic mail

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Activation models for biologically grounded visual perception in robotics

Activation models for biologically grounded visual perceptio...

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

作者： Karthik Mahesh Varadarajan Markus Vincze Technical University of Vienna Austria

the field of computer vision, in general, is focused on achieving maximal computational efficiency with little priority towards mimicking biological vision. Biologically grounded vision algorithms such as Poggio's layered features and Deep Learning Networks, on the other hand, are geared towards achieving recognition performance and predictable artefacts similar to the human vision system. Nevertheless, there is a dearth of computer vision algorithms and associated robotic systems that incorporate human-like spatio-temporal behaviors in visual processing, which has been conveniently modeled in symbolic systems such as ACT-R. In this paper, we explore the possibility of grounding a recently developed semantic cognitive vision theory - the k-TR theory of affordances for visual perception, using biological models of visual cue activation, thus attempting a marriage between one family of computer vision processing algorithms and ACT-R based spatio-temporal behavior models. Various biological effects such as frequency and recency of feature activation, cognitive concept linkages and spreading activation, partial matching of concepts and visual features, effect of noise at various levels of perception and cognitive analysis, are taken into account. While it can be seen that the performance of such a cognitive k-TR system grounded in biological/brain activation models is inferior in recall performance to an infinite memory, infinite time computational k-TR system, the temporal characteristics in terms of recall times and memory management of the biologically grounded system are superior to the purely computational model when deployed in a semantic context. the implementation of such a system is thus an important step towards the development of human-like behavior and performance in cognitive robots.

关键词： Field-flow fractionation

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Modeling the G-protein signaling of the retina with fractional calculus

Modeling the G-protein signaling of the retina with fraction...

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international conference on Informatics in Control, automation and robotics (ICINCO)

作者： Antal Martinecz Mihoko Niitsuma Precision Mechanics Chuo University Tokyo Japan

the first part of a cone's signal transduction is investigated from an image processing perspective in order to find out what differentiates (human) vision from computer vision. We found that the activity of cone opsins— visual pigments that are activated by the impact of a photon—can be described as an approximation of a fractional integrator of order 0.1–0.2 on frequencies between 1–30 Hz. We explore how this affects the output signal and provide examples of how this can be used for noise reduction and image processing. We also present a simplified model since these processes require excessive computational power for computer vision modeling.

关键词： Approximation methods Feedback loop Image processing Retina Fractional calculus Adaptation models

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Regularization of nonlinear DAEs based on Structural Analysis 8

Regularization of nonlinear DAEs based on Structural Analysi...

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8th Vienna international conference on Mathematical Modelling

作者： McKenzie, R. Pryce, J. Nedialkov, N. Tan, G. Cardiff Univ Cardiff CF10 3AX S Glam Wales McMaster Univ Hamilton ON L8S 4L8 Canada

Differential algebraic equations (henceforth DAEs), arise from the equation based modelling of physical systems, such as those found in engineering or physics applications, with problems specifically arising from chemical distillation (Washington and Swartz (2011)), electronic circuits (Brenan et al. (1996)) and robotics (Campbell and Griepentrog (1995)). models are now frequently built interactively using different components from large libraries in environments such as GPROMS, MAPLESIM, SIMULINK and an assortment of tools that use the Modelica language. this way of modelling systems can lead to large scale DAEs (Fritzson (2015)). A common notion is the differentiation indexwhich is equal to the number of times all or part of the system has to be differentiated in order to solve the problem as an ODE. It is well known that solving a high index (larger than one) DAE directly is numerically difficult, hence modelling tools usually perform some structural analysis to determine the index of the problem. this talk will outline different ways of using this structural analysis in the solution and regularization of DAEs. In particular the Signature Matrix method (Pryce (2001)), Dummy Derivative method (Mattsson and Soderlind (1993)), Structural-Algebraic method (Scholz and Steinbrecher (2013)) and a new approach called Structural Analysis based Dummy Derivatives will be considered. (C) 2015, IFAC (international Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： DAE Systems Numerical and Symbolical methods for Modelling

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Off-line state-dependent parameter models identification using simple Fixed Interval Smoothing

Off-line state-dependent parameter models identification usi...

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international conference on Informatics in Control, automation and robotics (ICINCO)

作者： Elvis Omar Jara Alegria Hugo Tanzarella Teixeira Celso Pascoli Bottura Semiconductors Instruments and Photonics Department School of Electrical and Computer Engineering State University of Campinas - UNICAMP Av. Albert Einstein N. 400 - LE31 - CEP 13081-970 Sao Paulo Brazil Semiconductors Instruments and Photonics Department State University of Campinas - UNICAMP Sao Paulo Brazil

this paper shows a detailed study about the Young's algorithm for parameter estimation on ARX-SDP models and proposes some improvements. To reduce the high entropy of the unknown parameters, data reordering according to a state ascendant ordering is used on that algorithm. After the Young's temporal reordering process, the old data do not necessarily continue so. We propose to reconsider the forgetting factor, internally used in the exponential window past, as a fixed and small value. this proposal improves the estimation results, especially in the low data density regions, and improves the algorithm velocity as experimentally shown. Other interesting improvement of our proposal is characterized by the flexibility to the changes on the state-parameter dependency. this is important in a future On-Line version. Interesting features of the SDP estimation algorithm for the case of ARX-SDP models with unitary regressors and the case with correlated state-parameter are also studied. Finally a example shows our results using the INCA toolbox we developed for our proposal.

关键词： Estimation Mathematical model Data models Smoothing methods Proposals Numerical models Computational modeling

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Workspace analysis for a 3-DOF compliant parallel mechanism based on SimMechanics

Workspace analysis for a 3-DOF compliant parallel mechanism ...

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IEEE conference on Cybernetics and Intelligent Systems

作者： Bingxiao Ding Yangmin Li Yirui Tang Intelligent Control University of Technology Tianjin China Department of Electromechanical Engineering Avenida da Universidade Macao China

ISBN: (纸本)9781467373395

this paper presents workspace analysis for a three-degree of freedom(3-DOF) compliant parallel mecha-nism(CPM) using SimMechanics software based on PZT's output forces. In order to meet the requirements of precision mechanism for application, it is necessary to evaluate the workspace performance of the designed stage, taking the fabrication tolerance and modeling inaccuracies of flexure joints into consideration. the work on obtaining the workspace of a manipulator was done in past using the geometrical approach, screw theory, and other methods. Unlike the above aforementioned methods, using SimMechanics to get the workspace is much easier. In this paper, the stage is modeled with elasto-slide element and then the PZT force and displacement behaviour are obtained, based on the pseudo-rigid-body (PRB) method, the model of CPM is established, and a complete analysis of a planar 3-RRR parallel flexure based manipulator is made.

关键词： Fasteners Actuators Force Joints Mathematical model Springs Analytical models

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A physics-based optimization approach for path planning on rough terrains

A physics-based optimization approach for path planning on r...

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international conference on Informatics in Control, automation and robotics (ICINCO)

作者： Diogo Amorim Rodrigo Ventura Institute for Systems and Robotics Universidade de Lisboa Lisbon Portugal

the following paper addresses the problem of applying existing path planning methods targeting rough terrains. Most path planning methods for mobile robots divide the environment in two areas-free and occupied-and restrict the path to lie within the free space. the presented solution addresses the problem of path planning on rough terrains, where the local shape of the environment are used to both constrain and optimize the resulting path. Finding both the feasibility and the cost of the robot crossing the terrain at a given point is cast as an optimization problem. Intuitively, this problem models dropping the robot at a given location (x,y) and determining the minimal potential energy pose (attitude angles and the distance of the centre of mass to the ground). We then applied two path planning methods for computing a feasible path to a given goal: Fast Marching Method (FMM) and Rapidly exploring Random Tree (RRT). Processing the whole mapped area, determining the cost of every cell in the map, we apply a FMM in order to obtain a potential field free of local minima. this field can then be used to either pre-compute a complete trajectory to the goal point or to control, in real time, the locomotion of the robot. Solving the previously stated problem using RRT we need not to process the entire area, but only the coordinates of the nodes generated. this last approach does not require as much computational power or time as the FMM but the resulting path might not be optimal. In the end, the results obtained from the FMM may be used in controlling the vehicle and show optimal paths. the output from the RRT method is a feasible path to the goal position. Finally, we validate the proposed approach on four example environments.

关键词： Robot kinematics Path planning Vehicles Optimization Mobile robots Rough surfaces

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