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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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Selection of reduction parameters of Rational Krylov methods for complex MIMO LTI models using evolutionary algorithm 19

Selection of reduction parameters of Rational Krylov Methods...

引用

19th 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 Ul Proszkowska 76 PL-45758 Opole Poland

ISBN: (纸本)9781479950812

this paper presents the determination of optimal reduction parameters for complex models of the Rational Krylov methods with using Evolutionary Algorithm. the presented algorithms facilitate a precise reduction of linear time invariant, multi-input and multi-output models. the elaborated algorithms are particularly significant for MIMO models, for which the individual channels differ significantly from each other. the prepared algorithms have been applied for the reduction of the subsystems models of a BP-1150 steam boiler.

关键词： MIMO systems evolutionary computation linear systems parameter estimation BP-1150 steam boiler complex MIMO LTI models evolutionary algorithm linear time invariant models multiple input multiple output models rational Krylov methods reduction parameter selection Approximation error Computational modeling Evolutionary computation Mathematical model Reduced order systems Vectors evolutionary algorithm multiple input multiple output systems Reduced order model Approximation error Computational modeling Linear system Parameter estimation Mathematical Model

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Speed calculation methods in electrical drive with non-ideal position sensor 19

Speed calculation methods in electrical drive with non-ideal...

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

作者： Luczak, Dominik Nowopolski, Krzysztof Siembab, Krzysztof Wicher, Bartiomiej Poznan Univ Tech Inst Control & Informat Engn Poznan Poland

ISBN: (纸本)9781479950812

In this paper three methods of electric motor angular speed calculation are compared. the source of the measurement signal is a 14-bit absolute encoder. the authors compared the well-known classic methods M with more advanced approaches. First of the complex methods is based on utilization of phase loop lock system in an estimation process using on-line system model. the third method discussed in the paper is focused on application of Chebyshev filter. Short description of all of the mentioned method is followed by simulation and experimental results. the results are presented on an instance of permanent magnet synchronous motor drive, with both speed controller and speed calculation algorithms implemented in a digital signal processor system.

关键词： speed measurement absolute encoder position sensor electrical drive PLL DSP Chebyshev filter low-pass filter digital filtering spectral analysis

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Measurement System for Ground Reaction Forces in Skid-Steering Mobile Platform Rex

Measurement System for Ground Reaction Forces in Skid-Steeri...

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international conference on methods and models in automation and robotics

作者： Jaroslaw Szrek Krzysztof Arent Department of Biomedical Engineering Mechatronics and Theory of Mechanisms Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-320 Wroclaw Poland Chair of Cybernetics and Robotics Electronics Faculty Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-320 Wroclaw Poland

ISBN: (纸本)9781479987023

the article is focused on a measurement system for ground reaction forces in a skid-steering mobile platform. the information derived by such a system is useful for several model based control algorithms which in turn are the base for requirements of a measurement system. the system, that meets the requirements, is proposed and initially discussed. Presentation of a system concept is complemented by initial experimental results.

关键词： Ground Reaction Forces Skid-Steering Mobile Platform Rex several model

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Dynamic Singularities in Nonlinear Control of Underactuated Pendulum-like models 19

Dynamic Singularities in Nonlinear Control of Underactuated ...

引用

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

作者： Lukomski, Adam Wojciech West Pomeranian Univ Technol Dept Control & Measurements PL-70310 Szczecin Poland

ISBN: (纸本)9781479950812

the paper presents an analysis of dynamic singularities in n-link pendulum-like models that are controlled using input-output feedback linearisation. the dynamic singularities are caused by the decoupling matrix being singular for particular configurations. the examples include 3-link planar pendulum, 3-link 3D pendulum and a simplified humanoid-like robot model. Partial stabilisation results are presented for specific physical parameters.

关键词： feedback humanoid robots linearisation techniques manipulators nonlinear control systems pendulums stability 3-link 3D pendulum 3-link planar pendulum decoupling matrix dynamic singularities humanoid-like robot model input-output feedback linearisation n-link pendulum-like models nonlinear control partial stabilisation underactuated pendulum-like models Knee Mathematical model Numerical models Robots Solid modeling three-dimensional displays Transmission line matrix methods transmission line matrix methods nonlinear control Clock weights three-dimensional displays linearization techniques entity modeling Humanoid robots Nonlinear control systems Robot Manipulators numerical models Feedback Mathematical Model knee Singularity

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Path Following Control Algorithm for Planar Holonomic N-Link Manipulators Using Non-Singular Path Parametrization 19

Path Following Control Algorithm for Planar Holonomic N-Link...

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

作者： Plaskonka, Joanna Wroclaw Univ Technol Chair Cybernet & Robot PL-50370 Wroclaw Poland

ISBN: (纸本)9781479950812

In the paper a description of a planar holonomic N-link manipulator relative to a path is presented. the path parametrization method is based on a non-orthogonal projection of the robot on the path and the Serret-Frenet frame moving along a curve. the new control algorithm for N-link manipulators is proposed. the effectiveness of the algorithm for a planar three-link manipulator is examined by computer simulations.

关键词： manipulators path planning Serret-Frenet frame computer simulations nonorthogonal projection nonsingular path parametrization path following control algorithm planar holonomic N-link manipulator planar three-link manipulator Equations Manipulator dynamics Mathematical model Robot kinematics Transmission line matrix methods transmission line matrix methods Manipulators manipulator dynamics Robot kinematics Computer Simulation Path planning Mathematical Model Byways Computer algorithms holonomic

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Improved Fractional Kalman Filter for Variable Order Systems with lossy and delayed network 19

Improved Fractional Kalman Filter for Variable Order Systems...

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

作者： Ziubinski, Pawel Sierociuk, Dominik Warsaw Univ Technol Inst Control & Ind Elect Koszykowa 75 Warsaw Poland

ISBN: (纸本)9781479950812

this paper presents generalization on the Improved Fractional Kalman Filter (ExFKF) for estimation over lossy network with packets delay. this generalization is based on the infinite dimensional form of a linear discrete fractional variable order state-space system and measurements equation augmentation. Some simulation cases are given in order to demonstrate the effectiveness of the proposed algorithms, with improvements in terms of estimation and smoothing results.

关键词： Kalman filters delays discrete systems linear systems state-space methods ExFKF delayed network fractional Kalman filter linear discrete fractional variable order state-space system lossy network measurements equation augmentation packet delay variable order systems Equations Estimation Loss measurement Noise Signal processing algorithms Vectors Kalman filters State-space methods loss measurement Signal processing algorithms Discrete systems Linear system Noise variable order delay

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AR Time-Series Identification using Quantized Observations 19

AR Time-Series Identification using Quantized Observations

引用

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

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

ISBN: (纸本)9781479950812

In the paper an approach to AR time-series identification based on observations obtained using data acquisition system equipped with a quantizer having saturation is presented. In the presented approach AR time-series model identification is replaced by an ARMA time-series model identification that returns parameters of AR time-series. A focus on model identification for ultra low-and ultra high-power AR time-series is given. the presented discussion is illustrated by a simulation case study showing properties of the presented approach.

关键词： autoregressive moving average processes quantisation (signal) signal detection time series AR time-series identification ARMA time-series model identification data acquisition system quantized observation ultra high-power AR time-series ultra low-power AR time-series Data acquisition Data models Estimation Quantization (signal) Random processes Standards White noise

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Application of Graph Segmentation Method in thermal Camera Object Detection

Application of Graph Segmentation Method in Thermal Camera O...

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international conference on methods and models in automation and robotics

作者： Hung V. NGUYEN Linh Hoai TRAN Department of Automation Control Institute of Science and Technology Hanoi Vietnam School of Electrical Engineering Hanoi University of Science and Technology Hanoi Vietnam

ISBN: (纸本)9781479987023

the paper presents the application of graph-based segmentation algorithm in image object detection. the input images are taken from thermal camera for night surveillance application. the graph-based algorithm was selected due to its low complexity, which allows us to process each image with the complexity of O(***(n)) where n is the number of pixels, and due to the fact that thermal images contains smaller number of regions of colors. With the detected regions, some additional measures are used to filter out the artifacts to correctly detect the object in the images. the numerical results have proved the high quality of the proposed solutions.

关键词： graph-based segmentation image segmentation object detection thermal camera

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Frequency Response Identification using Integrated Bispectra - Periodic Disturbances Case 19

Frequency Response Identification using Integrated Bispectra...

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

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

ISBN: (纸本)9781479950812

In the paper an approach to discrete-time frequency response identification of a plant operating under feedback in the case of periodic disturbances is presented. In the presented approach to discrete-time frequency response identification integrated bispectra and higher-order non-gaussian multisine excitations are applied. A focus on almost sure convergence of the identified discrete-time frequency response to true plant is given. the presented discussion is illustrated by examples showing effectiveness of the proposed approach.

关键词： closed loop systems discrete time systems identification discrete-time frequency response identification higher-order non-Gaussian multisine excitations integrated bispectra periodic disturbance case Closed loop systems Data models Frequency response Frequency-domain analysis Random processes Spectral analysis Transfer functions Closed loop systems frequency response discrete time systems Frequency-domain analysis data models Stochastic Processes TRANSFER FUNCTIONS Spectrum Analysis bispectrum

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Learned ultra-wideband RADAR sensor model for augmented LIDAR-based traversability mapping in vegetated environments

Learned ultra-wideband RADAR sensor model for augmented LIDA...

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international conference on Information Fusion

作者： Juhana Ahtiainen thierry Peynot Jari Saarinen Steven Scheding Arto Visala Department of Electrical Engineering and Automation Aalto University Finland Science and Engineering Faculty Queensland University of Technology Australia GIM Ltd. Finland Australian Centre for Field Robotics University of Sydney Australia

ISBN: (纸本)9781479974047

In vegetated environments, reliable obstacle detection remains a challenge for state-of-the-art methods, which are usually based on geometrical representations of the environment built from LIDAR and/or visual data. In many cases, in practice field robots could safely traverse through vegetation, thereby avoiding costly detours. However, it is often mistakenly interpreted as an obstacle. Classifying vegetation is insufficient since there might be an obstacle hidden behind or within it. Some Ultra-wide band (UWB) radars can penetrate through vegetation to help distinguish actual obstacles from obstacle-free vegetation. However, these sensors provide noisy and low-accuracy data. therefore, in this work we address the problem of reliable traversability estimation in vegetation by augmenting LIDAR-based traversability mapping with UWB radar data. A sensor model is learned from experimental data using a support vector machine to convert the radar data into occupancy probabilities. these are then fused with LIDAR-based traversability data. the resulting augmented traversability maps capture the fine resolution of LIDAR-based maps but clear safely traversable foliage from being interpreted as obstacle. We validate the approach experimentally using sensors mounted on two different mobile robots, navigating in two different environments.

关键词： Ultra wideband radar Robot sensing systems Laser radar Vegetation mapping Data models Feature extraction

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