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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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Vehicle Classification Using Measurements From Accelerometers Mounted On the Road Surface 19

Vehicle Classification Using Measurements From Accelerometer...

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

作者： Obertov, Dmitri Andrievsky, Boris ITMO Univ St Petersburg 199178 Russia RAS Inst Problems Mech Engn St Petersburg 199178 Russia

ISBN: (纸本)9781479950812

A new method for vehicle classification is presented. An axle parameter estimation gives advanced results for the distances between axles as well as transferred energy of vibrations. Measured road vibrations are analyzed and the phenomena are studied. Algorithms for vehicle classification based on the findings are described and their performance, advantages and disadvantages are evaluated and discussed. Correct classification of vehicles by wheelbases using accelerometers is about 89 %.

关键词： accelerometers axles control engineering computing intelligent transportation systems parameter estimation pattern classification road traffic control road vehicles vibration control vibration measurement wheels accelerometers measurements axle parameter estimation road surface road vibrations measurement transferred energy vehicle classification wheelbases Accelerometers Artificial intelligence Axles Roads Smoothing methods Vehicles Vibrations Vehicle classification Axle accelerometers PAVEMENTS control engineering computing smoothing methods Vibration vibration monitoring Intelligent transportation systems vehicle road vehicles Parameter estimation Road Pattern recognition vibration control

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An algorithm for design of deadbeat controllers of spatially invariant systems 19

An algorithm for design of deadbeat controllers of spatially...

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

作者： Augusta, Petr Galkowski, Krzysztof Acad Sci Czech Republ Inst Informat Theory & Automat CR-18208 Prague Czech Republic Univ Zielona Gora Inst Control & Computat Engn Zielona Gora Poland

ISBN: (纸本)9781479950812

In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. the algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.

关键词： control system synthesis partial differential equations polynomials bivariate polynomial deadbeat controller design linear equation parabolic partial differential equation polynomial methods spatial variable spatially invariant system temporal variable Algorithm design and analysis Arrays Heating Mathematical model Polynomials Transfer functions Polynomial Linear equation Algorithm design and analysis time variable Differential equations control system synthesis TRANSFER FUNCTIONS dead-beat Partial differential equations Mathematical Model Algorithm design

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Adaptive Control System for Quadrotor Equiped with Robotic Arm 19

Adaptive Control System for Quadrotor Equiped with Robotic A...

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

作者： Bazylev, Dmitry Zimenko, Konstantin Margun, Alexey Bobtsov, Alexey Kremlev, Artem ITMO Univ St Petersburg Russia

ISBN: (纸本)9781479950812

this article proposes a new control design of quadrotor with attached 2-DOF robotic arm. Proposed adaptive control law is based on combined application of feedback linearization and consecutive compensator methods. Real time computation of the inertia tensor, center of mass position and the reactive torque generated by the manipulator is used to compensate the mutual influence of the system parts. the usefulness of the method is demonstrated by simulation results of the system with external perturbations in comparison with widespread PD controller.

关键词： adaptive control aircraft control compensation control system synthesis feedback helicopters manipulators perturbation techniques tensors adaptive control system attached 2-DOF robotic arm compensator methods control design external perturbations feedback linearization inertia tensor quadrotor real time computation Manipulator dynamics Mathematical model Tensile stress Trajectory Adaptive control systems inertia tensor design control Aircraft control manipulator dynamics control system synthesis Manipulators Helicopters adaptive control Tensile stress Tensor robotic arm trajectory Feedback Mathematical Model

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the average 6 DOF path estimation with the use of initial approximation curve 19

The average 6 DOF path estimation with the use of initial ap...

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

作者： Fracczak, Lukasz Podsedkowski, Leszek Moll, Maciej Tech Univ Lodz Fac Prod Engn PL-90924 Lodz Poland Inst Ctr Zdrowia Matki Polki Kardiol Klin Lodz Poland

ISBN: (纸本)9781479950812

the paper presents the average path estimation algorithm. this algorithm is based on the approximation curve, which shape should by defined as closely as possible to the shape of the analyzed path. With the use of this initial curve, the data space is divided into the intervals. All of the interval paths points are averaged individually. After the calculations, there is only one average point for each path. Next, these average points are averaged to one point in each interval. the set of these averaged points define the average path. thanks to this algorithm the input paths can be non-linear and independent of time. the analyzed path can begin and end in any point in the 6DOF space, as well as reverse and loop. this paper presents the general model description and example of the use of the presented algorithm.

关键词： approximation theory curve fitting path planning robots approximation curve average path estimation algorithm data space loop path path estimation path planning optimization reverse path robotics development Approximation algorithms Approximation methods Equations Mathematical model Robots Surgery Trajectory

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Robust sensor scheduling via iterative design for parameter estimation of distributed systems 19

Robust sensor scheduling via iterative design for parameter ...

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

作者： Patan, Maciej Kowalow, Damian Univ Zielona Gora Zielona Gora Poland

ISBN: (纸本)9781479950812

the problem of selection of measurement data provided by sensor array so as to maximize the accuracy of parameter estimation of a distributed system defined in a given multidimensional domain is discussed. Usually, when designing an identification experiment for nonlinear models, the uncertainty of nominal parameters has to be taken into account. In particular, an iterative scheme for parameter estimation is proposed enhanced with sequential experimental design techniques where there is no particular information about the parameter distribution. the setting examined here correspond to situation where from among the observations provided by nodes of given sensor array the most informative measurements have to be selected in order to provide an update of the parameter estimates. Finally, a proposed approach is verified by a computer simulation regarding heat transfer problem.

关键词： design of experiments distributed processing iterative methods parameter estimation sensor fusion computer simulation distributed systems heat transfer problem iterative design multidimensional domain nominal parameters nonlinear models parameter distribution robust sensor scheduling sensor array sequential experimental design techniques Arrays Estimation Face Noise measurement Schedules Temperature measurement Time measurement Parameter estimation Distributed Systems Sensor arrays time measurement Nonlinear models Noise measurement Distributed processing Sensor fusion temperature measurement Computer Simulation iterative methods Experimental Design Face Face distributed parameter

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Bi-Fractional Filters, Part 2: Right half-plane case 19

Bi-Fractional Filters, Part 2: Right half-plane case

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

作者： Baranowski, Jerzy Piatek, Pawel Bauer, Waldemar Dziwinski, Tomasz Zagorowska, Marta AGH Univ Sci & Technol Dept Automat & Biomed Engn PL-30059 Krakow Poland

ISBN: (纸本)9781479950812

In this paper a special case of non-integer filters namely hi-fractional filters (BFF) - are considered. those filters are characterised by three parameters and offer rich possibilities of frequency response shaping. this paper is a continuation of an earlier research and focuses on stable filters with eigenvalues in right complex half plane. Conditions on stability of such filters are presented, their impulse responses are analysed and certain remarks on frequency characteristics are given.

关键词： eigenvalues and eigenfunctions filtering theory frequency response transient response BFF bifractional filters eigenvalues filter stability frequency response shaping impulse responses noninteger filters right half-plane case Approximation methods Asymptotic stability Cutoff frequency Eigenvalues and eigenfunctions Polynomials Stability criteria Eigenfunctions filtering theory Cutoff frequency Approximation method Stability criteria frequency response Filters asymptotic stability region eigenvalues TRANSIENT RESPONSE Polynomial IMPULSE RESPONSE

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Some remarks on discretisation of spatially invariant systems 19

Some remarks on discretisation of spatially invariant system...

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

作者： Augusta, Petr Acad Sci Czech Republic Inst Informat Theory & Automat CR-18208 Prague Czech Republic

ISBN: (纸本)9781479950812

the paper deals with discretisation of 2-D spatially invariant systems. three different discretisation schemes are used -Tustin's approximation, backward difference scheme and Crank-Nicolson discretisation. their properties and importance are discussed in the paper. As an example a heat conduction in a rod is considered. Its model discrete in both time and space is obtained using all the above mentioned difference schemes. To determine whether the discrete model converges to the solution, von Neumann analysis of stability is applied to each scheme. the system is stabilised with use of each of obtained discrete models. Numerical simulations are included. Experiments with changing the parameters of discretisation are also given.

关键词： approximation theory closed loop systems partial differential equations stability Crank-Nicolson discretisation Tustin approximation backward difference scheme discretisation parameter heat conduction spatially invariant systems system discretisation scheme von Neumann stability analysis Approximation methods Closed loop systems Equations Heating Mathematical model Numerical models Transfer functions Closed loop systems Conductive heat transfer Approximation method Approximation theory TRANSFER FUNCTIONS difference scheme numerical models Mathematical Model Discretization Time invariant systems Partial differential equations

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Modeling and identification of a fractional-order discrete-time SISO Laguerre-Wiener system 19

Modeling and identification of a fractional-order discrete-t...

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

作者： Stanislawski, Rafal Latawiec, Krzysztof J. Galek, Marcin Lukaniszyn, Marian Opole Univ Technol Dept Elect Control & Comp Engn PL-45758 Opole Poland

ISBN: (纸本)9781479950812

this paper presents a new implementable strategy for modeling and identification of a fractional-order discretetime nonlinear block-oriented SISO Wiener system. the concept of modeling of a linear dynamics by means of orthonormal basis functions (OBF) is employed to separate linear and nonlinear submodels, which enables a linear regression formulation of the parameter estimation problem. Finally, discrete-time Laguerre filters are uniquely embedded in modeling of the fractional-order dynamics, eliminating the disastrous bilinearity issue. Simulation experiments show a very good identification performance for a fractional-order Laguerre-based Wiener model, both in terms of low prediction errors and accurate reconstruction of the actual system characteristics.

关键词： Wiener filters discrete time filters discrete time systems parameter estimation prediction theory regression analysis OBF discrete-time Laguerre filters fractional-order discrete-time SISO Laguerre-Wiener system identification fractional-order discrete-time SISO Laguerre-Wiener system modeling fractional-order dynamics modeling linear dynamics modeling linear regression formulation nonlinear submodel orthonormal basis functions parameter estimation problem prediction errors Adaptation models Approximation methods Computational modeling Mathematical model Nonlinear dynamical systems Predictive models Stability analysis

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Design process and experimental verification of the quadruped robot wave gait 19

Design process and experimental verification of the quadrupe...

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2014 19th international conference on methods and models in automation and robotics, MMAR 2014

作者： Mozaryn, Jakub Klimaszewski, Jan Kolodziejczyk, Pawel ͆wieczkowski-Feiz, Dariusz Wawrzyński, Pawel Institute of Automatic Control and Robotics Warsaw University of Technology ul. ͆w. Boboli 8 Warszawa02-525 Poland Institute of Control and Computation Engineering Warsaw University of Technology ul. Nowowiejska 15/19 Warszawa00-665 Poland

ISBN: (纸本)9781479950812

In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. the gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot. © 2014 IEEE.

关键词： MATLAB

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Identification of Vertical VTOL Movement Model Based on Use of Local Linear models 19

Identification of Vertical VTOL Movement Model Based on Use ...

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

作者： Czyba, Roman Janusz, Wojciech Szafranski, Grzegorz Silesian Tech Univ PL-44100 Gliwice Poland

ISBN: (纸本)9781479950812

In this paper we present the identification process of VTOL platform vertical movement model. VTOL platform used during the research was quadrotor equipped with ultrasonic range finder. We would like to model forces acting on the platform body which are result of the propulsion system. In order to develop this model, we had to employ two step procedure. In the first stage we had to estimate thrust forces during the experiment. then we have used nonlinear modeling technique based on use of local linear models to obtain dynamic model relating throttle inputs with throttle forces.

关键词： aerospace propulsion aircraft control distance measurement nonlinear control systems ultrasonic applications VTOL platform vertical movement model dynamic model identification process local linear models nonlinear modeling technique propulsion system quadrotor throttle forces throttle inputs thrust forces ultrasonic range finder vertical VTOL movement model Acceleration Acoustics Aerodynamics Mathematical model Propulsion Rotors Ultrasonic variables measurement ultrasonic variables measurement linear models Spacecraft propulsion Aircraft control Ultrasonic applications Propulsion Rangefinders Nonlinear control systems distance measurement Rotors Vertical take off Aerodynamics Acoustics thrust acceleration

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