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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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A study of stability for field robot using energy stability method 14

A study of stability for field robot using energy stability ...

引用

2014 14th international conference on Control, automation and Systems, ICCAS 2014

作者： Nguyen, Chi-thanh Park, Kyoung-Taik Yang, Soon-Yong School of Mechanical and Automobile Engineering University of Ulsan Ulsan680-749 Korea Republic of Robotics and Mechatronics Lab Korea Institute of Machinery and Materials Daejeon305-343 Korea Republic of Department of Mechanical Engineering University of Ulsan Ulsan680-749 Korea Republic of

ISBN: (纸本)9788993215069

In this paper, the energy stability level concept is used for examining the stable state of field robot under effects of swing motion, at some particular postures of manipulator and terrain conditions. the energy stability level is calculated by using the dynamic models of field robot, subject to the concept of equilibrium plane and support boundary. the results are simulated by using Matlab/Simulink for estimating the stability of field robot to supply useful predictions of stability analysis to designers and operators. © 2014 Institute of Control, robotics and Systems (ICROS).

关键词： Simulink

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Line Estimation using the Viterbi Algorithm and Track-Before-Detect Approach for Line Following Mobile Robots 19

Line Estimation using the Viterbi Algorithm and Track-Before...

引用

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

作者： Mazurek, Przemyslaw West Pomeranian Univ Technol Szczecin Dept Signal Proc & Multimedia Engn PL-71126 Szczecin Poland

ISBN: (纸本)9781479950812

Line following robots requires image acquisition and processing algorithms for the determination of the line trajectory. the Viterbi algorithm is proposed for the estimation of the line trajectory in this paper. the robustness of this algorithm is verified using the Monte Carlo approach for two distortions types: additive Gaussian noise and false lines sets. the results show possibilities of reliable estimation, even if the real line is hidden in the noise, without the application of additional estimators based on the previous measurements.

关键词： Gaussian noise Monte Carlo methods maximum likelihood estimation mobile robots object detection object tracking path planning robot vision Monte Carlo approach Viterbi algorithm additive Gaussian noise false line sets image acquisition algorithms image processing algorithms line estimation line following mobile robots line trajectory estimation track-before-detect approach Estimation Mobile robots Noise Trajectory Viterbi algorithm Mobile robots Monte Carlo technique Gaussian noise robot vision image processing algorithm trajectory Object detection Path planning maximum likelihood estimation Noise

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New Results for Position Estimation in Electro-Magnetic Actuators Using a Modified Discrete Time Class A/B Model Reference Approach 19

New Results for Position Estimation in Electro-Magnetic Actu...

引用

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

作者： Straussberger, Florian Schwab, Manuel Braun, Tristan Reuter, Johannes Univ Appl Sci Konstanz Inst Syst Dynam Constance Germany

ISBN: (纸本)9781479950812

In this paper, a number of new results are presented that have been achieved with a previously suggested approach for estimating the armature position of electro-magnetic actuators. With the assumption that only current and voltage measurements are available, a discrete time model reference adaptive system (MRAS) is used. It is shown that by identification of the parameters of the electrical subsystem, an accurate estimate for the armature position can be obtained. A combination of two discrete time MRAS methods is proposed in order to take advantage of their complementary properties. It is shown in practical experiments that with this approach robust and fast estimation of the electrical parameters is achieved and the position estimation can thus be solved in real world applications. Moreover, the dependencies of the electrical parameters on the magnetic hysteresis are shown.

关键词： discrete time systems electric current measurement electromagnetic actuators position measurement voltage measurement armature position estimation current measurements discrete time MRAS methods electrical subsystem electro-magnetic actuators magnetic hysteresis modified discrete time class A/B model reference approach voltage measurements Actuators Adaptation models Current measurement Estimation Position measurement Solenoids Transfer functions Electric current measurement Position measurement voltage measurement electromagnetic actuators Magnetic hysteresis position estimation Solenoids actuators discrete time systems Current measuring TRANSFER FUNCTIONS Adaptation models electrical parameter discrete-time ELECTROMAGNETIC

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Exploring fine-grained entity type constraints for distantly supervised relation extraction 25

Exploring fine-grained entity type constraints for distantly...

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25th international conference on Computational Linguistics, COLING 2014

作者： Liu, Yang Liu, Kang Xu, Liheng Zhao, Jun National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Zhongguancun East Road #95 Beijing100190 China

ISBN: (纸本)9781941643266

Distantly supervised relation extraction, which can automatically generate training data by aligning facts in the existing knowledge bases to text, has gained much attention. Previous work used conjunction features with coarse entity types consisting of only four types to train their models. Entity types are important indicators for a specific relation, for example, if the types of two entities are "PERSON" and "FILM" respectively, then there is more likely a "Director Of" relation between the two entities. However, the coarse entity types are not sufficient to capture the constraints of a relation between entities. In this paper, we propose a novel method to explore fine-grained entity type constraints, and we study a series of methods to integrate the constraints with the relation extracting model. Experimental results show that our methods achieve better precision/recall curves in sentential extraction with smoother curves in aggregated extraction which mean more stable models.

关键词： Extraction

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Data-driven self-tuning control by iterative learning control with application to optimize the control parameter of turbocharged engines 19

Data-driven self-tuning control by iterative learning contro...

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

作者： Noack, René Jeinsch, Torsten Sari, Adel Haghani Abandan Weinhold, Nick Institute of Automation University of Rostock Rostock Germany Department Powertrain Mechatronics Gasoline Engine Systems IAV GmbH Gifhorn Germany

ISBN: (纸本)9781479950812

the applications of iterative learning control (ILC) in control of modern process and mechatronic system have received more attentions in recent years. this is due the fact that ILC does not depend on physical model of the system. In the application of ILC in automotive industry, the restriction is that these methods calculate the input value and the tuning of an available controller with fixed structure is not possible. To solve this problem a method is proposed in this paper which consists of two main steps: the first step is the calculation of an input variable, based on an ILC algorithm, and the second step is the optimization of the given parameters of the feedforward controller. the performance and effectiveness of the proposed method are shown with experiments on a test vehicle with an one stage turbocharged gasoline motor with wastegate. © 2014 IEEE.

关键词： Automotive industry

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Nonlinear models of BPSK costas loop 11

Nonlinear models of BPSK costas loop

引用

11th international conference on Informatics in Control, automation and robotics, ICINCO 2014

作者： Kudryashova, E.V. Kuznetsova, O.A. Kuznetsov, N.V. Leonov, G.A. Seledzhi, S.M. Yuldashev, M.V. Yuldashev, R.V. Faculty of Mathematics and Mechanics Saint-Petersburg State University Universitetsky pr. 28 Saint-Petersburg198504 Russia FIN-40014 Finland

ISBN: (纸本)9789897580390

Rigorous nonlinear analysis of the physical model of Costas loop is very difficult task, so for analysis, simplified mathematical models and numerical simulation are widely used. In the work it is shown that the use of simplified mathematical models, and the application of non rigorous methods of analysis may lead to wrong conclusions concerning the operability of Costas loop.

关键词： Phase locked loops

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About Dynamic Decoupling of a Nonlinear MIMO Dynamic Plant 19

About Dynamic Decoupling of a Nonlinear MIMO Dynamic Plant

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

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

ISBN: (纸本)9781479950812

the paper presents a method of synthesis and implementation of the multi-controller control structure for a dynamic decoupling of the multi-input multi-output (MIMO) nonlinear dynamic plant. the proposed structure uses some known techniques in order to reduce effects of coupling of the nonlinear plants inputs and outputs. A multi-controller structure is created after linearization of the adopted nonlinear plant model at its operating points and synthesis of the linear controller that dynamically decouple the local linear plant model. Such an adaptive controller varies its parameters depending on the current plant operating point. the presented simulation

关键词： MIMO systems adaptive control linearisation techniques nonlinear control systems MIMO nonlinear dynamic plant adaptive controller adopted nonlinear plant model dynamic decoupling linear controller linearization multicontroller control structure multicontroller structure multiinput multioutput nonlinear dynamic plant nonlinear MIMO dynamic plant Closed loop systems Equations Marine vehicles Mathematical model Stability analysis Vectors linear controllers marine vehicles linearization techniques multiple input multiple output systems Closed loop systems adaptive controller Linearization Nonlinear control systems adaptive control Stability analysis Mathematical Model plant models DECOUPLING Simulation results

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Fault accommodation of the Two Rotor Aero-dynamical system using the state space neural networks based model predictive control 19

Fault accommodation of the Two Rotor Aero-dynamical system u...

引用

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

作者： Czajkowski, Andrzej Patan, Krzysztof Univ Zielona Gora Inst Control & Computat Engn PL-65246 Zielona Gora Poland

ISBN: (纸本)9781479950812

this paper deals with the application of state space neural network model to design a model predictive control for a laboratory stand of the Two Rotor Aero-dynamical system. the work describes approach based on the so-called instantaneous linearisation of the already trained nonlinear state space model of the system. With obtained linear model it is possible to derive a vector of future controls based on the minimisation of the cost function within one optimisation window. Repeating procedure in each step of simulation and applying the obtained change of the control signal allows for efficiently control of the nonlinear systems in case of faults. All data used in experiments is obtain from the real-time laboratory stand which is working in Matlab/Simulink RTW environment.

关键词： aerodynamics aerospace control fault tolerant control neurocontrollers nonlinear control systems predictive control rotors (mechanical) state-space methods Matlab-Simulink RTW environment control signal cost function minimisation fault accommodation instantaneous linearisation linear model model predictive control nonlinear state space model nonlinear systems optimisation window state space neural networks two rotor aero-dynamical system Aerospace electronics Computational modeling Mathematical model Predictive control Real-time systems Rotors Vectors Predictive control State space models avionics spacecraft control State-space methods Neurocontrollers fault-tolerant control Nonlinear control systems linear models Nonlinear systems Rotors real-time systems Aerodynamics Computational modeling state space

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Direct Adaptive Control Based on LS-SVM Inverse Model For Nonlinear Systems 19

Direct Adaptive Control Based on LS-SVM Inverse Model For No...

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

作者： Mahmoud, Tarek A. Elshenawy, Lamiaa M. Menoufia Univ Fac Elect Engn Ind Elect & Control Engn Dept Menoufia Egypt

ISBN: (纸本)9781479950812

this article proposes an inverse model control scheme for unknown nonlinear systems. the proposed scheme structures the inverse dynamics of the controlled system offline. this is done using a least squares support vector machine (LS-SVM) network that based on the Fuzzy C-Means (FCM) clustering technique. then the proposed network is updated online to determine the appropriate control action. A linear feedback compensator is added to ensure the closed loop stability. Simulation results of a continuous stirred tank reactor (CSTR) demonstrate the efficiency of the proposed approach.

关键词： adaptive control fuzzy set theory least squares approximations nonlinear control systems support vector machines CSTR FCM clustering technique LS-SVM inverse model continuous stirred tank reactor control action direct adaptive control fuzzy c-means clustering technique inverse model control scheme least square support vector machines nonlinear systems Adaptation models Chemical reactors Computational modeling Mathematical model Process control Support vector machines Trajectory adaptive control Support Vector Network Continuously stirred tank reactors Nonlinear systems control action least squares approximations Nonlinear control systems Chemical reactors Fuzzy Set theory Computational modeling Process control trajectory Mathematical Model Adaptation models Inverse method

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Finite Volume and Finite Element models for Real-Time Control and State Estimation of Two-Dimensional Heat Transfer Processes 19

Finite Volume and Finite Element Models for Real-Time Contro...

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

作者： Rauh, Andreas Senkel, Luise Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781479950812

Control design for distributed parameter systems usually makes use of either finite volume or finite element approximations of the governing partial differential equations (PDEs). the aim of using both finite volume and finite element models is to obtain a finite-dimensional state-space representation of the dynamics which can be used directly for the design of feedback or feedforward controllers as well as state observers. However, finite volume models only provide a coarse description of flow and storage variables since these are assumed to be piecewise homogeneous in the corresponding volume elements. In contrast, finite element models exploit parameterizable ansatz functions such as polynomials for each element so that smooth representations of the before-mentioned quantities become possible. However, classical finite element techniques do not provide reliable measures for the quantification of the achievable approximation quality. this drawback is removed by the method of integrodifferential relations (MIDR). Simulations and experiments for the observer-based control of a spatially two-dimensional heat transfer process with distributed control inputs are presented in this paper to visualize differences between finite element models relying on the MIDR and finite volume representations.

关键词： control system synthesis distributed parameter systems feedback feedforward finite element analysis finite volume methods heat transfer integro-differential equations observers partial differential equations state-space methods MIDR PDE control design control estimation distributed control inputs feedback controller feedforward controller finite element model finite volume model finite-dimensional state-space representation flow variables integrodifferential relations observer-based control parameterizable ansatz functions state estimation state observers storage variables two-dimensional heat transfer process Approximation methods Eigenvalues and eigenfunctions Finite element analysis Heat transfer Heating Polynomials Vectors

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