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Stratified model identification

Stratified model identification

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Ogonowski, Zbigniew Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781467321242

Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Propagation through Time is applied as the identification method. Vertical hot water tank serves as the illustration of application to single dimensional case. methods of generalization on three dimensional case are suggested.

关键词： model identification ILLUSTRATIONS Generalization model parameters base on back propagation water-tanks Identification methods hot water

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Calibration and test of a multi-touch tactile object

Calibration and test of a multi-touch tactile object

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25th IEEE/RSJ international conference on robotics and Intelligent Systems, IROS 2012

作者： Serio, Alessandro Gabiccini, Marco Sarakoglou, Ioannis Bicchi, Antonio Università di Pisa Pisa Italy Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy

In this work we present different calibration methods for a custom made 36 axis F/T (Force/Torque) sensor used for a multi-touch tactile object. this object will be employed to perform human grasp experiments on contact forces and points. A comparison of the performance of the system in reconstructing contact points locations is reported.

关键词： Calibration

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Path Parameters Consensus based Formation Control of multiple Autonomous Underwater Vehicles in the presence of ocean currents

Path Parameters Consensus based Formation Control of multipl...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Wang, Yintao Yan, Weisheng Northwestern Polytech Univ Coll Marine Xian 710072 Shaan Xi Peoples R China

ISBN: (纸本)9781467321242

this paper addresses the problem of steering a group of Autonomous Underwater Vehicles along specified paths while keeping a desired spatial formation in the presence of ocean currents. We show how Lyapunov and backstepping based path following control for a single vehicle and coordinated consensus tracking for multiple vehicles are brought together to yield a distributed control strategy, by which the problems existing in current designs that a common reference velocity signal being available to all cooperating vehicles are explicitly extended. the path following for each vehicle amounts to reducing an appropriately defined geometric error to zero asymptotically. the desired coordinated behavior is achieved by means of consensus on the velocity of path parameter of a virtual dynamic leader. the stability of the overall closed-loop system is analyzed mathematically. To demonstrate the controller proposed, simulations results are presented and discussed.

关键词： Vehicles Oceans Underwater vehicles Vehicle dynamics Symmetric matrices Topology Lyapunov methods

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Controllability conditions of rotating beams and a construction of an optimal control

Controllability conditions of rotating beams and a construct...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Sklyar, Grigory Wozniak, Jaroslaw Univ Szczecin Inst Math PL-70451 Szczecin Poland

We present our works concerning controllability problem for Timoshenko beams rotating in a horizontal plane. Characterization of the set of null-reachability is given, the optimal control problem is stated and a numer... 详细信息

ISBN: (纸本)9781467321242

关键词： Optimal control controllability Numerical methods rotating beam TIMOSHENKO BEAM BEAM Beams and girders horizontal plane

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Search-theoretic and ocean models for localizing drifting objects

Search-theoretic and ocean models for localizing drifting ob...

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25th IEEE/RSJ international conference on robotics and Intelligent Systems, IROS 2012

作者： Yau, Joses Chung, Timothy H. Department of Oceanography Naval Postgraduate School Monterey CA United States Department of Systems Engineering Naval Postgraduate School Monterey CA United States

ISBN: (纸本)9781467317375

this paper investigates the combined use of ocean models, such as idealized surface current flows, and search models, including expanding area and discrete myopic search methods, to improve the probability of detecting a near-surface, drifting object over time. Enhanced search effectiveness is facilitated by the use of robotic search agents, such as a tactical unmanned aerial vehicle (UAV), leveraging simulation methods to inform the search process. the presented work investigates the impact of using naïve vs. optimized search patterns on localizing a drifting object, including a surrogate ocean model using idealized flow with Weibull-distributed perturbations. Numerical studies and extensive analysis using different permutations of model parameters (including the relative speed of the drifting object, time late in the searcher's arrival to the search area, sensor sweep width, and duration of the search mission) identify the significant factors affecting the overall probability of detection. Such insights enable further explorations using empirical datasets for specific oceanographic regions of interest. © 2012 IEEE.

关键词： Antennas

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the virtual reality system used for upper extremity rehabilitation

The virtual reality system used for upper extremity rehabili...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Gmerek, Artur Tech Univ Lodz Inst Automat Control PL-90924 Lodz Poland

ISBN: (纸本)9781467321242

this paper presents a complete Virtual Reality (VR) system used for upper extremity rehabilitation. the system consists of sensors, the computer application and stereoscopic display glasses. the system is designed to cooperate with special mechanical orthosis used for arm rehabilitation. Patients can see their movements in the 3D virtual space during exercises. the system has a key role in development of rehabilitation robot, because numerous researches show that exercises in VR decreases the time of rehabilitation.

关键词： Rehabilitation Lake Restoration Upper Extremity Variable reluctance STEREOSCOPIC DISPLAYS Rehabilitation robotics Exercise virtual reality Virtual Space APPLIED COMPUTER SCIENCE

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A flowshop scheduling problem with machine deterioration and maintenance activities

A flowshop scheduling problem with machine deterioration and...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Rudek, Agnieszka Rudek, Radoslaw Wroclaw Univ Technol Dept Syst & Comp Networks PL-50370 Wroclaw Poland Wroclaw Univ Econom Inst Business Informat Wroclaw Poland

ISBN: (纸本)9781467321242

In this paper, we analyse the makespan minimization flowshop scheduling problem, where the processing times of jobs depend on the number of performed jobs and maintenance activities. Since the considered problem with two machines seems to be NP-hard, thus, we propose a branch and bound method and some heuristic and metaheuristic algorithms to solve it.

关键词： maintenance activities processing time Branch and bound methods jobs machine Nondeterministic polynomial-time hard Heuristics

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Repetitive models in Gas Transportation Networks

Repetitive Models in Gas Transportation Networks

引用

17th international conference on methods and models in automation and robotics (MMAR)

作者： Dymkou, Siarhei Dymkov, Michael Natl Univ Singapore Temasek Labs Aeronaut Sci Div Control Sci Grp T Lab Bldg 5AEngn Dr 1 Singapore 117411 Singapore Belarusian State Univ Dept Math Minsk 220070 BELARUS

ISBN: (纸本)9781467321242

the problem of distributing gas through a network of pipelines is formulated as an linearized nonstationary differential repetitive model subject to some flow-pressure constraints of material balances and pressure bounds. the linear model is constructed in the neighborhood of the known basic operating regime of gas delivery. the considered problem is to minimize the total supply cost of a gas transmission company with the minimal guaranteed pressure at the nodes. Some aspects of a comprehensive optimization theory based on a 'constructive approach' are discussed.

关键词： gas transport Optimization theory Materials balance linear models Repetitive pipeline Pressure Neighborhood

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Sufficiency conditions for pole assignment in column-regularizable implicit linear systems

Sufficiency conditions for pole assignment in column-regular...

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2012 17th international conference on methods and models in automation and robotics, MMAR 2012

作者： Korotka, Tetiana Loiseau, Jean Jacques Zagalak, Petr Kucera, Vladimir Institute of Information Theory and Automation P.O. Box 18 182 08 Praha Czech Republic LUNAM Université IRCCyN UMR CNRS 6597 BP 92101 44321 Nantes Cedex 03 France Czech Technical University in Prague Technická 2 16627 Prague 6 Czech Republic

ISBN: (纸本)9781467321211

the paper is devoted to the problem of pole assignment by state feedback in non-square implicit linear systems. In particular, the proof of theorem 4.6 in [5] (here theorem 1) is completed by a proof of sufficiency conditions, providing a complete solution to the problem of pole assignment in the case of column regularizable systems. © 2012 IEEE.

关键词： Linear systems

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Design and Analysis of a Network Control Structure with a Switched PD Compensator

Design and Analysis of a Network Control Structure with a Sw...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Stefan, Octavian Codrean, Alexandru Dragomir, Toma-Leonida Politehn Univ Timisoara Dept Automat & Appl Informat Timisoara Romania

ISBN: (纸本)9781467321242

the current paper proposes a new network control structure based on a nonlinear network transmission model recently proposed by the authors, a switched PD time delay compensator and a state feedback controller. the design methodology described for the control structure consists in a coupling between analytical tuning methods and numerical optimization methods. the stability is assessed in the framework of switched linear systems through a switched quadratic Lyapunov function. Finally, the results are validated on a numerical example.

关键词： Control Architecture network control State feedback Linear system Optimization methods numerical example Palladium Physically Handicapped Proportional derivative Professional Development Nonlinear networks Frameworks state feedback controller

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