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32 篇 会议

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检索条件"任意字段=26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022"

共 32 条记录，以下是1-10 订阅

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2022 26th international conference on methods and models in automation and robotics, mmar 2022 - Proceedings

2022 26th International Conference on Methods and Models in ...

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26th international conference on methods and models in automation and robotics, mmar 2022

ISBN: (纸本)9781665468572

the proceedings contain 81 papers. the topics discussed include: standard and fractional descriptor linear systems with state and its derivatives feedbacks;model-based trajectory tracking in sliding mode control of continuous-time systems;constrained controllability of second order systems;modeling of temperature of 2D surface using fractional order transfer functions;mapping an unknown environment with explored area-detection;integration of data analytics in operation of enterprise resource planning systems;robust control of a duocopter by discrete-time sliding mode techniques and an extended Kalman filter for disturbance compensation;iterative learning control for vacuum heat treatment process;machine learning for self-calibration parameters of data-driven models: case study of an integrated maintenance digital platform;development of a decision model for solving the task scheduling of multiple sequential batch reactors;control of unmanned aerial vehicles with non-minimum phase dynamics using parallel differential compensation;a framework for model sailing simulation in gazebo;automatic parameter tuning via reinforcement learning for crowd simulation with social distancing;and modeling of thermal processes in the microcontroller system using fractional order transfer function.

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A Remark on Cascaded Energy Based Trajectory Tracking Control of a Quadrotor 26

A Remark on Cascaded Energy Based Trajectory Tracking Contro...

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26th international conference on methods and models in automation and robotics

作者： Horn, Joachim Helmut Schmidt Univ Univ Fed Armed Forces Hamburg Fac Elect Engn Hamburg Germany

Considering the cascaded energy based trajectory tracking control of a quadrotor, the first and second time derivative of the orientation of the desired thrust force are derived, that are required for the trajectory t... 详细信息

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

关键词： Closed-form solutions automation Trajectory tracking Attitude control Force Robots

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Machine learning methods for anomaly detection in computer networks 26

Machine learning methods for anomaly detection in computer n...

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26th international conference on methods and models in automation and robotics

作者： Gajda, Jakub Kwiecien, Joanna Chmiel, Wojciech AGH Univ Sci & Technol Dept Automat Control & Robot Al Mickiewicza 30 PL-30059 Krakow Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

With a large increase in the amount of data that are transferred via publicly available computer networks, the global demand for new protection and prevention methods could be observed in recent studies of many research groups. the paper deals with anomaly detection, focusing on cybersecurity applications, as there are only few papers that address this topic. Four methods, such as DBSCAN, One-class SVM, LSTM and Isolation forest were used to solve this problem. During the experimental part, the implementation and experiments were performed to examine the performance on common dataset to assess the ability and further possible applications.

关键词： anomaly detection machine learning cybersecurity

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Model parameters variation in constrained discrete time sliding mode control 26

Model parameters variation in constrained discrete time slid...

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26th international conference on methods and models in automation and robotics

作者： Jaskula, Marek Lesniewski, Piotr Lodz Univ Technol Inst Automat Control 18 Stefanowskiego St PL-90537 Lodz Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

In this paper we take into account the variation of the model parameters, during the regulation process, in the discrete time sliding mode control approach. Moreover, the system is affected by unknown, but bounded external disturbances that do not need to satisfy the matching conditions. the controller guarantees the fastest, monotonic and finite time convergence of the representative point to the switching hyperplane, simultaneously ensuring constraints satisfaction on both state and input signal. Sufficient condition that assures all mentioned properties is formally proved and the simulation example demonstrates advantages of the theoretical considerations.

关键词： Sufficient conditions Uncertainty automation Process control Switches Regulation Sliding mode control

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Forecasting models for Polish coal mining accidents 26

Forecasting models for Polish coal mining accidents

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26th international conference on methods and models in automation and robotics

作者： Kraszewska, Marta Kashpruk, Nataliia Baranowski, Jerzy Kapusta, Mariusz AGH Univ Sci & Technol Dept Automat Control & Robot Krakow Poland AGH Univ Sci & Technol Fac Civil Engn & Resource Management Krakow Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

In paper, forecasting models using exponential smoothing for Polish coal mining safety accidents are presented. Prior to this, data is analyzed and approach for building forecasting models in Tableau is described in details. three forecasting models are revealed, respectively for all accidents in coal mines, fatal accidents and employment. Received results are promising and confidence intervals cover the predictions well. Improved forecast accuracy with presented models might provide coal mine enterprises more precise data, supporting safety management in those organizations.

关键词： safety accidents fatal accidents forecasting exponential smoothing time series coal mining

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Two Points Classical Identification methods on the Example of a three-Tank Interacting and Non-Interacting System 26

Two Points Classical Identification Methods on the Example o...

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26th international conference on methods and models in automation and robotics

作者： Czemplik, Anna Jagodzinski, Jacek Wroclaw Univ Sci & Technol Dept Control Syst & Mechatron Wroclaw Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

this paper mainly focuses on various two-point methods of identifying the First Order Plus Time Delay (FOPTD) model, and their impact on control quality. the following criteria were used to match the identification method: ISE between the response of the real system and the model and the normalized delay time. the work used two different tuning techniques: QDR and pidtune. A three-tank interacting and non-interacting system was used as a model for the tests. All tests were simulated in Matlab environment, ISE and settling time were used to assess the quality of control.

关键词： First Order process Plus Time Delay (FOPTD) two-point methods identification interacting and non-interacting system

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Frequency weighted model reduction in approximation of nabla difference-based discrete-time fractional-order systems 26

Frequency weighted model reduction in approximation of nabla...

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26th international conference on methods and models in automation and robotics

作者： Stanislawski, Rafal Rydel, Marek Bialic, Grzegorz Opole Univ Technol Dept Elect Control & Comp Engn Ul Proszkowska 76 PL-45758 Opole Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

the article presents new results in terms of Frequency Weighted (FW) model reduction method in application to approximate LTI discrete-time non-commensurate fractional-order systems based on the Grunwald-Letnikov nabla fractional-order difference. the method applies the Fourier-based decomposition of the system and the FW model order reduction method. the main advantage of the proposed modeling approach is the specific representation of the fractional-order system enabling a simple, analytical formula for the determination of the Gramians. this significantly improves the computational efficiency of the proposed FW reduction method. the simulation experiments confirm the low computational effort of the introduced processing and its high modeling accuracy

关键词： Linear systems automation Finite impulse response filters Computational modeling Systems modeling Controllability Reduced order systems

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Indoor Navigation System of Mobile Robot with Trajectory Optimization 26

Indoor Navigation System of Mobile Robot with Trajectory Opt...

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26th international conference on methods and models in automation and robotics

作者： Liu, Qishuai Jiang, Yufan Li, Ying Zuxia Robot Inc Guangzhou Peoples R China Nanjing Univ Informat Sci & Technol Sch Phys & Optoelect Engn Nanjing Peoples R China

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

this paper proposes a navigation system for mobile robot working in indoor environment, which includes mapping and trajectory generation for the motion tracking problem of the real mobile robot. the mapping process comprises a Gaussian model to improve the accuracy of the environment representation. With this new mapping method, the mobile robot knows the obstacle in the environment around robot itself. For the trajectory generation process, a multimodality method is used to explore all feasible paths to reach the target point by estimating the density of distribution of the objective function. Finally, the experiments show the effectiveness of this navigation framework.

关键词： automation Tracking Indoor navigation Process control Robot sensing systems Linear programming Indoor environment

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Benchmarking Nonlinear Model Predictive Control with Input Parameterizations 26

Benchmarking Nonlinear Model Predictive Control with Input P...

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26th international conference on methods and models in automation and robotics

作者： Fusco, Franco Allibert, Guillaume Kermorgant, Olivier Martinet, Philippe Univ Cote Azur I3S CNRS Sophia Antipolis France Cent Nantes Lab Sci Numer Nantes LS2N Nantes France Univ Cote Azur INRIA Sophia Sophia Antipolis France

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

Model Predictive Control (MPC) while being a very effective control technique can become computationally demanding when a large prediction horizon is selected. To make the problem more tractable, one technique that has been proposed in the literature makes use of control input parameterizations to decrease the numerical complexity of nonlinear MPC problems without necessarily affecting the performances significantly. In this paper, we review the use of parameterizations and propose a simple Sequential Quadratic Programming algorithm for nonlinear MPC. We benchmark the performances of the solver in simulation and compare them with state-of-the-art solvers. Results show that parameterizations allow to attain good performances with (significantly) lower computation times.

关键词： Software libraries Benchmark testing Prediction algorithms Hardware Numerical models Reliability Quadratic programming

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Control of a Soft Actuator using a Long Short-Term Memory Neural Network 26

Control of a Soft Actuator using a Long Short-Term Memory Ne...

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26th international conference on methods and models in automation and robotics

作者： Yanev, Victor Giannaccini, Maria Elena Aphale, Sumeet S. Univ Aberdeen Sch Engn Artificial Intelligence Robot & Mechatron Syst Gr Aberdeen Scotland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

Soft robots offer new opportunities because of their compliant physical structure and their wide range of applications. Currently the development of such robots is hampered by their low controllability. One of the main constituents of soft robots are soft actuators. the aim of this project is to improve the control of a non-linear system, the soft actuator, and its interaction with the environment, by training a long short-term memory (LSTM) neural network to accurately predict the actuator's position in space, its curvature, and the force applied by its end-effector on an external object. the increased performance of the trained network resulted in an error as low as 0.01 +/- 0.005 N in estimating the force applied by the end effector on the external object. the results show significantly superior performance (on the order of 10 times) in the positional and curvature predictions of the LSTM network when using one marker per air-chamber.

关键词： LSTM soft robotics control soft pneumatic actuator neural networks

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