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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11-20 订阅

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Bouncing Robots in Rectilinear Polygons 26

Bouncing Robots in Rectilinear Polygons

引用

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

作者： Cagirici, Onur Bahoo, Yeganeh LaValle, Steven M. Ryerson Univ Dept Comp Sci Toronto ON Canada Univ Oulu Ctr Ubiquitous Comp Oulu Finland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

In this paper, we describe a bouncing strategy (smart strategy) for a mobile robot that uses one bit of memory for feedback, and guarantees that the robot will traverse all the rooms (and doorways) of a 2D environment. the environment is modeled as a rectilinear polygon (also called orthogonal polygon), and the rooms and the doorways are defined by the decomposition algorithm we describe. Such a decomposition helps the robot to not go back to a room after leaving. We also define the notion of "virtual doors" that have the ability to let the robot through, or make the robot bounce from them. We compared three different types of bouncing rules: smart, random, billiard. the smart strategy grantees to reach to target. Although the random strategy on average behaves the same as the smart strategy, there are rectilinear polygons in which the robot cannot reach the target in the expected time steps. On the other hand, the billiard bouncing strategy can cause the robot to become trapped.

关键词： automation Mobile robots Robots

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Frequency-based Identification Routine for the Inertial Parameters of an Industrial Robot 26

Frequency-based Identification Routine for the Inertial Para...

引用

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

作者： Gruendel, Lukas Alipaz-Dicke, Antonio Minh Trinh Storms, Simon Brecher, Christian Bitterolf, David Rhein Westfal TH Aachen Lab Machine Tools Aachen Germany Siemens AG Business Unit Mot Control Erlangen Germany

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

the frequency response of an industrial robot's (IR) speed-controlled system (SCS) provides valuable information about the inertial parameters of the respective manipulator. In addition, the frequency domain offers decisive advantages regarding parameter identification as opposed to the time domain. this paper presents an identification routine for the inertial parameters of a 6-degree-of-freedom (DOF) IR based on the frequency response measurements of the SCS and a genetic algorithm (GA) conditioning approach. these measurements are less susceptible to noise and offer the possibility to incorporate friction effects using phase information. In addition, the presented identification model is independent of the joint speed and acceleration, allowing for the optimization of the observation matrix exclusively through the pose. the GA is used to define an optimal set of poses while considering possible collisions at the same time.

关键词： identification inertial parameters industrial robots conditioning

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Machine Learning for Self-Calibration Parameters of Data-Driven models: Case Study of an Integrated Maintenance Digital Platform 26

Machine Learning for Self-Calibration Parameters of Data-Dri...

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

作者： Szpytko, Janusz Salgado Duarte, Yorlandys Millares Barthelemy, Lazar Ramon AGH Univ Sci & Technol Fac Mech Engn & Robot Krakow Poland CUJAE Univ Tecnol La Habana Jose Antonio Echeverr Fac Elect Engn Havana Cuba

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

A well-established problem always in the process of methodological improvement is the coordination of generator maintenance scheduling in Power Systems. Usually, the sources of changes and improvements are the wide range of conditions and singularities of Power Systems, such as structure, needs, technologies, resources, information, etc. the risk-oriented approach is one of the most accepted criteria to address this well-defined problem. However, there are hidden challenges of data-calibration-modeling and technology-integration when applying this approach. One of the most controversial is the calibration of model parameters and variables in the evaluated scenario, as they depend on historical data. In this paper, to address this controversial hidden challenge, we propose to use machine learning for on-line calibration by introducing smart layers based on comprehensive human diagrams that filter and analyze historical data collected through monitoring systems and make all variables and parameters of the risk model ready for use. In particular, we focus the attention on one of the model components, the load modeling. this proposed organic connection ensures a feasible and practical solution to be used in a real system because it addresses a potential challenge in technology integration.

关键词： Data-driven model Monte Carlo Simulation Machine Learning Power Systems

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Generalized Gaussian Distribution with Augmented Pure Quaternion Random Variable 27

Generalized Gaussian Distribution with Augmented Pure Quater...

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27th international conference on methods and models in automation and robotics (mmar)

作者： Krupinski, Robert West Pomeranian Univ Technol Dept Signal Proc & Multimedia Engn Ul 26 Kwietnia 10 PL-71126 Szczecin Poland

ISBN: (纸本)9798350311075

Quaternion random signals can be analyzed using augmented second-order statistics. If these signals are treated as the augmented quaternion valued random variables, then they can be modeled with the quaternion generalized Gaussian probability density function. In the case of pure quaternions, this probability density function becomes a limiting case. therefore, for this case, this article introduces the dedicated generalized Gaussian distribution of an augmented quaternion random variable for pure quaternions.

关键词： quaternion generalized Gaussian distribution augmented quaternion statistics quaternion random variables

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Simulated Annealing-based Energy Efficient Route Planning for Urban Service Robots 26

Simulated Annealing-based Energy Efficient Route Planning fo...

引用

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

作者： Braeutigam, Jacob Gupta, Abhishek Goehlich, Dietmar Tech Univ Berlin Fac Elect Engn & Comp Sci Berlin Germany Tech Univ Berlin Fac Methods Prod Dev & Mechatron Berlin Germany

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

Product development and operational methods of autonomous robot MURMEL (Mobiler Urbaner Roboter zur MullEimer Leerung) for smart waste management focuses on all three aspects of sustainability. the robot autonomously empties the dustbins on the streets of Berlin, and concentrates on social sustainability by reducing the impact on the health of the workers. As one of the approaches towards efficient ecological and economical sustainability, MURMEL has its own route planning method delivered from an operation management model. For the operation management, the dustbins are allocated waypoints to the robot. In this paper, a cost function considering energy consumption is optimized in order to improve the robot's global route planning. By conducting numerous experiments with varying algorithm parameter values, the specific weightage of route permutation operators and the initial temperature for a simulated annealing method with nearest neighbour approach was narrowed down to a well-performing set. For an implementation in an actual existing park in Berlin for operation scenario, our simulation results show an average overall reduction of 11% energy consumption as compared to results from a nearest neighbour heuristic.

关键词： Urban service robots Robot-operation management model Robot route planning Simulated annealing Autonomous sustainable waste management model

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Sim2Real Deep Reinforcement Learning of Compliance-based Robotic Assembly Operations 26

Sim2Real Deep Reinforcement Learning of Compliance-based Rob...

引用

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

作者： Petrovic, Oliver Schaeper, Lukas Roggendorf, Simon Storms, Simon Brecher, Christian Rhein Westfal TH Aachen Dept Automat & Control Chair Machine Tools Lab Machine Tools & Prod Engn WZL D-52074 Aachen Germany

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

Reinforcement learning (RL) enables robots to learn goal-oriented behavior. In production processes with high variances, such as joining operations in end-of-line assembly, this is particularly interesting to save significant programming effort. Due to a large amount of required training data, simulative training is becoming increasingly important. In this paper, we present an approach to learn a contact-rich pegin-hole assembly task utilizing deep reinforcement learning (DRL) and a compliant robot controller. the DRL-Agent learns directly in the Cartesian space (task space) and not in the joint space of the robot, to increase the robustness and efficiency of the algorithms. To further increase the robustness of the policy and to shorten training times, geometric limitations are imposed by introducing an admissible workspace using a trajectory generator. Furthermore, these limitations result in nearly identical behavior in the simulation and on the real robot, allowing the DRL training process to be purely simulative. the learned policy is experimentally investigated both in the simulation environment and on a real robot, to evaluate its transferability from simulation to reality (sim2real).

关键词： Training Robotic assembly Training data Reinforcement learning Aerospace electronics Robustness Behavioral sciences

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Simulation and Optimization of Industrial Disassembly Paths using Position Based Dynamics 26

Simulation and Optimization of Industrial Disassembly Paths ...

引用

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

作者： Hegewald, Robert Wolpert, Nicola Schoemer, Elmar Mercedes Benz AG Digital Factory & Tool Management Sindelfingen Germany Univ Appl Sci Dept Geomat Comp Sci & Math Stuttgart Germany Johannes Gutenberg Univ Mainz Dept Phys Math & Comp Sci Mainz Germany

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

the finding of plausible assembly paths of industrial components is a relevant, actual, but not yet fully resolved research topic. For a fast and robust computation of such paths, rigid body sampling-based motion planning is used. To tackle the problem of unavoidable collisions due to overpressure of components or due to flexible fastening elements, the tolerance of minor collisions is necessary. Tolerating minor collisions always means the manipulation of the configuration space or the direct manipulation of objects in the workspace. these actions enable the computation of assembly paths on industrial data, but they affect (explicitly or implicitly) the shape of the objects and thus the physical plausibility of the computed paths. this makes it important to further analyze the assembly paths. In this paper, we propose a postprocessing method for industrial assembly paths that is based on Position Based Dynamics (PBD) and is able to simulate and optimize given assembly paths. We use the PBD framework to simulate and measure the object deformation along the assembly path. For the optimization of the path, we compare the deformed object to the original rigid object and we apply small corrections to the path that decrease the overall deformation. We show the effectiveness of our approach on an academic dataset that provides industrial disassembly scenarios.

关键词： automation Shape Manuals Product design Planning Joining processes Optimization

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Numerical methods for solving the linearized model of a hinged-free reduced plate arising in flow structure interactions 28

Numerical methods for solving the linearized model of a hing...

引用

28th international conference on methods and models in automation and robotics (mmar)

作者： Dhara, Raj Narayan Rutkowski, Krzysztof Szulc, Katarzyna Polish Acad Sci Syst Res Inst Warsaw Poland Palacky Univ Olomouc Fac Sci KMA Olomouc Czech Republic

ISBN: (纸本)9798350362350;9798350362343

the problem of partially hinged partially free rectangular plate that aims to represent a suspension bridge subject to some external forces (for example the wind) is considered in order to model and simulate the unstable end behavior. Such a problem can be modeled by a plate evolution equation, which is nonlinear with a nonlocal stretching effect in the spanwise direction. the external forces are periodic in time and cause the vortex shedding on the structure (on the surface of the plate) and thus it may cause damage to the material. Numerical study of the behavior of steady state solutions for different values of the force velocity are provided with two finite element methods of different type.

关键词： Flow-structure interaction/plate equation numerical method finite element method

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Artificial Intelligence models for prediction of passengers' flow in rail transport 28

Artificial Intelligence models for prediction of passengers'...

引用

28th international conference on methods and models in automation and robotics (mmar)

作者： Szymkowski, Maciej Wozniak, Wlodzimierz Jura, Bartosz Bialystok Tech Univ Fac Comp Sci Bialystok Poland Poznan Inst Technol Artificial Intelligence Dev Div Comp Sci Res Grp Lukasiewicz Res Network Poznan Poland

ISBN: (纸本)9798350362350;9798350362343

Nowadays, one of the most popular and ecological forms of passengers' transport is rail. In the last couple of years (especially after COVID-19 pandemic) many more passengers selected this type of transportation rather than cars or even airplanes. It is connected with much higher travel comfort as well as the possibility of effective work on the train. However, due to the higher popularity, one extremely important problem was observed. It is connected with the passengers' flow that can lead even to traffic. Sometimes it is hard to select an appropriate type of train to effectively serve all the interested people. In this work, we would like to propose not only the survey under the latest AI-based models for prediction of passengers' pileups but also provide information about possible ideas that will be tested on the real data, collected from one of the trains stations in Poland.

关键词： Artificial Intelligence railways passengers' flow Machine Learning train stations

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Control and optimum design for networks with nonlinear state equations 28

Control and optimum design for networks with nonlinear state...

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28th international conference on methods and models in automation and robotics (mmar)

作者： Osmolovskii, Nikolai P. Qian, Meizhi Sokolowski, Jan Polish Acad Sci Syst Res Inst Warsaw Poland East China Normal Univ Shanghai Peoples R China Univ Lorraine Inst Elie Cartan Lorraine CNRS Nancy France

ISBN: (纸本)9798350362350;9798350362343

Optimal control problem for semilinear hyperbolic equations is considered on 3 -star metric graph. the distributed controls on the edges are considered. the tracking type cost for steady state equation is considered for the control problem. Using the Turnpike Property for dynamic control problem, the control problem is solved for the steady state equations. the necessary and sufficient optimality conditions are established for static control problems. then the optimum design problem is considered for the topological perturbation of the graph. the small cycle of size epsilon -> 0 replaces the central node of 3-star graph. the distributed controls are introduced on the edges of the cycle. the topological derivative of the shape functional indicates the possibility of nucleation of the small cycle.

关键词： Distributed parameter system optimal control shape optimization network modeling optimality system nonlinear models

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