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

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Modeling and exact feed forward control of air and burned gas fraction within SI engine cylinders

Modeling and exact feed forward control of air and burned ga...

引用

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

作者： Robert Beckmann Wolfgang Drewelow Institute of Automation University of Rostock

A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tracks given reference values of these masses. this is done by utilizing the exact linearization approach [1]. the final feed forward control law is verified in combination with a slightly modified design model as well as the original model.

关键词： Atmospheric modeling Manifolds Feeds Engines Gases Differential equations Camshafts

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Continuation method approach to trajectory planning in robotic systems

Continuation method approach to trajectory planning in robot...

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

作者： Joanna Karpińska Krzysztof Tchoń Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Control and Robotics Wroclaw University of Technology Wroclaw Poland

this paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1-parameter family of control functions. this family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. the approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.

关键词： Trajectory Equations Planning Robots Kinematics Heuristic algorithms

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Dynamic modeling and simulation of rowing with a robotics formalism

Dynamic modeling and simulation of rowing with a robotics fo...

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

作者： François Rongère Wisama Khalil Jean-Michel Kobus Laboratoire de Mécanique des Fluides (LMF) Nantes France Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) Nantes France

this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.

关键词： Boats Joints Mathematical model Computational modeling Acceleration Dynamics Heuristic algorithms

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the reversibility condition for elementary bilinear time-series model based on output sequence alone

The reversibility condition for elementary bilinear time-ser...

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

作者： Łukasz Maliński Institute of Automatics Silesian University of Technology Gliwice Poland

Reversibility of elementary bilinear time-series model is very important issue in parametric model identification based on minimisation of mean square value of prediction error. the reason is that estimation of parameters of irreversible time-series model is irreversible it is difficult. there is already very well known mathematical reversibility condition expressed as a function of the model's coefficient, which has to be identified. the paper contains a discussion of simple condition, which can provide information about model's reversibility before its identification.

关键词： Indexes Analytical models Predictive models Time series analysis Mathematical model Stability analysis Computational modeling

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Generating Chen-Fliess-Sussmann equation via Campbell-Baker-Hausdorff-Dynkin formula

Generating Chen-Fliess-Sussmann equation via Campbell-Baker-...

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

作者： Ignacy Duleba Jacek Jagodziński Institute of Computer Engng. Control and Robotics Wroclaw Univ. of Technology Wroclaw Poland

Generating and solving the Chen-Fliess-Sussmann (CFS) equation for a given representation of motion is a crucial step in deriving controls to steer nilpotent nonholonomic systems using the Lafferriere-Sussmann method. the equation can be quite complicated, and its derivation differs substantially from one representation to another. therefore instead to derive CFS for a given hard-to-compute representation we propose to derive it for any easy-to-compute representation and then to transform it to the given representation. For this purpose the Campbell-Baker-Hausdorff-Dynkin formula is applied. this approach is illustrated on generating and solving CFS for forward, backward and canonical representations.

关键词： Equations Mathematical model Algebra Robots Planning Generators Control systems

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On-line data registration in OUTDOOR environment

On-line data registration in OUTDOOR environment

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

作者： Janusz Bedkowski Andrzej Masłowski Institute of Automation and Robotics Warsaw University of Technology Warsaw Poland

In the paper an algorithm of 3D data registration based on CUDA implementation is shown. the research is related to the problem of collecting 3D data with laser measurement system mounted on rotated head, to be used in mobile robot applications. Assumed performance of data registration algorithm is achieved, therefore it can used as On-line. the ICP (Iterative Closest Point) approach is chosen as registration method. Computation is based on massively parallel architecture of NVIDIA CUDA. the presented concept of 3D data matching is based on parallel computation used for fast nearest neighbor search. Nearest neighbor search procedure is using 3D space decomposition into cubic buckets, therefore the time of matching is deterministic.

关键词： three dimensional displays Iterative closest point algorithm Graphics processing unit Mobile robots Lasers Mobile communication

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Air-fuel ratio control with respect to oxygen storage dynamics

Air-fuel ratio control with respect to oxygen storage dynami...

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

作者： Michael Tomforde Wolfgang Drewelow Matthias Schultalbers Institute of Automation University of Rostock Rostock Germany Gasoline Engine Systems IAV GmbH Gifuorn Germany

Reducing exhaust emissions is one of the biggest challenges facing the automotive engineering community today. In order to comply with future more stringent emission standards, the air-fuel ratio control must be improved. Commonly used control concepts do not account for the oxygen storage ability of the three-way catalyst, even though the storage state mainly influences post-catalyst exhaust emissions. In this paper a new air-fuel ratio control strategy based on the oxygen storage state is presented. Since the oxygen storage state can not be measured directly, a major component of the controller is a newly developed catalyst model that accounts for the spatial distribution of oxygen within the catalyst. the proposed control concept has been successfully tested on a vehicle equipped with a turbocharged, direct injection gasoline engine.

关键词： Atmospheric modeling Computational modeling Fuels Predictive models Combustion Engines Vehicles

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From 3D point clouds to climbing stairs: A comparison of plane segmentation approaches for humanoids

From 3D point clouds to climbing stairs: A comparison of pla...

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2011 11th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS 2011

作者： Oßwald, Stefan Gutmann, Jens-Steffen Hornung, Armin Bennewitz, Maren Humanoid Robots Lab. University of Freiburg Germany Evolution Robotics Inc. Pasadena CA United States

ISBN: (纸本)9781612848679

In this paper, we consider the problem of building 3D models of complex staircases based on laser range data acquired with a humanoid. these models have to be sufficiently accurate to enable the robot to reliably climb up the staircase. We evaluate two state-of-the-art approaches to plane segmentation for humanoid navigation given 3D range data about the environment. the first approach initially extracts line segments from neighboring 2D scan lines, which are successively combined if they lie on the same plane. the second approach estimates the main directions in the environment by randomly sampling points and applying a clustering technique afterwards to find planes orthogonal to the main directions. We propose extensions for this basic approach to increase the robustness in complex environments which may contain a large number of different planes and clutter. In practical experiments, we thoroughly evaluate all methods using data acquired with a laser-equipped Nao robot in a multi-level environment. As the experimental results show, the reconstructed 3D models can be used to autonomously climb up complex staircases. © 2011 IEEE.

关键词： Stairs

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An optimal sequence of tasks for autonomous learning systems

An optimal sequence of tasks for autonomous learning systems

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

作者： Radoslaw Rudek Agnieszka Rudek Piotr Skworcow Wroclaw University of Economics Wroclaw Poland De Montfort University Water Software Systems Leicester UK

In this paper, we consider an optimal sequence of tasks for systems that improve their performances due to autonomous learning (learning-by-doing). In particular, we focus on a problem of determining sequence of performed tasks for the autonomous learning systems to minimize the total weighted completion times of tasks. Fundamental for the presented approach is that schedule (a sequence of tasks) allows to efficiently utilize learning abilities of the system to optimize its objective, but it does not affect the system itself. To solve the problem, we prove an eliminating property that is used to construct a branch and bound algorithm and present some fast heuristic and metaheuristic methods. An extensive analysis of the efficiency of the proposed algorithms is also provided.

关键词： Algorithm design and analysis Approximation algorithms Upper bound Schedules Heuristic algorithms Approximation methods Learning systems

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A posteriori error estimation for nonlinear parabolic boundary control

A posteriori error estimation for nonlinear parabolic bounda...

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

作者： Eileen Kammann Fredi Tröltzsch Technische Universitt Berlin Institut für Mathematik Berlin Germany

We consider the following problem of error estimation for the optimal control of nonlinear parabolic partial differential equations: Let an arbitrary control function be given. How far is it from the next locally optimal control? Under natural assumptions including a second order sufficient optimality condition for the (unknown) locally optimal control, we are able to estimate the distance between the two controls. To do this, we need some information on the lowest eigenvalue of the reduced Hessian. We apply this technique to a model reduced optimal control problem obtained by proper orthogonal decomposition (POD). the distance between a (suboptimal) local solution of the reduced problem to a local solution of the original problem is estimated.

关键词： Optimal control Mathematical model Equations Optimization Moment methods Coercive force Estimation

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