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

共 1175 条记录，以下是101-110 订阅

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Comparison of DMC and PFC Control for Heating Process

Comparison of DMC and PFC Control for Heating Process

引用

18th international conference on methods and models in automation and robotics (MMAR)

作者： Laszczyk, Piotr Klopot, Tomasz Pyka, Dominika Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781467355087;9781467355063

the paper presents comparison between two popular predictive control algorithms DMC and PFC. General description of both algorithms are presented in details for FOPDT (First Order Plus Dead Time) dynamics. Heating process with heat source and heat exchanger was used as an example control plant for testing both algorithms. Design of controllers and tuning procedures are presented. Results of control and performance tests are included as well as conclusion remarks on practical aspects of implementation of the algorithms.

关键词： robotics

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Intelligent models for Predicting the thrust Force and Perpendicular Vibrations in Microdrilling Processes 26

Intelligent Models for Predicting the Thrust Force and Perpe...

引用

26th IEEE international conference on Tools with Artificial Intelligence, ICTAI 2014

作者： Beruvides, Gerardo Castano, Fernando Haber, Rodolfo E. Quiza, Ramon Rivas, Marcelino Centre for Automation and Robotics UPM CSIC La Poveda Madrid United States Department of Mechanical Engineering University of Matanzas Matanzas Cuba

ISBN: (纸本)9781479965724

this paper presents the modeling of thrust force and perpendicular vibrations in micro drilling processes of five commonly used alloys (titanium-based, tungsten-based, aluminum-based and invar). the process was carried out by peck drilling and the influence of five parameters (drill diameter, cutting speed, feed rate, one-step feed length and total drilling length) on the behavior of the thrust force was considered. Some important mechanical and thermal properties of the work piece material were also considered in the model. Two different models were tried: the first one based on artificial neural networks and the second one based on fuzzy inference systems. Outcomes of both approaches were compared to each other and to a multiple regression model. the neural model shows not only a better goodness-of-fit but also a higher generalization capability. © 2014 IEEE.

关键词： Fuzzy systems

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Comparison of improving servo drive position accuracy methods 19

Comparison of improving servo drive position accuracy method...

引用

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

作者： Broel-Plater, Bogdan Jaroszewski, Krzysztof West Pomeranian Univ Technol Fac Elect Engn PL-70310 Szczecin Poland

ISBN: (纸本)9781479950812

the main aim of this paper is to present a new start-aid method to control servo drive in case of very small velocity and distance changes are required. Using resetting of integration in the position controller and friction compensation as well as the initial phase correction - start-aid methods are compared and results of simulations are presented. Moreover, models of the drive and friction are delivered and schemas of control systems are presented.

关键词： servodrive micro motion friction compensation current loop control correction servo drive with start-aid integration reseting

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Real-time simulation of ship movements for a robot-assisted e-fueling process: A pathway to decarbonization through sector coupling 28

Real-time simulation of ship movements for a robot-assisted ...

引用

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

作者： Senkbeil, Max Anton Raup, Dominik Wree, Christoph Finkemeyer, Bernd Univ Appl Sci Kiel Dept Comp Sci & Elect Engn Kiel Germany

ISBN: (纸本)9798350362350;9798350362343

As part of the energy transition, the UN shipping organization has decided that by 2050 the oceans should be sailed in a climate-neutral way. As most ships are still based on fossil fuels, alternative propulsion systems such as hydrogen or electrically powered units must now be investigated. In the development of new ships, autonomous steering systems are also increasingly being researched. therefore, the development of an autonomous fueling process for ships, based on sustainable e-fuels, is crucial for implementing sector coupling and thus decarbonizing the transportation industry. To execute the autonomous fueling process in a test environment, robots can be used to emulate the movement of the ship and accomplish the autonomous plugging and fueling process. When simulating ship movements multiple approaches are known, ranging from simple algebraic equations up to complex numerical simulations based on differential equations. We present an approach for a real-time-capable simulation of ship movements that can be performed by a collaborative robot kinematics. the wave simulation is based on the oceanographic spectra and the Inverse Fast Fourier Transform. With this approach, simulation times of less than ten milliseconds are demonstrated.

关键词： robotics wave simulation autonomous ship fueling e-fuels real-time simulation

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Application of the Rayleigh-Ritz method to solve a class of fractional variational problem 20

Application of the Rayleigh-Ritz method to solve a class of ...

引用

20th international conference on methods and models in automation and robotics (MMAR)

作者： Blaszczyk, Tomasz Czestochowa Tech Univ Inst Math Al Armii Krajowej 21 PL-42201 Czestochowa Poland

ISBN: (纸本)9781479987016

the aim of this paper is to investigate a direct numerical method for solving a class of a fractional variational problem (FVP). the fractional derivative in the FVP is in the Caputo sense. the Rayleigh-Ritz method is introduced for the numerical solution of the FVP. the corresponding Euler-Lagrange equation contain the left and right Caputo fractional derivatives. We approximate the solution of the FVP by using the trigonometric function. Finally, the illustrative example is presented.

关键词： Rayleigh-Ritz methods Numerical methods Circular Functions Euler-Lagrange equation Solve Lagrangian equations

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Game Against Nature Based Control of an Intelligent Wheelchair with Adaptation to Pedestrians' Behaviour 25

Game Against Nature Based Control of an Intelligent Wheelcha...

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25th international conference on methods and models in automation and robotics

作者： Skrzypczyk, Krzysztof Silesian Tech Univ Dept Automat Control & Robot Gliwice Poland

ISBN: (纸本)9781728173818;9781728173801

this paper addresses the problem of synthesis of the control law for intelligent wheelchair navigation assistant, intended to support the navigation in dynamic and populated areas. the method presented in this paper uses a deterministic, model-based prediction strategy to generate the wheelchair motion. the motion has the feature that is acceptable by the patient being transported on the wheelchair. Using the long-term pedestrians motion prediction the minimal collision risk control strategy is applied. While concerning the wheelchair navigation and its environmental interactions, an issue arises which is related to the pedestrians' empathy towards a disabled person being carried by the wheelchair. In this work we propose to use this phenomena for designing adaptive, driving strategy of the intelligent wheelchair. An intelligent motion controller proposed in this paper, generates collision free trajectory based on safe distance policy and evaluation of the environmental response. By comparing the predicted pedestrians behaviour to the real one, the system adapts control strategy coming from game against nature formalism and Hurwicz criterion based solution. the method performance was evaluated in a simulated environment. Relevant simulation scenarios are presented and discussed.

关键词： Space vehicles Adaptation models Uncertainty Navigation Wheelchairs Games Predictive models

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Accurate Visual Tracking with Attention Feature Fusion 26

Accurate Visual Tracking with Attention Feature Fusion

引用

26th international conference on automation and Computing, ICAC 2021

作者： Hu, Shuo Sun, Linna Yu, Hui University of Yanshan Institute of Electrical Engineering Qinhuangdao China University of Portsmouth School of Creative Technologies Portsmouth United Kingdom

ISBN: (纸本)9781860435577

the development of various video applications requires the tracker to have efficient classification and accurate object state estimation. Recently, the feature fusion plays a vital role in term of accuracy and robustness for a visual tracking system. the traditional feature fusion methods are generally performed via direct summation or concatenation operation, which are entirely unaware of importance of assigning appropriate weights to different levels of features for a robust model. To tackle this issue, a novel deep-leaning based tracker with attention fusion is proposed in this paper. We propose an improved network structure based on ResNet, which is more conducive for the fusion of hierarchical features. the proposed tracker adopts a nonlinear method for feature fusion in backbone network, and introduces an iterative multi-scale attention module to learn different weights of the hierarchical features. In the classification network which is learned online, the third and fourth layer features extracted from the backbone network are used to obtain the coarse location. the extracted features are assigned different weights by an attention mechanism and fed into the estimation network to perform an iterative refinement for the accurate bounding box estimation. the experiments show the proposed tracker's efficiency and effectiveness. © 2021 Chinese automation and Computing Society in the UK-CACSUK.

关键词： Iterative methods

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Asymptotic Stability of the Positive Switched 2D Linear Systems Described by the Roesser models

Asymptotic Stability of the Positive Switched 2D Linear Syst...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Cimochowski, Robert Bialystok Tech Univ Fac Elect Engn Bialystok Poland

the positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roess... 详细信息

ISBN: (纸本)9781457709142

关键词： asymptotic stability region Linear system Positive Sufficient conditions

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Interpretable deep learning approach for classification of breast cancer - a comparative analysis of multiple instance learning models 27

Interpretable deep learning approach for classification of b...

引用

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

作者： Buler, Jakub Buler, Rafal Bobowicz, Maciej Ferlin, Maria Rygusik, Marlena Kwasigroch, Arkadiusz Grochowski, Michal Gdansk Univ Technol Dept Intelligent Control Syst & Decis Support Gdansk Poland Med Univ Gdansk Dept Radiol 2 Gdansk Poland

ISBN: (纸本)9798350311075

Breast cancer is the most frequent female cancer. Its early diagnosis increases the chances of a complete cure for the patient. Suitably designed deep learning algorithms can be an excellent tool for quick screening analysis and support radiologists and oncologists in diagnosing breast cancer. the design of a deep learning-based system for automated breast cancer diagnosis is not easy due to the lack of annotated data, especially at pixel level, the large size of the images with relatively small cancer lesion sizes and class imbalance, a wide diversity of cancerous lesions, a variety of breasts, both in size and density, make the training of the neural models challenging. Moreover, clinicians are often concerned about using these black-box models because of the lack of transparency in their inference. To address these issues, we propose an approach taking advantage of Multiple Instance Learning (MIL), supported by attention mechanisms. We researched Attention-based MIL (AMIL), Gated AMIL (GAMIL), Dual Stream MIL (DSMIL) and CLustering-constrained AMIL (CLAM) models trained in a weakly-supervised manner and compared them with a common model in image classification tasks, ResNet18. the approach described in this paper is multimodal and combines two mammographic projections (CC and MLO) in the training process. the developed neural system achieved high classification efficiency. Furthermore, exploiting the generated attentional maps allowed the localisation of cancerous lesions, thus increasing the interpretability of the algorithm. thanks to this mechanism, we were also able to detect artifacts in the analyzed database, difficult to spot but drastically skewing the algorithm's performance.

关键词： breast lesion classification weakly-supervised learning decision support diagnosis multimodal learning attention maps dataset biases trustworthy AI

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Robust Regulation of Infinite-Dimensional Systems

Robust Regulation of Infinite-Dimensional Systems

引用

18th international conference on methods and models in automation and robotics (MMAR)

作者： Pohjolainen, Seppo Tampere Univ Technol Dept Math FI-33101 Tampere Finland

ISBN: (纸本)9781467355087;9781467355063

One of the classical problems in control theory is the robust output regulation problem. the output of a system is required to asymptotically follow a given reference signal, despite disturbance signals and perturbations in the system's parameters. Wonham & Francis, and Davison on the other hand, developed independently the theory and construction of finite-dimensional robust controllers. Wonham's approach was based on geometric theory while Davison introduced a combination of servo-compensator and stabilizing compensator. they discovered the famous Internal Model Principle, which states that a robust feedback controller must contain a copy of the dynamics of the exosystem generating the reference and disturbance signals.

关键词： robotics

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