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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111-120 订阅

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Modification of human circulatory system model for the purpose of physical reproduction of apex of the heart conditions

Modification of human circulatory system model for the purpo...

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

作者： Siewnicka, Alicja Janiszowski, Krzysztof Warsaw Univ Technol Inst Automat Control & Robot Warsaw Poland

ISBN: (纸本)9781467355087;9781467355063

the paper presents the proposition of a numerical model of the human circulatory system modification for the purpose of physical reproduction of conditions prevailing in the apex of the heart on a hybrid simulator. this is a physical-numerical stand which performs a generation of hydraulic conditions occurring in the selected points of circulatory system. However, so far, there was no possibility of reproduction the apex of the heart point. the paper presents the nature of the problem and suggest solution. the results of simulation tests and analysis of assumptions correctness are shown. Description of further development works is included.

关键词： robotics

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Research on effective analysis and forecasting of demand in ERP systems - case studies 25

Research on effective analysis and forecasting of demand in ...

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

作者： Grobler-Debska, Katarzyna Zak, Bartlomiej Baranowski, Jerzy Kucharska, Edyta Domagala, Adam AGH Univ Sci & Technol Dept Automat Control & Robot Krakow Poland InfoConsulting Sp Zoo Dept Prod & Serv Dev Krakow Poland InfoConsulting Sp Zoo Dept ERP Implementat Katowice Poland

ISBN: (纸本)9781728173818;9781728173801

Supply chain planning, and especially demand forecasting in companies, is a difficult task for organizations and both crucial for their profits and for market penetration. the main difficulty is that there is a lack of analysts in manufacturing companies and the lack of an adequate forecasting method. Although science provides many methods for forecasting, business cannot apply them. the main software supporting management in companies are ERP systems. ERP support decision-making at the strategic, tactical and operational level. It must also have an intuitive forecasting tool. the paper presents the results of the InfoConsulting research and development project related to the adaptation of the forecasting tool based on IFS Application so that it meets the requirements of Polish companies from mass customization and pharmacy industry and the development of a quick implementation method.

关键词： ERP systems forecasting methods supply chain planning case studies

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Optimal route determining for LQ problem with optimally stopped horizon 20

Optimal route determining for LQ problem with optimally stop...

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

作者： Kozlowski, Edward Lublin Univ Technol Dept Quantitat Methods Nadbystrzycka 38 PL-20618 Lublin Poland

ISBN: (纸本)9781479987016

the routing problem with optimal stopping of linear system is investigated in this paper. the classical linear quadratic control problem was replaced by determining the optimal trajectory (way, track, path). the general aim of optimal stopping and route determining consists of minimization of composite cost function. To illustrate the optimal track a numerical example is included.

关键词： optimum route LQ Linear system numerical example Optimal composite cost Horizon Track linear quadratic control stopping Routing Problem

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Stability Investigation of PLL-Based Grid Synchronization 25

Stability Investigation of PLL-Based Grid Synchronization

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

作者： Schoeley, Alexander Jeinsch, Torsten Univ Rostock Fac Elect Engn & Comp Sci Inst Automat Rostock Germany

ISBN: (纸本)9781728173818;9781728173801

this contribution investigates the grid synchronization procedure of grid-side inverters, i.e. the correct determination of the grid voltage frequency. A phase-locked loop (PLL) can be seen as the standard method for grid synchronization. Due to the grid impedance, the grid voltage cannot be measured directly and the measured voltage is a superposition of the grid voltage and the inverter voltage. therefore it is possible that the PLL loses synchronism with the grid and tracks the inverter voltage instead. In stiff grid scenarios this effect may be neglected, but in the case of a weak grid, a failure of the PLL to synchronize with the grid is likely. Since the grid synchronization procedure depends not only on the grid impedance but also on the filter impedance of the inverter as well as on the point of operation, a comprehensive analysis under what circumstances the loss of synchronism occurs is needed. In this paper the described scenario is studied and a necessary condition for a successful grid synchronization in the stationary case is derived. the condition depends on all parameters of the system model and is verified in numerical simulations.

关键词： Voltage measurement Impedance measurement Inverters Stability analysis Numerical models Synchronization Impedance

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Application of Iterative Learning Control methods for a Service Robot with Multi-Body Kinematics 20

Application of Iterative Learning Control Methods for a Serv...

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

作者： Bassler, Sandra Duenow, Peter Marquardt, Mathias Daasch, Andreas Univ Technol Business & Design Hsch Wismar Wismar Germany IAV GmbH Ingenieurgesell Auto & Verkehr Wismar Germany

ISBN: (纸本)9781479987016

this paper describes the investigation of linear and parametric iterative learning control (ILC) methods with an integrated computed torque control approach and the application in a mobile multi-body service robot. In addition to the controller structure, the development of the nonlinear dynamic model and the trajectory generation for the robot-configuration control are briefly explained.

关键词： Service robots many-body Iterative learning control Torque control body kinematics kinematics controller structure

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Warehouse automation solution through a goods-to-person AMR 28

Warehouse automation solution through a goods-to-person AMR

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

作者： Zotou, Dimitra Papadam, Stefanos theodoridou, Christina Kargakos, Andreas Tsiakas, Kosmas Alexiou, Dimitrios Kostavelis, Ioannis Giakoumis, Dimitrios Morenos, Nikolaos Ioannidis, Dimosthenis Tzovaras, Dimitrios Ctr Res & Technol Hellas Informat Technol Inst CERTH ITI Thessaloniki Greece Int Hellen Univ Dept Supply Chain Management Katerini Greece TETTIX N MORENOS SINGLE MEMBER PC Thessaloniki Greece

ISBN: (纸本)9798350362350;9798350362343

the use of goods-to-person robotic systems in a warehouse enhances storage density by devoting specific areas for Automated Mobile Robots (AMRs). Nevertheless, operation in narrow aisles and confined spaces presents notable challenges. this study outlines a comprehensive approach for AMRs to autonomously navigate within narrow aisles of a warehouse, ensuring safety and streamlining order completion. the goal is to independently collect and transport bins with products referred to the order, to the workstation area, where workers finalize order packing. Precise positioning of fiducial markers on the floor, initiates a fusion-based localization system that merges information from wheel odometry and fiducial detection. the markers are organized as an undirected graph to facilitate navigation purposes and Dijkstra algorithm is employed to successfully generate both safe and optimal paths. A pipeline has been established for the retrieval and positioning of bins from shelves or workstations to optimize the order picking process. the proposed method has been tested on a simulation environment with realistic constraints stem from the development of an autonomous warehouse environment.

关键词： navigation localization robotic system warehouse sensor fusion

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Adaptive Obstacle Avoidance of UAV Leader/Followers with Nonlinear Logarithm Quaternion Control 28

Adaptive Obstacle Avoidance of UAV Leader/Followers with Non...

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

作者： Al-sudany, Huda Naji Lantos, Bela Budapest Univ Technol & Econ Fac Elect Engn & Informat Dept Control Engn & Informat Technol Budapest Hungary

ISBN: (纸本)9798350362350;9798350362343

this paper addresses a significant challenge within the realm of fixed wing Unmanned Aerial Vehicles (UAVs), namely obstacle avoidance of the Leader-Follower system. the proposed approach involves formulating the Leader-Follower problem, consisting of one leader and three followers, with control strategies utilizing the logarithm exponential Quaternion method. Subsequently, the designed control law employing quaternions is applied to both the leader and the follower UAVs. Moreover, a notable contribution of this research lies in the incorporation of adaptive obstacle avoidance. the idea based on potential field as obstacle avoidance algorithm, with adaptive techniques for determining obstacle avoidance parameters. these parameters are dynamically adjusted based on the distance between the UAV and the obstacle through a non-linear adaptation function. the comprehensive implementation of these methods is rigorously evaluated by employing a predefined reference path for the leader and conducting numerous scenario-based tests. Random directions of followers were used in case of stuck in local minimum to avoid it;this was applied in case when potential filed force is less than small value. Experiments to test some scenarios of obstacle avoidance were conducted. the final results conclusively demonstrate the stability of the control law even in the presence of obstacles. the effectiveness of the adaptive obstacle avoidance approach is clearly evident from the trajectories of the UAV followers.

关键词： Unmanned Aerial Vehicles (UAVs) Leader-Follower Obstacle Avoidance Quaternion Control Adaptive methods Potential Field Algorithm

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

作者： Rongere, Francois Khalil, Wisama Kobus, Jean-Michel LMF Nantes France IRCCyN Nantes France

ISBN: (纸本)9781457709142

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： Rowing simulating dynamic models robotics kinematics inverse kinematics modeling and simulation Boats Frameworks formalism BRANCH STRUCTURES

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Knowledge-Based Digital Twin for Predicting Interactions in Human-Robot Collaboration 26

Knowledge-Based Digital Twin for Predicting Interactions in ...

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26th IEEE international conference on Emerging Technologies and Factory automation (ETFA)

作者： Tuli, Tadele Belay Kohl, Linus Chala, Sisay Adugna Manns, Martin Ansari, Fazel Univ Siegen Chair Mfg Automat & Assembly FAMS PROTECH Inst Prod Technol Siegen Germany TU Wien Res Grp Smart & Knowledge Based Maintenance Inst Management Sci Vienna Austria Fraunhofer FIT Data Sci & AI St Augustin Germany

ISBN: (纸本)9781728129891

Semantic representation of motions in a human-robot collaborative environment is essential for agile design and development of digital twins (DT) towards ensuring efficient collaboration between humans and robots in hybrid work systems, e.g., in assembly operations. Dividing activities into actions helps to further conceptualize motion models for predicting what a human intends to do in a hybrid work system. However, it is not straightforward to identify human intentions in collaborative operations for robots to understand and collaborate. this paper presents a concept for semantic representation of human actions and intention prediction using a flexible task ontology interface in the semantic data hub stored in a domain knowledge base. this semantic data hub enables the construction of a DT with corresponding reasoning and simulation algorithms. Furthermore, a knowledge-based DT concept is used to analyze and verify the presented use-case of Human-Robot Collaboration in assembly operations. the preliminary evaluation showed a promising reduction of time for assembly tasks, which identifies the potential to i) improve efficiency reflected by reducing costs and errors and ultimately ii) assist human workers in improving decision making. thus the contribution of the current work involves a marriage of machine learning, robotics, and ontology engineering into DT to improve human-robot interaction and productivity in a collaborative production environment.

关键词： human-robot interaction digital twin human action models ontology machine learning

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Whitening Transformation inspired Self-Attention for Powerline Element Detection 26

Whitening Transformation inspired Self-Attention for Powerli...

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26th international conference on Pattern Recognition / 8th international Workshop on Image Mining - theory and Applications (IMTA)

作者： Patsiouras, Emmanouil Mygdalis, Vasileios Pitas, Ioannis Aristotle Univ Thessaloniki Dept Informat Thessaloniki Greece

ISBN: (数字)9781665490627

ISBN: (纸本)9781665490627

Powerline inspection operations involve capturing and inspecting visual footage of powerline elements from elevated positions above and around the powerline and are currently performed with the help of helicopters and/or Unmanned Aerial Vehicles (UAVs). Current technological advances in the areas of robotics and machine learning are towards enabling fully autonomous operations. To this end, one of the tasks to be addressed is the robust, precise and fast powerline object detection problem. Recently introduced Transformer-based object detection methods demonstrate time and accuracy advances with respect to previous works. In this work, we present an enhanced Transformer-based architecture that further improves the state-of-the-art by incorporating a content-specific object query generator and by substituting the original attention operation with a whitening-inspired transformation at certain stages of the architecture. We evaluate our method in a recently captured powerline detection dataset and we show that our novel contributions offer a significant boost regarding detection accuracy.

关键词： deep learning object detection attention models powerline inspection

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