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

共 1194 条记录，以下是121-130 订阅

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Containment problem for a multi-agent system with heterogeneous delays

Containment problem for a multi-agent system with heterogene...

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

作者： Branislav Rehák Institute of Information Theory and Automation The Czech Academy of Sciences Praha 8 Czech Republic

the consensus problem for a multi-agent system with linear agents is considered. the agents may exhibit a time delay, this delay is not required to be equal for each agent. It is shown that different values of the delay may prevent the follower agents to settle in the precise convex hull of the leader agents, however, they converge to a larger set that can be determined using the robust control methods. the results are illustrated by examples.

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Accuracy analysis of the fractional order, positive, state space model of heat transfer process 25

Accuracy analysis of the fractional order, positive, state s...

引用

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

作者： Oprzedkiewicz, Krzysztof Dziedzic, Klaudia Mitkowski, Wojciech AGH Univ Sci & Technol Dept Automat Control & Robot Al A Mickiewicza 30 PL-30059 Krakow Poland

ISBN: (纸本)9781728173818;9781728173801

In the paper the accuracy estimation for fractional, positive state space model of heat transfer process is presented. the new criterion of the external positivity for this model is presented. Next the parameters of the model are estimated via numerical minimization of the Mean Square Error (MSE) and FIT cost functions. Finally the externally positive models are compared to non-positive. Results of simulations show that the positive model is more accurate in the sense of considered cost functions than non positive.

关键词： Analytical models Robot vision systems Estimation Mean square error methods Cost function Minimization Numerical models

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Design of weighted PID controllers for control of the Stewart-Gough platform 25

Design of weighted PID controllers for control of the Stewar...

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

作者： Kolasiewicz, Justyna Perzylo, Anna Piotrowski, Robert Gdansk Univ Technol Fac Elect & Control Engn Narutowicza 11-12 PL-80223 Gdansk Poland

ISBN: (纸本)9781728173818;9781728173801

Stewart-Gough platform (SGP) is a popular parallel type manipulator that involves a 6 degrees of freedom (DOF) motion. In this paper, the process of mathematical modelling of SGP is presented. Two selected control algorithms that use PID controllers and weighted PID controllers are designed. Both control systems using these algorithms are implemented in MATLAB environment as well as on the actual SGP. Parameters of the controllers are optimized with the use of different integral performance criteria. Tests of the designed control systems on the computer model and on the SGP are presented.

关键词： automation Computational modeling Control systems Manipulators Trajectory Mathematical model Matlab

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PID Controller Tuning for Capsubot with Standard and Fractional-Order PSO Algorithm

PID Controller Tuning for Capsubot with Standard and Fractio...

引用

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

作者： Artur Babiarz Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

the presented paper contains comparison two algorithms for searching optimal value of PID controllers: particle swarm optimization (PSO) and fractional-order particle swarm optimization (F-PSO) for the control system of capsubot robot. A cost function which is used with PSO and F-PSO is presented. At the end, the obtained simulation results are shown and discussed.

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AR/VR Digital Twin for Simulation and Data Collection of Robotic Environments 25

AR/VR Digital Twin for Simulation and Data Collection of Rob...

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25th IEEE international conference on Autonomous Robot Systems and Competitions, ICARSC 2025

作者： Martins, João G. Nutonen, Karle Costa, Paulo Kuts, Vladimir Otto, Tauno Sousa, Armando Petry, Marcelo R. CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto 4200-465 Portugal University of Porto (FEUP) Faculty of Engineering Porto 4200-465 Portugal ViruTech - Virumaa innovation center of digitalization and green technologies Taltech Virumaa College Kohtla-Jarve 30322 Estonia Taltech Department of Mechanical and Indusrial Tallinn 19086 Estonia

ISBN: (纸本)9798331538606

Digital twins enable real-time modeling, simulation, and monitoring of complex systems, driving advancements in automation, robotics, and industrial applications. this study presents a large-scale digital twin-testing facility for evaluating mobile robots and pilot robotic systems in a research laboratory environment. the platform integrates high-fidelity physical and environmental models, providing a controlled yet dynamic setting for analyzing robotic behavior. A key feature of the system is its comprehensive data collection framework, capturing critical parameters such as position, orientation, and velocity, which can be leveraged for machine learning, performance optimization, and decision-making. the facility also supports the simulation of discrete operational systems, using predictive modeling to bridge informational gaps when real-time data updates are unavailable. the digital twin was validated through a matrix manufacturing system simulation, with an Augmented Reality (AR) interface on the HoloLens 2 to overlay digital information onto mobile platform controllers, enhancing situational awareness. the main contributions include a digital twin framework for deploying data-driven robotic systems and three key AR/VR integration optimization methods. Demonstrated in a laboratory setting, the system is a versatile tool for research and industrial applications, fostering insights into robotic automation and digital twin scalability while reducing costs and risks associated with real-world testing. © 2025 IEEE.

关键词： Augmented Reality Digital Twin Industrial Metaverse robotics Virtual Reality

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

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

作者： Eduardo Bayro-Corrochano Daniel Alvarado-Mejia Institute of Automatic Control and Robotics Poznan University of Technology Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. the modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Algebra Heuristic algorithms Computational modeling Optimal control Motors Real-time systems Mathematical models

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Development of a Dynamic Model of an Underwater Manipulator in Identification Form 9th

Development of a Dynamic Model of an Underwater Manipulator ...

引用

9th international conference on Interactive Collaborative robotics, ICR 2024

作者： Filaretov, Vladimir Zuev, Aleksandr Timoshenko, Aleksandr Institute of Automation and Control Processes FEB RAS 5 Radio St. Vladivostok690041 Russia M.D. Ageev Institute of Marine Technology Problems FEB RAS 5a Sukhanova St Vladivostok690091 Russia Far Eastern Federal University 12/2 Mordovtseva St. Vladivostok690091 Russia

ISBN: (纸本)9783031713590

the paper proposes a new method for constructing dynamic models of underwater manipulators installed on board autonomous underwater vehicles. these models are designed to identify unknown parameters of the interaction of an underwater manipulator with a viscous medium during its movement. A feature of these models is that unknown parameters, including coefficients of added masses and damping coefficients, are included in the equations of dynamics of the manipulator linearly relative to known kinematic parameters. these coefficients can be determined using classical identification methods such as the least squares method or methods based on the application of the linear Kalman filter. the identified parameters can then be used in adaptive underwater manipulator control systems to implement automatic execution of underwater technological operations. To do this, the identification procedure must be carried out in close proximity to the intended working area of the underwater vehicle with a manipulator, where the desired coefficients can be considered constant. the correctness of the proposed models and the possibility of identifying these coefficients were verified during mathematical simulation of the movement of an underwater vehicle with a manipulator mounted on it at various initial parameters of a viscous medium. © the Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Kalman filters

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A Comparative Study of methods to Forecast Domestic Energy Consumption Aggregated with Photovoltaic and Heat Pumps System 26

A Comparative Study of Methods to Forecast Domestic Energy C...

引用

26th international conference on automation and Computing, ICAC 2021

作者： Rafi, Arqam Lee, Timothy Wu, Wenyan Birmingham City University School of Engineering and the Built Environment Birmingham United Kingdom

ISBN: (纸本)9781860435577

Rise in the usage of photovoltaic (PV) system at the residential sector brought challenges for the distribution network operator (DNO) and with a high demand of the Heat Pump (HP) system to fulfil the target of low carbon emission potentially brought far greater trials to predict energy at the domestic network. Prediction is very crucial for electrical distribution companies since their business largely relays on how to make the most out of their energy generation without making it go to waste. this study compares different methods (from machine learning to deep learning) to forecast domestic energy consumption aggregated with HP and PV system. the prediction tool proudly uses large residential energy measured data at a minute frequency for a year combines synthetically with the real measured data of HP and PV system. the forecasting methods is different for various data type, this study allows to compare which one would be more efficient in which type of data set and which one to predicts the finest. © 2021 Chinese automation and Computing Society in the UK-CACSUK.

关键词： Heat pump systems

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Generalized Proportional Integral Observer Approach for Trajectory Tracking Control of Autonomous Underwater Vehicles 25

Generalized Proportional Integral Observer Approach for Traj...

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

作者： Guzman-Hernandez, Sandra Chamorro, Harold R. Maestre, Jose M. Camacho, Eduardo F. ETSI Univ Sevilla Dept Ingn Sistemas & Automat Seville Spain

ISBN: (纸本)9781728173818;9781728173801

Marine sciences require the use of Autonomous Underwater Vehicles (AUV) for their missions in order to perform unmanned duties like deep-sea explorations. AUV require to reject turbulence disturbances while regulating their trajectory. In this paper, a position controller applying the Generalized Proportional Integral (GPI) observer to an Autonomous Underwater Vehicle (AUV) in order to maintain the desired trajectory and reject the environment perturbations is given. the mathematical model and the performance of the GPI shows a precise and fast tracking control through simulations.

关键词： Autonomous Underwater Vehicles Generalized Proportional Integral Control Position Control robotics

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the polynomial approach to accessibility of nonlinear fractional order difference system

The polynomial approach to accessibility of nonlinear fracti...

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

作者： Ewa Pawluszewicz Faculty of Mechanical Engineering Białystok University of Technology Wiejska 45 C Białystok Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the focus of the paper are accessibility (in a finite number of steps) conditions for nonlinear control systems with the Grünwald-Letnikov fractional order h-difference operator. these conditions are presented in terms of the greatest left common divisors of shifted polynomials associated with the given system. the obtained results extend the polynomial approach to accessibility problem of nonlinear discrete-time control systems on fractional case.

关键词： automation Nonlinear control systems Polynomials Nonlinear systems Robots

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