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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131-140 订阅

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Systems of Digital Twins and Physical Systems: Interoperability, Decentralization, and Mobility in Robotic Applications 28

Systems of Digital Twins and Physical Systems: Interoperabil...

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

作者： Girke, Felix Harmann, Rene Kaigom, Eric Guiffo Frankfurt Univ Appl Sci Dept Comp Sci & Engn Frankfurt Germany

ISBN: (纸本)9798350362350;9798350362343

Whereas digital twins are receiving an increasing attention, their implementation has been predominated by monolithic and static solutions. A resulting issue is the lack of a modular integration and seamless interplay of digital twins when it comes to adapt and support varying industrial and societal applications. Another drawback arises from limited services that digital twins can provide as the physical system is extended with new components and/or separated from constituting parts, giving rise to a metamorphosic system of systems. Furthermore, the respective mobility of physical systems and citizens assumed to interact with them via their digital surrogates is hardly transformed into industrial and societal opportunities, such as a pervasive and itinerant human-robot-interaction (pi-HRC). Within the scope of our Metarobotics framework that propels pi-HRC, we address these challenges by leveraging on the OPCUA standard to develop portable data connectors that move with and give access to the data source, which is the associated physical system. Our Raspberry-Pi driven connector encapsulates a digital twin of the corresponding system and its offered services to capture the loose coupling and decentralization of systems of systems even remotely and in motion. Each data connector semantically interoperates with any OPC-UA capable system and device via wireless communication. this opens up new opportunities for different monitoring (and control) modalities of large scale systems whose physical or/and virtual constituting subsystems are distributed across distinct geographical locations in the industrial and societal realm. We apply our framework to a mobile multi-arm robotic system with edge-computing capabilities and demonstrate the performance of its monitoring functionality from the cabin of a moving train in city traffics in practice. We provide experimental measurements results and highlight the usefulness and effectiveness of our approach.

关键词： robotics Digital Twins System of Systems Industry 4.0 Industry 5.0 Society 5.0 Human-Robot-Interaction

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Object separation using active methods and multi-view representations

Object separation using active methods and multi-view repres...

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IEEE international conference on robotics and automation

作者： Welke, Kai Asfour, Tamim Dillmann, Ruediger Univ Karlsruhe TH IAIM Inst Comp Sci & Engn CSE D-76128 Karlsruhe Germany

ISBN: (纸本)9781424416462

Daily life objects reveal natural similarities, which cannot be resolved with the perception of a single view. In this paper, we present an approach for object separation using active methods and multi-view object representations. By actively rotating an object, the coherence between controlled path, inner models, and percept is observed and used to reject implausible object hypotheses. Using the resulting object hypotheses, pose and object correspondence are determined. the proposed approach allows for the separation of different object candidates, which have similar views to the current percept. With the benefit of active methods the perceptual task can be solved using even coarse features, which facilitates a compact multi-view object representation. Furthermore, the approach is independent from a specific visual feature descriptor and thus suitable for multi-modal object recognition.

关键词： Object recognition

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Non-Gaussian models in Particle Filters 20

Non-Gaussian models in Particle Filters

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

作者： Kozierski, Piotr Sadalla, Talar Horla, Dariusz Poznan Univ Tech Fac Elect Engn Inst Control & Informat Engn Piotrowo St 3a PL-60965 Poznan Poland Poznan Univ Tech Fac Comp Chair Control & Syst Engn Div Signal Proc & Elect Syst PL-60965 Poznan Poland

ISBN: (纸本)9781479987016

the impact of the usage another than the Gaussian probability density functions in transition and measurement models has been verified in the article. Cases, in which wrong models have been assumed, also have been taken into account. Simulations have been performed for two different objects. Based on the obtained results, it can be said that in some cases incorrect modelling can allow the best estimation quality.

关键词： particle filter state estimation measurement model transition model

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Path Parameters Consensus based Formation Control of multiple Autonomous Underwater Vehicles in the presence of ocean currents

Path Parameters Consensus based Formation Control of multipl...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Wang, Yintao Yan, Weisheng Northwestern Polytech Univ Coll Marine Xian 710072 Shaan Xi Peoples R China

ISBN: (纸本)9781467321242

this paper addresses the problem of steering a group of Autonomous Underwater Vehicles along specified paths while keeping a desired spatial formation in the presence of ocean currents. We show how Lyapunov and backstepping based path following control for a single vehicle and coordinated consensus tracking for multiple vehicles are brought together to yield a distributed control strategy, by which the problems existing in current designs that a common reference velocity signal being available to all cooperating vehicles are explicitly extended. the path following for each vehicle amounts to reducing an appropriately defined geometric error to zero asymptotically. the desired coordinated behavior is achieved by means of consensus on the velocity of path parameter of a virtual dynamic leader. the stability of the overall closed-loop system is analyzed mathematically. To demonstrate the controller proposed, simulations results are presented and discussed.

关键词： Vehicles Oceans Underwater vehicles Vehicle dynamics Symmetric matrices Topology Lyapunov methods

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Simulation platform for wireless data communication using a new signal reconstruction method 24

Simulation platform for wireless data communication using a ...

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24th international conference on methods and models in automation and robotics (MMAR)

作者： Majewski, Pawel Hunek, Wojciech P. Opole Univ Technol Inst Control Engn Opole Poland

ISBN: (纸本)9781728109336

A platform for simulation of MIMO wireless data transmission processes is presented in this paper. the innovative tool implements authors' solution based on the polynomial approach related to the nonsquare matrices. through an application of some nonunique inverses of nonsquare propagation matrices it is possible to increase an efficiency of signal recovery, which is confirmed by the theoretical background and a number of simulation instances. thus, the useful environment can compete with other platforms employing different techniques. this statement is discussed in this paper.

关键词： Wireless communication Signal reconstruction MIMO communication Task analysis Data communication Data models Transmitters

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A soft sensor based on multiple neural networks combined with two information fusion methods

A soft sensor based on multiple neural networks combined wit...

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9th international conference on Control, automation, robotics and Vision

作者： Ye, Tao Zhu, Xuefeng Li, Xiangyang Li, Yan Zeng, Jun S China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Peoples R China

ISBN: (纸本)9781424403417

Soft sensors are especially required in lots of advanced process control applications. the ANN based soft sensor are widely studied recently. But the ANN is an uncertain method in nature. In view of the complexity of the industrial processes, the robustness is an important criterion to evaluate a model. the generalization capability is another factor to affect the applicability of a model. Aiming at improving the robustness and generalization capability of a system, a two-level architecture MNN model is proposed for soft sensor modeling. In our model, multiple networks are combined with the Bayesian and Fuzzy C-means (FCM) clustering combination methods at different levels. Two experiments are conducted to validate the effectiveness of our model. the results reveal that the proposed model exceeds other three models indeed.

关键词： soft sensing multiple neural networks fuzzy C-means clustering Bayesian method pulp kappa number

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Practical analog realization of multiple order switching for recursive fractional variable order derivative 20

Practical analog realization of multiple order switching for...

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

作者： Sierociuk, Dominik Malesza, Wiktor Macias, Michal Warsaw Univ Technol Inst Control & Ind Elect Koszykowa 75 PL-00662 Warsaw Poland

ISBN: (纸本)9781479987016

In the paper, a novel practical analog modeling of multiple-switching fractional order systems based on recursive fractional variable order integrals, is introduced. Presented circuit, based on domino ladder approximation of half order impedance, allows to multiple-switching between orders 0.5 and 1. Moreover, numerical scheme for solving variable order differential equations is introduced. Experimental results of modeling are also presented and compared with numerical simulations.

关键词： variable order Analog models Instruction repertory Recursive multiples LADDER APPROXIMATION

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Idea of switching algebraic-logical models in flow-shop scheduling problem with defects

Idea of switching algebraic-logical models in flow-shop sche...

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

作者： Grobler-Debska, Katarzyna Kucharska, Edyta Dudek-Dyduch, Ewa AGH Univ Sci & Technol Dept Automat & Biomed Engn Krakow Poland

ISBN: (纸本)9781467355087;9781467355063

the paper presents a new approach, based on an algebraic-logical meta-models (ALMM), to solving NP - hard manufacturing problems. there is considered the flow-shop manufacturing problem with time limits, the quality control, removing of manufacturing defects on an additional repair machine and re-treatment of task in technological route. Proposed solution consist in switching of original algebraic-logical model to model with modified parameters when quality defects appear. In particular algebraic-logical model of flow-shop manufacturing problem with time limits and modified model with additional repair machine are proposed. Furthermore, the switching function from original model into modified model is given.

关键词： time-limit quality defect international Data Encryption Algorithm original model Retreatment Flow models switching machine meta-models

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Takagi-Sugeno-Kang Type Fuzzy models with Fuzzy Equations in the Consequence Part

Takagi-Sugeno-Kang Type Fuzzy Models with Fuzzy Equations in...

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15th international conference on methods and models in automation and robotics (MMAR)

作者： Walaszek-Babiszewska, Anna Opole Univ Technol Dept Control & Comp Engn Opole Poland

ISBN: (纸本)9781424478279

this paper is focused on the extending Takagi-Sugeno-Kang (TSK) types fuzzy models. the propositions of the models with a fuzzy set-valued function in the consequence part as well as the models with the fuzzy time series in the consequence part are presented. Also chosen theoretical aspects of the creating knowledge bases and the fuzzy reasoning procedure are presented.

关键词： Fuzzy Knowledge Bases Time series Proposition fuzzy reasoning Fuzzy Set theory

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Dynamics Effects on Natural Frequencies in modal analysis of PKMs 20

Dynamics Effects on Natural Frequencies in modal analysis of...

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

作者： Prades, Julien Jourdan, Franck Company, Olivier Krut, Sebastien Pierrot, Francois Univ Montpellier Dept Robot LIRMM Montpellier France CNRS F-75700 Paris France Univ Montpellier LMGC Montpellier France

ISBN: (纸本)9781479987016

Technology improvement makes PKM faster and faster. From this speed it appears uncontrolled vibrations which disrupt PKM functioning. the urge to produce modelling enabling to predict dynamic perturbations is more and more important. To this day, linearized dynamic models are incomplete, ignoring account of speed and acceleration over trajectory. In this paper, a complete dynamic linearization will be presented, and will allow to reveal high speed influence among PKM eigenvalues.

关键词： pyruvate kinase, muscle modal analysis Natural frequencies technology improvement dynamic models trajectory acceleration Modeling speed

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