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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41-50 订阅

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Machine Learning for Self-Calibration Parameters of Data-Driven models: Case Study of an Integrated Maintenance Digital Platform 26

Machine Learning for Self-Calibration Parameters of Data-Dri...

引用

26th international conference on methods and models in automation and robotics

作者： Szpytko, Janusz Salgado Duarte, Yorlandys Millares Barthelemy, Lazar Ramon AGH Univ Sci & Technol Fac Mech Engn & Robot Krakow Poland CUJAE Univ Tecnol La Habana Jose Antonio Echeverr Fac Elect Engn Havana Cuba

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

A well-established problem always in the process of methodological improvement is the coordination of generator maintenance scheduling in Power Systems. Usually, the sources of changes and improvements are the wide range of conditions and singularities of Power Systems, such as structure, needs, technologies, resources, information, etc. the risk-oriented approach is one of the most accepted criteria to address this well-defined problem. However, there are hidden challenges of data-calibration-modeling and technology-integration when applying this approach. One of the most controversial is the calibration of model parameters and variables in the evaluated scenario, as they depend on historical data. In this paper, to address this controversial hidden challenge, we propose to use machine learning for on-line calibration by introducing smart layers based on comprehensive human diagrams that filter and analyze historical data collected through monitoring systems and make all variables and parameters of the risk model ready for use. In particular, we focus the attention on one of the model components, the load modeling. this proposed organic connection ensures a feasible and practical solution to be used in a real system because it addresses a potential challenge in technology integration.

关键词： Data-driven model Monte Carlo Simulation Machine Learning Power Systems

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Sim2Real Deep Reinforcement Learning of Compliance-based Robotic Assembly Operations 26

Sim2Real Deep Reinforcement Learning of Compliance-based Rob...

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26th international conference on methods and models in automation and robotics

作者： Petrovic, Oliver Schaeper, Lukas Roggendorf, Simon Storms, Simon Brecher, Christian Rhein Westfal TH Aachen Dept Automat & Control Chair Machine Tools Lab Machine Tools & Prod Engn WZL D-52074 Aachen Germany

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

Reinforcement learning (RL) enables robots to learn goal-oriented behavior. In production processes with high variances, such as joining operations in end-of-line assembly, this is particularly interesting to save significant programming effort. Due to a large amount of required training data, simulative training is becoming increasingly important. In this paper, we present an approach to learn a contact-rich pegin-hole assembly task utilizing deep reinforcement learning (DRL) and a compliant robot controller. the DRL-Agent learns directly in the Cartesian space (task space) and not in the joint space of the robot, to increase the robustness and efficiency of the algorithms. To further increase the robustness of the policy and to shorten training times, geometric limitations are imposed by introducing an admissible workspace using a trajectory generator. Furthermore, these limitations result in nearly identical behavior in the simulation and on the real robot, allowing the DRL training process to be purely simulative. the learned policy is experimentally investigated both in the simulation environment and on a real robot, to evaluate its transferability from simulation to reality (sim2real).

关键词： Training Robotic assembly Training data Reinforcement learning Aerospace electronics Robustness Behavioral sciences

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Simulation and Optimization of Industrial Disassembly Paths using Position Based Dynamics 26

Simulation and Optimization of Industrial Disassembly Paths ...

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26th international conference on methods and models in automation and robotics

作者： Hegewald, Robert Wolpert, Nicola Schoemer, Elmar Mercedes Benz AG Digital Factory & Tool Management Sindelfingen Germany Univ Appl Sci Dept Geomat Comp Sci & Math Stuttgart Germany Johannes Gutenberg Univ Mainz Dept Phys Math & Comp Sci Mainz Germany

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

the finding of plausible assembly paths of industrial components is a relevant, actual, but not yet fully resolved research topic. For a fast and robust computation of such paths, rigid body sampling-based motion planning is used. To tackle the problem of unavoidable collisions due to overpressure of components or due to flexible fastening elements, the tolerance of minor collisions is necessary. Tolerating minor collisions always means the manipulation of the configuration space or the direct manipulation of objects in the workspace. these actions enable the computation of assembly paths on industrial data, but they affect (explicitly or implicitly) the shape of the objects and thus the physical plausibility of the computed paths. this makes it important to further analyze the assembly paths. In this paper, we propose a postprocessing method for industrial assembly paths that is based on Position Based Dynamics (PBD) and is able to simulate and optimize given assembly paths. We use the PBD framework to simulate and measure the object deformation along the assembly path. For the optimization of the path, we compare the deformed object to the original rigid object and we apply small corrections to the path that decrease the overall deformation. We show the effectiveness of our approach on an academic dataset that provides industrial disassembly scenarios.

关键词： automation Shape Manuals Product design Planning Joining processes Optimization

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra 28

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

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

作者： Bayro-Corrochano, Eduardo Alvarado-Mejia, Daniel Poznan Univ Tech Inst Automat Control & Robot Poznan Poland CINVESTAV Dept Elect Engn & Comp Sci Guadalajara Jalisco Mexico

ISBN: (纸本)9798350362350;9798350362343

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： Motor algebra Conformal Geometric Algebra Newton-Euler Dynamics Modelling robotics

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Controlling and programming a robot using virtual reality 28

Controlling and programming a robot using virtual reality

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

作者： Gorzelak, Maksymilian Grzejszczak, Tomasz Silesian Tech Univ Dept Automat Control & Robot Gliwice Poland

ISBN: (纸本)9798350362350;9798350362343

the paper presents software that allows a user to control and program a robot using virtual reality. the user will be equipped with a Virtual Reality kit and will be able to use it to manipulate the robot arm as if they were physically interacting with it. One key feature of the software will be the ability to set the robot in a specific position, allowing the user to create and execute complex movement sequences for the robot to follow. the use of VR technology in this context offers a unique and immersive way for users to interact with and program the robot, making it an exciting and innovative approach to robotic control.

关键词： Virtual Reality robotics Human-Robot Interface Teleoperation

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A constraint based control architecture for Urban Autonomous Vehicles 28

A constraint based control architecture for Urban Autonomous...

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

作者： Bernabei, Filippo Secchi, Cristian Univ Modena & Reggio Emilia Dept Sci & Methods Engn Reggio Emilia Italy

ISBN: (纸本)9798350362350;9798350362343

this study explores the application of Control Barrier Function (CBFs) for a dynamic constrained control for autonomous vehicle addressing road rules such as lane-keeping, lane changing, overtaking, and right-of-way. In particular, it shows the suitability of CBFs in encoding specific driving styles and strategies. this architecture doesn't need Vehicle-to-Vehicle (V2V) communication, relying only on vehicle and infrastructure sensors. Results from experiments in a simulated urban scenarios highlight the feasibility and efficiency of the proposed approach.

关键词： Autonomous vehicles

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Multi-camera multi-robot visual localization system 28

Multi-camera multi-robot visual localization system

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

作者： Magiera, Artur Morys Dlugosz, Marek Skruch, Pawel AGH Univ Cracow Krakow Poland

ISBN: (纸本)9798350362350;9798350362343

the article presents a general framework for detecting the boundaries of, stitching, adjusting perspective and finally localizing robot positions and azimuth angles for any rectangular map designated with AprilTag markers in the corners and possibly in the interior area. At the same time, the focus of the researchers was to minimize the configuration required for the algorithm to operate - here limited to just the orientation and data of markers, dimensions of the map, markers and robots. the location of cameras can be freely changed without the need to reconfigure anything or restart the program. this work has been tested on and turned out to be especially helpful for working with the DuckieTown project.

关键词： computer vision robotics localization stitching homography perspective

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Towards experimental insight into magnetic flux distribution within the air gap of permanent magnet synchronous drive 28

Towards experimental insight into magnetic flux distribution...

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

作者： Milanowski, Hubert Pilat, Adam Krzysztof AGH Univ Krakow Fac Elect Engn Automat Comp Sci & Biomed Engn Dept Automat Control & Robot Krakow Poland

ISBN: (纸本)9798350362350;9798350362343

this report explores the experimental identification of magnetic flux density within the motor air gap, focusing on the development of a robot-based approach to automate the scanning procedure. Emphasis is placed on analyzing the distribution of magnetic flux within the motor's spatial air gap, as well as the amplification of harmonics resulting from changes in air gap orientation. Drawing upon experimental findings, a model is proposed to illustrate the three-dimensional distribution of magnetic flux within the gap.

关键词： magnetic flux density motor airgap robot arm experiment automation

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Estimation of Faults for Some Class of Fractional-Order Systems 28

Estimation of Faults for Some Class of Fractional-Order Syst...

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

作者： Domek, Stefan Witczak, Marcin Pazera, Marcin West Pomeranian Univ Technol Szczecin Dept Automat Control & Robot Ul Sikorskiego 37 PL-70313 Szczecin Poland Univ Zielona Gora Inst Control & Computat Engn Ul Szafrana 2 PL-65516 Zielona Gora Poland

ISBN: (纸本)9798350362350;9798350362343

this paper presents the design of a robust estimator for simultaneous actuator and sensor faults aimed at Fault Diagnosis (FD) in a specific class of fractional-order digital systems. the proposed H-infinity estimator design methodology ensures a specified disturbance attenuation level and convergence, making it suitable for both fault diagnosis and fault-tolerant control applications.

关键词： difference of non-integer order fractional-order systems models with finite length memory fault estimation

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Architecture of a Model in the Middle approach for virtual commissioning and integration of production entities 26

Architecture of a Model in the Middle approach for virtual c...

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

作者： Mueller, Ralph Klaus Grossmann, Daniel Schmied, Sebastian Mathias, Selvine G. TH Ingolstadt Res Inst Almot Bavaria D-85049 Ingolstadt Germany

ISBN: (纸本)9781728129891

Virtual commissioning is evolving to become an indispensable part included in modern planning processes. New challenges related to recent technologies like the usage of information models in Industry 4.0 implementations make it necessary to test the behaviour in production-related communication beforehand. Different data aquisition methods have to be evaluated concerning their benefits, risks and the environment it has to be implemented in. Information model management and aggregation can help to fulfill these tasks. this concept paper focuses on architectural challenges related to the implementation of information models in brown- as well as green-field approaches and the overall management system behind.

关键词： Virtual Commissioning Information Model Information Model Management Cyber Physical System Digital Twin Machine Communication Aggregation

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