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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51-60 订阅

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the Sensitivity Analysis of the Fractional Uncertain Order State Space Model of the One-Dimensional Heat Transfer Process 28

The Sensitivity Analysis of the Fractional Uncertain Order S...

引用

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

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

ISBN: (纸本)9798350362350;9798350362343

the paper deals with sensitivity analysis of a new, fractional interval order model of the heat transfer in one dimensional body. In the model the derivative with respect to time is described by the fractional Caputo operator (C operator). the order of the C operator is not exactly known and it is described by an interval. Such a model has not been proposed yet and it is expected to properly describe e.g. disturbed measurements. For that model new senstivitity functions are proposed and used for numerical analysis. Simulations are supported by experimental data.

关键词： State space methods

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Computationally Effective Approximation of Integral Curves Lengths for Target Assignment of Mobile Robots Moving in Task-Space with Obstacle 28

Computationally Effective Approximation of Integral Curves L...

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

作者： Joon, Arpit Kowalczyk, Wojciech Poznan Univ Tech Inst Automat Control & Robot Piotrowo 3A PL-60965 Poznan Poland

ISBN: (纸本)9798350362350;9798350362343

the paper proposes a new approach to distributed target assignment for a group of robots operating in a space with a circular obstacle. the simple approach of comparing functions of Cartesian distances, which works well in free space, does not give good results if a static obstacle exists. the authors aimed to find an approach that is as computationally effective as possible and yet produces a sufficiently good result. the proposed solution makes use of city block distance expressed in a specific reference frame that depends on the mutual positioning of the robot, the target, and the obstacle. In addition to presenting the idea, the results of numerical simulations were given to confirm the effectiveness of the proposed algorithm.

关键词： mobile robots target assignment team of robots cooperative robotics

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A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems 28

A Triangular Normal Form for x-Flat Control-Affine Two-Input...

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

作者： Gstoettner, Conrad Kolar, Bernd Schoeberl, Markus JKU Linz Inst Automat Control & Control Syst Technol Linz Austria

ISBN: (纸本)9798350362350;9798350362343

this paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cases. We derive conditions under which a system with given x-flat output can be transformed into the proposed triangular form. Based on the triangular form we motivate a simple algorithm for identifying candidates for flat outputs.

关键词： flatness normal forms nonlinear control systems geometric methods

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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...

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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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Application of Tiny-ML methods for face recognition in social robotics using OhBot robots 26

Application of Tiny-ML methods for face recognition in socia...

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

作者： Probierz, Eryka Bartosiak, Natalia Wojnar, Martyna Skowronski, Kamil Galuszka, Adam Grzejszczak, Tomasz Kgdziora, Olaf Silesian Tech Univ Dept Automat Control & Robot Gliwice Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

the aim of this paper is to show the possible application of Tiny-ML family neural networks to social robots for face recognition. Social robotics is a constantly developing field that allows the production and development of robots whose task is to accompany humans, participate in social situations and perform specific educational, entertainment and therapeutic tasks. One of the fundamental problems of social robotics is the proper recognition of humans by robots. this poses a critical problem because it is the moment when human-robot contact is initiated. Widespread solutions, in addition to high efficiency, also require adequate computing power, which in social robots cannot always be provided. For this purpose, solutions from the Tiny-ML stream are used, i.e. such a construction of neural networks and machine learning that would be adapted to limited technological resources and, at the same time, equally effective. the paper uses a YOLOv4-tiny network, which was compared to a YOLOv5s solution, both in terms of efficiency and processing time. the proposed networks were tested on social robots of the OhBot type and with extended capabilities, by using Neural Sticks. the results obtained show the highest efficiency of the implemented YOLOv5s network using a Raspberry Pi along with an accelerator. the presented research is an opportunity to draw attention to the problem of computational complexity in robotic applications, and also has the potential to popularize social robots and their use in everyday life.

关键词： Social robots OhBot robots Face detection Tiny-YOLO Neural networks

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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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Iterative learning-based model predictive control for mobile robots in space applications 27

Iterative learning-based model predictive control for mobile...

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

作者： Baldauf, Niklas Turnwald, Alen E Fs TechHub GmbH E Space Space Applicat Grp Gaimersheim Germany

ISBN: (纸本)9798350311075

this paper presents an iterative learning-based model predictive controller (MPC) for trajectory tracking control of an autonomous planetary rover on unknown terrain. In order to achieve accurate trajectory tracking under model uncertainties, a nonlinear controller and an MPC are utilized, combined with a learning-based uncertainties approximation. the model uncertainties and disturbances are learned using a deep neural network (DNN) as well as a parametric model and results are compared. For test and validation purposes, a gazebo simulation is used, which is itself already validated using data from a prototype rover. With that, the trajectory tracking performance of the proposed learning-based MPC is validated and compared to other well-performing controllers. the results show that the algorithm is able to learn model uncertainties and to compensate them during runtime while being practicable for the implementation and in the training phase.

关键词： depp neural networks (DNNs) iterative learning control model predictive control (MPC) autonomous vehicles planetary robotics

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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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Effect of Network Size on Fractional-Order Dynamics in Large, Scale-Free robotics Swarms and Platoons 28

Effect of Network Size on Fractional-Order Dynamics in Large...

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

作者： Goodwine, Bill Univ Notre Dame Dept Aerosp & Mech Engn Notre Dame IN 46556 USA

ISBN: (纸本)9798350362350;9798350362343

this paper studies the effect of the size of a large scale robot network on the fractional order of the dynamics of the step response of the system. We show that, for a scale free network with certain parameter values, as the number of robots increases the fractional order also increases up to certain size network, after which the order plateaus. In contrast, for a much more structured platoon network, the opposite happens. this paper presents those results and discusses some hypotheses attempting to resolve the apparent contradiction. We are interested in investigating the presence of fractional order dynamics in systems of this type because they are becoming increasingly common for large scale engineered systems. Very large scale systems can be difficult to design, analyze and control and understanding various approaches to determine effective and accurate reduced order models is important. A concise fractional order description of the dynamics offers insight into the nature of the system that may not otherwise be available through either the full, very large scale system dynamics or other types of reduced order models.

关键词： fractional-order calculus swarm robots modeling

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Fault detection and diagnostics of complex dynamic systems using Gaussian Process models - nuclear power plant case study 27

Fault detection and diagnostics of complex dynamic systems u...

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

作者： Puchalski, Bartosz Gdansk Univ Technol Fac Elect & Control Engn Dept Intelligent Control & Decis Support Syst 11-12 Gabriela Narutowicza St PL-80233 Gdansk Poland

ISBN: (纸本)9798350311075

the article examines the use of Gaussian Process models to simulate the dynamic processes of a Pressurized Water nuclear Reactor for fault detection and diagnostics. the paper illustrates the potential of Gaussian Process models as a tool for monitoring and predicting various fault conditions in Pressurized Water nuclear Reactor power plants, including reactor coolant flow and temperature variations, deviations from nominal working point or faulty power measurements. the article discusses the characteristics and benefits of Gaussian Process models and how they can be utilized to improve: the reliability and accuracy of nuclear power plant anomaly detection, fault diagnosis and decision making process in states of emergency. Overall, this paper highlights the capabilities of Gaussian Process models to enhance the safety, reliability and efficiency of nuclear power plants. the results of this study are expected to provide valuable insights for engineers and researchers in the fields of control engineering and nuclear power.

关键词： fault diagnosis maintenance gaussian processes process modeling

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