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

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Design of an optimized sliding mode control for loaded double inverted pendulum with mismatched uncertainties

Design of an optimized sliding mode control for loaded doubl...

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

作者： Manar Lashin Ahmed Ramadan Hossam S. Abbass Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Egypt Computers and Automatic Control Dept. Tanta University Tanta Egypt Electrical Engineering Dept. Assuit University Assuit Egypt

In this paper, the stabilization problem of loaded double inverted pendulum using an optimized state feedback sliding mode control is investigated. ADAMS/Matlab co-simulation environment is used for building a virtual nonlinear model for loaded double inverted pendulum system and the state feedback sliding mode control law is designed for stabilizing the system. Mismatched uncertainties represented by payload variations is considered. Genetic Algorithms are used to optimize the parameters of the sliding mode controller based on a performance index containing the sum of squared errors. the proposed control scheme can significantly suppress chattering effect and improves the performance of the system against uncertainties. Simulation results show the effectiveness of the approach and the robustness of the system against payload changes.

关键词： Mathematical model Payloads Uncertainty MATLAB Robustness Optimization Vectors

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A new cognitive approach based on dynamic evolution of the grey hazy set

A new cognitive approach based on dynamic evolution of the g...

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

作者： Weiwei Qu Zonghai Chen Department of Automation University of Science and Technology of China Hefei China Network Information Center Southwest University of Science and Technology Mianyang China

ISBN: (纸本)9781479938926

Representation of spatial information in unpredictable environments is restricted by uncertainty, complexity, and unreliability issues of mobile robots and their environments. In this context, a new cognitive approach based on the dynamic evolution of the grey hazy set will be proposed. the dynamic evolution of the grey hazy set is able to emulate human gradually cognitive experience about how to analyze the environment best step by step without needing accurate information. Subsets of the grey hazy set, including embryo set, growing set, mature set and evidence set, possess different but correlative qualitative expression of information on successively cognitive phase. Since it is easy to describe most indoor environments using line-segments, the proposed approach hierarchically utilizes line-segments to represent the environmental information. the example in corridor is provided to verify the effectiveness of the proposed approach in simulating human's intelligence of environmental information expression and reasoning.

关键词： Cognition Embryo Mobile robots Data mining Robot sensing systems Uncertainty

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New results for position estimation in electro-magnetic actuators using a modified discrete time class A/B model reference approach

New results for position estimation in electro-magnetic actu...

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

作者： Florian Straußerger Manuel Schwab Tristan Braun Johannes Reuter Hochschule Konstanz Technik Wirtschaft und Gestaltung Konstanz Baden-WÃ¼rttemberg DE Institute of System Dynamics University of Applied Sciences Konstanz Konstanz Germany

In this paper, a number of new results are presented that have been achieved with a previously suggested approach for estimating the armature position of electro-magnetic actuators. With the assumption that only current and voltage measurements are available, a discrete time model reference adaptive system (MRAS) is used. It is shown that by identification of the parameters of the electrical subsystem, an accurate estimate for the armature position can be obtained. A combination of two discrete time MRAS methods is proposed in order to take advantage of their complementary properties. It is shown in practical experiments that with this approach robust and fast estimation of the electrical parameters is achieved and the position estimation can thus be solved in real world applications. Moreover, the dependencies of the electrical parameters on the magnetic hysteresis are shown.

关键词： Solenoids Actuators Current measurement Position measurement Adaptation models Transfer functions Estimation

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Optimal control of storage system based on intelligent techniques

Optimal control of storage system based on intelligent techn...

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

作者： Apostolos Tsagaris Department of Automation Technological Educational Institute of Thessaloniki (ATEI) Thessaloniki Greece

In order to obtain high productivity industrial automatic storage systems should complete the storage tasks in minimum of time with the maximum of performance. Optimization is the key point of this problem. this paper proposes a method for intelligent storage system, which optimizes the storing process by deciding the optimum slot that an object will occupy in a warehouse. Depending on the weight, each object has to be stored in a different space. the method is based on genetic algorithm. Genetic algorithms are used in order to optimise the allocation of storage slots at the shortest time. the duration of storage is monitored and used as feedback to the system so as to optimize the algorithm. the system is integrated with PLC and custom SCADA system which gathered the necessary information from the PLC via an OPC server. Any delay of the system is taken into account using feedback of the completion time, so that the operation error is introduced in the application, which is trained to improve its operation in the next loop. the proposed framework improves the placement of objects in specific warehouse slots.

关键词： Genetic algorithms Biological cells Servers Software Sociology Statistics Artificial intelligence

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Nonlinear models of BPSK Costas loop

Nonlinear models of BPSK Costas loop

引用

international conference on Informatics in Control, automation and robotics (ICINCO)

作者： E. V. Kudryashova O. A. Kuznetsova N. V. Kuznetsov G. A. Leonov S. M. Seledzhi M. V. Yuldashev R. V. Yuldashev Faculty of Mathematics and Mechanics Saint-Petersburg State University Saint-Petersburg Russia Dept. of Mathematical Information Technology University of Jyväskylä Finland

Rigorous nonlinear analysis of the physical model of Costas loop is very difficult task, so for analysis, simplified mathematical models and numerical simulation are widely used. In the work it is shown that the use of simplified mathematical models, and the application of non rigorous methods of analysis may lead to wrong conclusions concerning the operability of Costas loop.

关键词： Mathematical model Voltage-controlled oscillators Binary phase shift keying Analytical models Data models Phase locked loops Numerical models

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the average 6 DOF path estimation with the use of initial approximation curve

The average 6 DOF path estimation with the use of initial ap...

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

作者： Lukasz Fracczak Leszek Podsedkowski Maciej Moll Technical University of Lodz Faculty of Production Engineering Lodz Poland Instytut Centrum Zdrowia Matki Polki Klinika Kardiologi Lodz Poland

the paper presents the average path estimation algorithm. this algorithm is based on the approximation curve, which shape should by defined as closely as possible to the shape of the analyzed path. With the use of this initial curve, the data space is divided into the intervals. All of the interval paths points are averaged individually. After the calculations, there is only one average point for each path. Next, these average points are averaged to one point in each interval. the set of these averaged points define the average path. thanks to this algorithm the input paths can be non-linear and independent of time. the analyzed path can begin and end in any point in the 6DOF space, as well as reverse and loop. this paper presents the general model description and example of the use of the presented algorithm.

关键词： Approximation methods Trajectory Mathematical model Surgery Equations Approximation algorithms Robots

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Finite volume and finite element models for real-time control and state estimation of two-dimensional heat transfer processes

Finite volume and finite element models for real-time contro...

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

作者： Andreas Rauh Luise Senkel Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

Control design for distributed parameter systems usually makes use of either finite volume or finite element approximations of the governing partial differential equations (PDEs). the aim of using both finite volume and finite element models is to obtain a finite-dimensional state-space representation of the dynamics which can be used directly for the design of feedback or feedforward controllers as well as state observers. However, finite volume models only provide a coarse description of flow and storage variables since these are assumed to be piecewise homogeneous in the corresponding volume elements. In contrast, finite element models exploit parameterizable ansatz functions such as polynomials for each element so that smooth representations of the before-mentioned quantities become possible. However, classical finite element techniques do not provide reliable measures for the quantification of the achievable approximation quality. this drawback is removed by the method of integrodifferential relations (MIDR). Simulations and experiments for the observer-based control of a spatially two-dimensional heat transfer process with distributed control inputs are presented in this paper to visualize differences between finite element models relying on the MIDR and finite volume representations.

关键词： Heating Finite element analysis Vectors Approximation methods Heat transfer Eigenvalues and eigenfunctions Polynomials

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Approximation of nonlinear dynamic plant by linear model under sinusoidal signal

Approximation of nonlinear dynamic plant by linear model und...

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

作者： Adam Żuchowski Janusz P. Paplinski West Pomeranian University of Technology Szczecin Poland

the steady-state response of a nonlinear object, stimulated by sinusoidal signal, contains both the sinusoidal components of the same pulsation and higher harmonics. In the case of a linear plant with complex poles, working on the border of stability, a steady-state response of a sinusoidal input also contains the components with different pulsations. their amplitude and phase shifts are dependent both on the system parameters, the excitation signal and the initial conditions. Can be expect that this property allows to approximate the steady-state behavior of nonlinear object by steady-state response of linear model. Probably, the parameters of this model depend strongly on the amplitude and phase of the sinusoidal excitation. the paper attempts to approximation of the steady-state behavior of the nonlinear object by the steady state response of the linear model. the specified sinusoidal excitation with typical zero initial conditions were used. A similar mechanism is used in the describing function methods, and the proposed method can be treated as a part of a class of harmonic linearization methods. the methodology of the method is illustrated in three examples. In two cases the behavior of linear models quite accurately resembles the actual waveforms of the plant. these results seem of interest, although usefulness of such models is difficult to predict.

关键词： Steady-state Harmonic analysis Mathematical model Approximation methods Stability analysis Differential equations Equations

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Secure handwriting using a robot arm for educational purpose

Secure handwriting using a robot arm for educational purpose

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

作者： Marius-Florin Crainic Stefan Preitl Lucian Alexandru Şandru Valer Dolga Dept. of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara Romania Dept. of Mechatronics “Politehnica” University of Timisoara Timisoara Romania

As the educational system is growing there is a lot of paperwork to do like completing different types of certificates, or traditional gradebook. the paper presents a different approach to facilitate and secure the writing of certificates or traditional gradebooks. this system uses a robot arm, RV-2AJ, which has a pen attached. the setups are easy to be made because they involve the reading of only three points for calibration which forms a right-angled triangle. After the calibration the robotic arm can write even if the writing surface is on an inclined plane, or the paper is rotated. this system is more secure than the one that uses the ink printer, because the movement of the robot arm to reproduce the font on the paper is unique. Another secure element is the embossing stamp. the embossing stamp is created by changing the pen with a needle. the needle creates small closed holes using a pattern in which the information used for writing is encrypted.

关键词： Robot kinematics Writing Calibration Embossing Software Mathematical model

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Testing of sensor condition using Gaussian mixture model

Testing of sensor condition using Gaussian mixture model

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international conference on Informatics in Control, automation and robotics (ICINCO)

作者： Ladislav Jirsa Lenka Pavelková Institute of Information Theory and Automation Czech Academy of Sciences Prague Czech republic

the paper describes a method of sensor condition testing based on processing of data measured by the sensor using a Gaussian mixture model with dynamic weights. the procedure is composed of two steps, off-line and on-line. In off-line stage, fault-free learning data are processed and described by a probabilistic mixture of regressive models (mixture components) including a transition table between active components. It is assumed that each component characterises one property of data dynamics and just one component is active in each time instant. In on-line stage, tested data are used for transition table estimation compared with the fault-free transition table. the crossing of given level of difference announces a possible fault.

关键词： Data models Estimation Approximation methods Vectors Atmospheric modeling Matrix decomposition Probabilistic logic

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