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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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Repetitive models in Gas Transportation Networks

Repetitive Models in Gas Transportation Networks

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

作者： Dymkou, Siarhei Dymkov, Michael Natl Univ Singapore Temasek Labs Aeronaut Sci Div Control Sci Grp T Lab Bldg 5AEngn Dr 1 Singapore 117411 Singapore Belarusian State Univ Dept Math Minsk 220070 BELARUS

ISBN: (纸本)9781467321242

the problem of distributing gas through a network of pipelines is formulated as an linearized nonstationary differential repetitive model subject to some flow-pressure constraints of material balances and pressure bounds. the linear model is constructed in the neighborhood of the known basic operating regime of gas delivery. the considered problem is to minimize the total supply cost of a gas transmission company with the minimal guaranteed pressure at the nodes. Some aspects of a comprehensive optimization theory based on a 'constructive approach' are discussed.

关键词： gas transport Optimization theory Materials balance linear models Repetitive pipeline Pressure Neighborhood

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Sufficiency conditions for pole assignment in column-regularizable implicit linear systems

Sufficiency conditions for pole assignment in column-regular...

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2012 17th international conference on methods and models in automation and robotics, MMAR 2012

作者： Korotka, Tetiana Loiseau, Jean Jacques Zagalak, Petr Kucera, Vladimir Institute of Information Theory and Automation P.O. Box 18 182 08 Praha Czech Republic LUNAM Université IRCCyN UMR CNRS 6597 BP 92101 44321 Nantes Cedex 03 France Czech Technical University in Prague Technická 2 16627 Prague 6 Czech Republic

ISBN: (纸本)9781467321211

the paper is devoted to the problem of pole assignment by state feedback in non-square implicit linear systems. In particular, the proof of theorem 4.6 in [5] (here theorem 1) is completed by a proof of sufficiency conditions, providing a complete solution to the problem of pole assignment in the case of column regularizable systems. © 2012 IEEE.

关键词： Linear systems

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Mathematical Modeling of a Refluxing Reactor of an Isotope Separation Column

Mathematical Modeling of a Refluxing Reactor of an Isotope S...

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IEEE international conference on automation, Quality and Testing, robotics

作者： Cristian, F. E. Dumitrache, D. C. Dulf, E. H. Tech Univ Cluj Napoca Dept Automat Control G Baritiu 26-28 Cluj Napoca 400027 Romania

ISBN: (纸本)9781467307024

In this paper we present the mathematical modeling of a refluxing reactor of a N-15 isotope separation column. Two chemical reactions take place in this reactor, i.e. the oxidation of nitric oxide and the absorption of nitrogen dioxide in water. the nitric acid is the final product. the models are obtained for the above mentioned chemical process, however, the final equations are described in a general sense, and thus they can be used for other independent heterogeneous reactions. the assessment of the results is made via simulation.

关键词： Nitric oxide

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Design and Analysis of a Network Control Structure with a Switched PD Compensator

Design and Analysis of a Network Control Structure with a Sw...

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

作者： Stefan, Octavian Codrean, Alexandru Dragomir, Toma-Leonida Politehn Univ Timisoara Dept Automat & Appl Informat Timisoara Romania

ISBN: (纸本)9781467321242

the current paper proposes a new network control structure based on a nonlinear network transmission model recently proposed by the authors, a switched PD time delay compensator and a state feedback controller. the design methodology described for the control structure consists in a coupling between analytical tuning methods and numerical optimization methods. the stability is assessed in the framework of switched linear systems through a switched quadratic Lyapunov function. Finally, the results are validated on a numerical example.

关键词： Control Architecture network control State feedback Linear system Optimization methods numerical example Palladium Physically Handicapped Proportional derivative Professional Development Nonlinear networks Frameworks state feedback controller

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Feedforward Control Design for a Four-Rotor UAV using Direct and Indirect methods

Feedforward Control Design for a Four-Rotor UAV using Direct...

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

作者： Gruening, Tobias Rauh, Andreas Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781467321242

To calculate feedforward control strategies by means of dynamic optimization procedures, the alternatives of direct and indirect methods are compared in this paper. the direct optimization approaches that are considered in this paper make use of the Hermite-Simpson method and of the Legendre Pseudospectral method as underlying discretization strategies. their description is followed by a short introduction to the maximum principle of Pontryagin, i.e., the indirect method. All procedures are employed to compute feedforward control sequences for the flight control of a four-rotor UAV, which is an unstable, nonlinear multi-input multi-output system. the optimization results are compared with respect to their accuracy and applicability.

关键词： FEEDFORWARD CONTROL maximum principle Indirect Method Mentoring Unmanned Aerial Vehicle drone honey bees Aircraft control

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Intuitive Control for Robotic Rehabilitation Devices by Human-Machine Interface with EMG and EEG Signals

Intuitive Control for Robotic Rehabilitation Devices by Huma...

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

作者： Borgul, Alexandr Margun, Alexey Zimenko, Konstantin Kremlev, Artem Krasnov, Alexandr St Petersburg Natl Res Univ Informat Technol Mech Dept Control Syst & Informat St Petersburg Russia

ISBN: (纸本)9781467321242

this article presents a system of intuitive control the upper extremity exoskeleton and other mechatronic devices with EMG and EEG for people with different degrees of musculoskeletal system damage. the technology let control an apparatus by thinking about it. Various identification methods for control signals like neural networks, wavelet analysis, fastICA, Fourier series are given below. Algorithms were tested on real objects and simulator.

关键词： Human machine interaction Electromyogram Electroencephalography Intuitive Identification methods Musculoskeletal System Upper Extremity simulator Standing Orders Neural network

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Application of Topological Derivative to accelerate Genetic Algorithm in Shape Optimization of coupled models

Application of Topological Derivative to accelerate Genetic ...

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

作者： Novotny, Antonio Andre Szulc, Katarzyna Zochowski, Antoni LNCC MCT Av Getulio Vargas 333 BR-25651075 Petropolis RJ Brazil Polish Acad Sci Syst Res Inst PL-01447 Warsaw Poland

ISBN: (纸本)9781467321242

In the paper, a variant of the genetic algorithm for finding the location and size of small holes is considered. Both linear and non-linear elliptic boundary value problems are introduced in two domains with the conditions of transmission on the common boundary. the expansion of the shape functional for non-linear part and the expansion of Steklov-Poincare operator for linear part are provided in order to determine the form of topological derivative for the coupled model. the value of topological derivative is used for computing the probability density applied later in generating location of holes for genetic algorithm.

关键词： Genetic algorithms

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Nonlinear indirect adaptive control of a Fed-batch fermentation Bioprocess

Nonlinear indirect adaptive control of a Fed-batch fermentat...

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2012 17th international conference on methods and models in automation and robotics, MMAR 2012

作者： Selişteanu, Dan Petre, Emil Şendrescu, Dorin Roman, Monica Department of Automation Electronics and Mechatronics University of Craiova Craiova Romania

ISBN: (纸本)9781467321211

this paper addresses the design of an adaptive control strategy for an alcoholic fermentation bioprocess, which takes place inside of a Fed-batch Bioreactor (FBB). this bioprocess is highly nonlinear, some state variables are not measurable and moreover the reaction kinetics is not perfectly known. the kinetic parameters are estimated by using a high-gain nonlinear estimator. An asymptotic state observer is derived so as to provide the unavailable states necessary to the kinetics estimator. Finally, the indirect adaptive control law is designed by combining a linearizing controller with the nonlinear observers. Several numerical simulations are performed, in order to test the proposed nonlinear adaptive control strategy. © 2012 IEEE.

关键词： Fermentation

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Lifelong education in robotics and mechatronics

Lifelong education in robotics and mechatronics

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

作者： Rojko, Andreja Kozlowski, Krzysztof Univ Maribor FERI Inst Robot SLO-2000 Maribor Slovenia Delft Univ Technol Dept Elect Sustainable Energy NL-2600 AA Delft Netherlands Poznan Univ Tech Chair Control & Syst Engn Poznan Poland Univ Maribor FERI Maribor Slovenia Delft Univ Technol FERI Delft Netherlands

ISBN: (纸本)9781467321242

Livelong education in electro-mechanical industry is increasingly important as it allows practicing engineers and technicians to gain the knowledge necessary to cope with the fast development and consequently with higher demands on their workplaces. this paper addresses different aspects of development and execution of such industrial training. Concrete solutions and results are presented including: (1) extensive international knowledge needs analysis in electro-mechanical sector, (2) e-learning solutions for industry including learning management systems and application of remote working stations/experiments for practical part of the training and (3) examples of the training modules from robotics developed for industry. Applied solutions and education methodology is evaluated by feedback obtained from the training participants. Based on a gained experience a long-term perspective and possible further development direction of modern industrial education is also addressed.

关键词： lifelong learning robotics robotics and mechatronics electric machines Microelectromechanical devices Gain Industrial education Functional training Legal Executions

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Dynamic Modelling Of A New Configuration Of Two Wheeled Robotic Machine On An Inclined Surface

Dynamic Modelling Of A New Configuration Of Two Wheeled Robo...

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

作者： Agouri, S. Tokhi, O. Almeshal, A. Sayidmarie, O. Goher, K. Univ Sheffield Dept Automat Control & Syst Engn Sheffield S Yorkshire England Sultan Qaboos Univ Dept Mech & Ind Engn Muscat Oman

ISBN: (纸本)9781467321242

this paper focuses on a novel type of two wheeled robotic system. the system poses a challenging control problem in terms of combining upright balance, stability and maneuverability. the system is designed with the ability to move on irregular terrains such as frictional and inclined surfaces. the work investigates the dynamic modeling and control of the two-wheeled robotic machine moving on an inclined surface. this paper presents the dynamic modeling of the proposed system using the Lagrange approach. the model is built in Matlab Simulink environment and its controllability tested with a Proportional-integral-derivative (PID) control mechanism.

关键词： dynamic models Inclined wheeled Proportional derivative control machine Modeling Lagrange controllability

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