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检索条件"任意字段=27th International Conference on Methods and Models in Automation and Robotics, MMAR 2023"

共 54 条记录，以下是31-40 订阅

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Stability analysis and stabilization of discretized uncertain spatially interconnected systems

Stability analysis and stabilization of discretized uncertai...

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

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Łukasz Hładowski Anton Kummert Joerg Velten Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Zielona Góra Poland Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany

In this paper spatially interconnected (ladder) systems have been discussed. First, the multidimensional, in that case, 2D - continuous in time and discrete in the spatial variable, has been introduced. Next, the temporal dynamics has been discretized, which has allowed to create the general, discrete model for the system dynamics. It has been assumed that system elements are the subject of uncertainty of the norm bounded form. Finally, robust stability testing and robust stabilizing controller design conditions have been proposed and its effectiveness is illustrated by an simulation example.

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Prospective Estimation of BESS Nominal Values for Frequency Control with High PV and Wind Integration

Prospective Estimation of BESS Nominal Values for Frequency ...

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

作者： Lázaro Guerra-Hernández Antonio A. Martínez-García Miriam Vilaragut-Llanes Yorlandys Salgado-Duarte Janusz Szpytko Technical Director of Electrical Union Havana Cuba Faculty of Electrical Engineering Technological University of Havana Havana Cuba Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland

Energy storage systems (BESS) have been proposed to mitigate photovoltaics (PV) and wind generation variability, reducing the need to operate traditional spinning reserves and offering auxiliary grid services. BESS selection necessary to mitigate PV and wind generation variability is directly related to the worst daily short-time PV and wind generation variability. this paper proposes a practical estimation of BESS nominal parameters required to mitigate prospective power generation variability associated with high PV and wind generation penetration in Electrical Power Systems (EPS) under actual conditions, which includes significant loads impact through scenario analysis.

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Controlling a Teleoperated Robotic Eye Surgical System Under a Communication Channel’s Unknown Time Delay

Controlling a Teleoperated Robotic Eye Surgical System Under...

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

作者： Ali Soltani Sharif Abadi Andrew Ordys Barbara Pierscionek The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

One of the most critical challenges in Robotic Eye Surgery (RES) is the applied force of the surgical instrument of the robot as it penetrates the human eye. Safe surgery requires accurate control of this force. In a teleoperated eye surgical system, there is likely to be a time delay that can affect the system control. this paper focuses on designing a predefined-time Sliding Mode Control (SMC) method to control a teleoperated robotic eye surgical system under an unknown time delay of the communication channel. the Lyapunov theory is used to prove the system stability. For the master and slave parts, manipulator robots are considered for designing and testing the controller. MATLAB software is used to simulate the controller. the simulation results show the robustness of the controller against the time delay of the communication channel.

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Nonlinear Luenberger observer for velocity estimation in active magnetic levitation system

Nonlinear Luenberger observer for velocity estimation in act...

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

作者： Rafał Bieszczad Adam Piłat Department of Automatic Control and Robotics Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Cracow Poland

this article presents the problem of designing a nonlinear observer for an active magnetic suspension system. the design process of the nonlinear Luenberger observer (also known as the Kazantzis-Kravaris-Luenberger observer) is discussed. Particular attention was paid to the main nonlinearity of the system - the electromagnetic force, which was modeled applying the function describing the change in inductance as a function of the distance of the levitating object from the electromagnet surface. theoretical analyses were confirmed by the results of experimental studies in which the task of moving the sphere between the given positions using current control was carried out. Control tasks were conducted in the real-time regime on an embedded platform. the measured signals and estimated velocity were analyzed in the context of future implementations in control applications.

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Modeling a dynamic object with distributed parameters

Modeling a dynamic object with distributed parameters

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

作者： Igor Korobiichuk Viktorij Mel’Nick Vera Kosova Zhanna Ostapenko Viktoriia Pavlenko Józef Wrona Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP Warsaw Poland National Technical University of Ukraine Igor Sikorsky Kyiv Polytechnic Institute Kyiv Ukraine The Ukrainian Scientific and Research Institute of Special Equipment and Forensic of the Security Service of Ukraine Kyiv Ukraine

this article is developed and improved a mathematical model that describes the influence of errors in determining the structure of the approximating function on the results of automatic control object identification. A dynamic string with a load fixed at both ends is considered, an approximation is made and its modeling is carried out. methods for determining the parameters of the selected approximating structure from the system’s response to a known input signal have been analyzed. An unconventional method for determining the transfer function using the method of least squares has been proposed. the universality of the mathematical description expands the possibilities of taking into account many factors that affect its properties and also establishes the validity degree of assumptions and simplifications in the process of analyzing the dynamics as a whole.

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

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

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

作者： Bartosz Puchalski Department of Intelligent Control and Decision Support Systems Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdańsk Poland

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.

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Gesture Control of a Lightweight Industrial Robot Supported by Augmented Reality

Gesture Control of a Lightweight Industrial Robot Supported ...

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

作者： Christian thormann Mohammad Ehsan Matour Alexander Winkler Department of Automation Hochschule Mittweida UAS Mittweida Germany

this paper presents an approach to intuitive robot control by gestures made by a human operator supported by augmented reality. Unlike to the concepts of different robot manufactures to guide the robot using the manual control pendant, gesture control would be a universal method to drive the manipulator arm, where no special knowledge is necessary. For this purpose, we develop a set of gestures to move the robot in Cartesian space and to operate the gripper. In order to that, it is possible to program handling tasks, which are very relevant concerning robotic tasks. Furthermore, our scenario may be enhanced towards teleoperation. Augmented reality is then used for verification and modification of the robot program. In contrast to several approaches which use expensive hardware, for example head mounted displays, our concept needs only a monitor or a video projector. We compare the performance of gesture based robot control with conventional methods, such as moving the manipulator with the teach pendant or by hand guidance. For this purpose, a simple handling task is configured and the programming times are analyzed.

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Modeling of thermal processes in microcontroller system by fractional order, discrete, hybrid transfer function using CFE approximation

Modeling of thermal processes in microcontroller system by f...

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

作者： Krzysztof Oprzedkiewicz Maciej Rosol Wojciech Mitkowski Dept. of Aut. Control and Robotics AGH University Krakow Poland

In the paper the problem of modeling of thermal processes in microcontroller system is addressed. the proposed model describes temperature of critical elements in the working development board of STM32 family. the temperature is measured using the industrial thermal camera. the proposed model is the discrete, hybrid transfer function, containing both Integer Order (IO) and Fractional Order (FO) parts. the FO part is described using Continuous Fraction Expansion (CFE) approximation. the step responses of the proposed transfer function are computed numerically using MATLAB. Results of experiments confirm the good accuracy of the proposed model in the sense of Mean Square Error (MSE) cost function. Such a model of thermal processes in a microcontroller system has not be presented yet. It can be employed to predict of overheating of microcontroller systems or other integrated circuits.

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An Autonomous Navigation Approach based on Bird’s-Eye View Semantic Maps

An Autonomous Navigation Approach based on Bird’s-Eye View ...

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

作者： Juan Galvis Dimitrios Pediaditis Khawla Saif Almazrouei Nikos Aspragathos Autonomous Robotics Research Center Technology Innovation Institute Abu Dhabi United Arab Emireates Mechanical Engineering Aeronautics Department University of Patras Patras Greece

With the continuous expansion of the use of mobile robots, providing them with autonomous navigation capabilities for different environments has become a very active research topic. In most cases, navigation systems are built around sensors like LiDAR which are expensive, not only due to the sensor cost but also to the computational power required for the processing of Point-Clouds. To provide an alternative to such systems, we propose a navigation approach that only requires a front-facing RGB Camera. In this system, every image is processed online using a semantic segmentation model to build a Bird’s-Eye view semantic map, from which a local path and the corresponding motion commands can be calculated. Our method is evaluated first in simulation and later on, in a real mobile robot. the results show that our system enables the robot’s successful navigation and collision avoidance through simulated and real indoor and outdoor environments.

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Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumatic System for Soft Pneumatic Actuators

Improved Model of the PWM Driven 3/2 Solenoid Valve Pneumati...

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

作者： Krisjanis Visnevskis Shakiru Olajide Kassim Maria Elena Giannaccini Vahid Vaziri Sumeet S. Aphale Artificial Intelligence Robotics and Mechatronic Systems Group (ARMS) Centre for Advanced Dynamic Research (CADR) School of Engineering University of Aberdeen Aberdeen UK

Soft pneumatic actuators (SPAs) are the building blocks of soft robots that are characterized by their inherent compliance, high degree of dexterity, and safety in human-robot interaction. the non-linear dynamics of the pneumatic system and elastomeric material deformation in SPAs presents a challenge in developing control systems for these actuators. therefore simulations are often used to aid in the design and validation of new control schemes for SPAs. Pressure control is an important aspect of achieving precise motion control of the *** paper presents an improved simulation model for a SPA pneumatic system that utilizes a 3/2 solenoid valve. the model was implemented using the SimScape Fluids toolbox in MATLAB. the proposed simulation model builds on existing models by accounting for the 3/2 solenoid valve dynamics. the open-loop response of the improved model was compared with the previous model and experimental data. the results showed that the improved model was more representative of the real-world performance of the system under open-loop control.

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