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检索条件"任意字段=28th International Conference on Methods and Models in Automation and Robotics, MMAR 2024"

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2024 28th international conference on methods and models in automation and robotics, mmar 2024 - Proceedings

2024 28th International Conference on Methods and Models in ...

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28th international conference on methods and models in automation and robotics, mmar 2024

ISBN: (纸本)9798350362343

the proceedings contain 100 papers. the topics discussed include: IoT towers of resilience: a revolutionary approach to weathering climate extremes and enhancing sustainability in vulnerable ecosystems;design and implementation of a QR-enabled autonomous bartender using a user-friendly interface;a constraint-based control architecture for urban autonomous vehicles;task-oriented trajectory optimization for planar 3R robot;design of iterative learning control for a subclass of robotic systems with an alternative reference signal setting;warehouse automation solution through a goods-to-person AMR;improving the accuracy of leak localization through the use of an equivalent pipeline model;trajectory tracking for UAVs: an interpolating control approach;and model-predictive control of a two-switch forward converter.

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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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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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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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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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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 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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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...

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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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