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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"

共 112 条记录，以下是61-70 订阅

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

Computationally Effective Approximation of Integral Curves L...

引用

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

作者： Arpit Joon Wojciech Kowalczyk Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3A Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

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： Robot motion automation Heuristic algorithms Urban areas Euclidean distance Numerical simulation Approximation algorithms

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Predictive maintenance for electrical motors: Current approach and usage of artificial intelligence algorithms

Predictive maintenance for electrical motors: Current approa...

引用

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

作者： Tomasz Herzog Krzysztof Bartecki Faculty of Electrical Engineering Automatic Control and Computer Science Opole University of Technology Opole Poland Rockwell Automation Power Control Business Katowice Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the article presents the current approach in artificial intelligence methods used in predictive maintenance for electrical motors. the study focuses on presenting data classification methods for fault detection and isolation using data from condition monitoring systems. We discuss the advantages and disadvantages of using machine learning methods like perceptron and Support Vector Machine (SVM) for fault classification problems. Our conclusion shows great interest in machine learning methods combined with condition monitoring systems. Our future research will focus on comparing SVM, perceptron networks, and other methods, such as K-nearest neighbors, with their possibility for implementation in embedded firmware systems.

关键词： Support vector machines Condition monitoring Accuracy Fault detection Artificial neural networks Machine learning Prediction algorithms

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Unmanned aerial vehicle control method considering optimal compensation and gusts of wind

Unmanned aerial vehicle control method considering optimal c...

引用

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

作者： Sławomir Stępień Monika Pawlak Wojciech Giernacki Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, a control strategy based on a coupled Proportional and State-Dependent Riccati Equation (P-SDRE) controller, which ensures a quick stabilization for a given angular position of an unmanned aerial vehicle in three-dimensional space, is presented. the Hamilton-Jacobi-Bellman function and the Riccati differential equation are used to develop the solution of the SDRE algorithm. Properly defined weighting matrices in performance index allow quadrotor’s fast and precise positioning with optimal stabilization of angular speeds. Cruise control of unmanned aerial vehicle is modelled and simulated. In order to prove the effectiveness of the method, disturbances modelled as wind gusts are included in the simulation.

关键词： Space vehicles Riccati equations Optimal control Quality control Autonomous aerial vehicles Mathematical models Robustness

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Numerical methods for solving the linearized model of a hinged-free reduced plate arising in flow structure interactions

Numerical methods for solving the linearized model of a hing...

引用

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

作者： Raj Narayan Dhara Krzysztof Rutkowski Katarzyna Szulc Systems Research Institute Polish Academy of Sciences Warsaw Poland KMA Faculty of Science Palacký University Olomouc Czech Republic

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the problem of partially hinged partially free rectangular plate that aims to represent a suspension bridge subject to some external forces (for example the wind) is considered in order to model and simulate the unstable end behavior. Such a problem can be modeled by a plate evolution equation, which is nonlinear with a nonlocal stretching effect in the spanwise direction. the external forces are periodic in time and cause the vortex shedding on the structure (on the surface of the plate) and thus it may cause damage to the material. Numerical study of the behavior of steady state solutions for different values of the force velocity are provided with two finite element methods of different type.

关键词： Structural panels Wind speed Force Mathematical models Numerical models Steady-state Finite element analysis

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Diagnosing faults in electric motors using B-splines and Bayesian Mixture Model

Diagnosing faults in electric motors using B-splines and Bay...

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

作者： Kacper Jarzyna Bartłomiej Gawęda Jerzy Baranowski Department of Automatic Control & Robotics AGH University of Science & Technology Kraków Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Diagnosing faults in electric motors is crucial for various applications, from everyday devices to industrial machinery. Authors propose a method for identifying motor faults using acoustic signals, which are easy to capture with microphones. Proposed approach involves analyzing these signals using Functional Data Analysis (FDA), representing frequency patterns with B-splines and Bayesian Mixture Model as classifier. In this paper, there was developed a classifier to categorize five motor fault types based on these transformed signals. By focusing on frequencies up to 2500 Hz relevant to motor issues, authors aim to detect faults without needing complex equipment and greatly shorten computation time. this approach yields promising results.

关键词： Fault diagnosis Time-frequency analysis Electric potential Focusing Mixture models Bayes methods Splines (mathematics)

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Trajectory Tracking with Generalized Active Disturbance Rejection Control Using Kalman Filter-based Extended State Observer

Trajectory Tracking with Generalized Active Disturbance Reje...

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

作者： Mikołaj Mrotek Jacek Michalski Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper addresses trajectory tracking in a stochastic environment. Active disturbance rejection control (ADRC) in a generalized approach was designed for a two degrees of freedom (DoF) mechanical system, a ball balancing table (BBT). A modification of the extended state observer (ESO) tuning based on the Kalman filter (KF) gains was presented. the experiments were carried out for different levels of measurement noise. Using the proposed modification of the ESO gains selection, a better quality of trajectory tracking under measurement noises was achieved compared to the standard pole placement (PP) tuning method.

关键词： Robust control Trajectory tracking Noise Observers Frequency measurement Trajectory Noise measurement

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Formation Control of three Mobile Robots With Varying Distances

Formation Control of Three Mobile Robots With Varying Distan...

引用

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

作者： Dawid Knapik Andrzej Turnau AGH University of Krakow al. A. Mickiewicza 30 Krakow Poland College of Economics and Computer Science ul. Św. Filipa 17 Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper focusses on distributed formation control, a task in which the desired formation shape is controlled by maintaining relative distances between robots. this task is based on the acyclic directed triangular formation with distance-based control. the novelty proposed in this work is the possibility of varying distances that need to be tracked in the formation control task. the focus is on the case where some distances are not constant values but a function dependent on the leader’s velocity. An example application, serving as motivation for the analysis conducted, is the vehicles moving in urban traffic, which should maintain a distance between preceding vehicles proportional to their speed for safety reasons.

关键词： automation Shape Formation control Safety Mobile robots Robots Convergence

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Transfer Function Analysis and Algorithm Order Reduction for Active Disturbance Rejection Control

Transfer Function Analysis and Algorithm Order Reduction for...

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

作者： Jacek Michalski Mikołaj Mrotek Stefan Brock Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper presents the transfer function analysis of the closed-loop system with an active disturbance rejection control (ADRC) algorithm. Although the classical interpretation of the extended state observer (ESO) and control algorithm (state feedback) in the state space usually allows for achieving satisfactory control quality, the presented analysis enables calculation of the obtained pole values in the closed-loop system. Furthermore, reduction of the algorithm order by omitting the non-dominant poles of the control plant has also been proposed. the experiments were carried out on a third-order mechanical object, a ball balancing table (BBT) setup. In addition to reducing computational complexity, the presented order reduction procedure allows one to improve the properties of a closed-loop system in the case of poles with large modules affecting the control quality.

关键词： Robust control State feedback automation Process control Observers Polynomials Closed loop systems

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Analysis of the decoupling control loop for a plant with input dynamics in the ADRC structure

Analysis of the decoupling control loop for a plant with inp...

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

作者： Patryk Bartkowiak Dariusz Pazderski Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this study addresses the decoupling issue within the Active Disturbance Rejection Control (ADRC) framework, taking into account the existence of additional dynamics in the plant input path. these additional dynamics are not directly incorporated into the observer equations. the paper proposes a compensation strategy that employs a filter to shape the observer’s input signal. the transfer function forms for the structure under analysis, as well as the matching conditions in the input path, have been established. the findings indicate that while the use of an input filter can enhance the stability of the decoupling loop, it may also reduce the disturbance attenuation. the conclusions drawn from analytical studies and numerical simulations are validated by experimental results.

关键词： Robust control Matched filters Shape Transfer functions Observers Attenuation Numerical simulation

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An intelligent vision system for the detection and classification of heterogeneous objects moving on a belt conveyor

An intelligent vision system for the detection and classific...

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

作者： Paweł Majewski Adam Łysiak Łukasz Klar Krzysztof Bochenek Department of Control Science and Engineering Opole University of Technology Opole Poland KBA AUTOMATIC Sp. z o.o Opole Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, a newly developed author’s vision system allowing identification of packages moving on the conveyor belt and their classification is presented. An important aspect is that the mentioned objects move at relatively high speeds, which is challenging for any vision system. the methodology used in the plant is based on a hybrid combination of algorithmic determination of the features of a given object with artificial neural networks performing the classification process. An essential aspect of the work is using the advanced camera, which provides three-dimensional image analysis. the obtained verification results confirm the system’s usefulness not only for research purposes but even for implementing industrial automation tasks.

关键词： Analytical models automation Image analysis Service robots Machine vision Artificial neural networks Belts

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