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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71-80 订阅

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Regularised Homotopy Continuation Method for the Motion Planning Problem

Regularised Homotopy Continuation Method for the Motion Plan...

引用

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

作者： Timothée Schmoderer Laboratoire PRISME EA 4229 Université d’ Orléans INSA-CVL Orléans France

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

We address the motion planning problem for smooth control-nonlinear systems by presenting a regularised version of the well-established homotopy continuation method. the proposed approach (inspired by Tikhonov regularisation in the Moore-Penrose pseudo-inverse theory) deals with the two issues of the classical method: the singularities of the endpoint map of the nonlinear control system and the global existence of solutions of a differential equation posed on the control space, the path lifting equation (PLE). We analyse the properties of our method and show that it is always well-posed and that the regularised PLE always possesses a global solution. We additionally examine the effect of the regularisation and we give conditions under which the regularized solution converges to the initial solution. Finally, we illustrate the potential of our method through several numerical examples.

关键词： automation Differential equations Nonlinear control systems Aerospace electronics Mathematical models Planning Numerical models

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Model-Based Design of Distributed ROS2 Systems Using IEC 61499

Model-Based Design of Distributed ROS2 Systems Using IEC 614...

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

作者： Jörg Walter Malte Grave OFFIS – Institute for Information Technology

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

ROS2 systems are distributed applications built from strongly isolated components (nodes). Communication is realized through a publish/subscribe mechanism. Despite having these modern software architecture elements, ROS2 has no canonical modelling language that captures overall application design and helps in mapping nodes across distributed platforms. We propose a model-based design approach based on the graphical programming language IEC 61499, mapping ROS2 constructs to native IEC 61499 model elements. Code generation creates native ROS2 nodes from IEC 61499 code. As an additional benefit, this approach also eases integration of ROS2 systems with non-ROS components.

关键词： Computer languages Codes automation Software architecture IEC Standards Robots

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Optimal control of unmanned robotic platform

Optimal control of unmanned robotic platform

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

作者： Sławomir Stępień Marcin Chodnicki Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland Airplanes and helicopters division Air Force Institute of Technology Warsaw Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper proposes an infinite-time horizon suboptimal control strategy based on state-dependent Riccati equation (SDRE) to control of unmanned ground vehicle (UGV). Cruise control of unmanned robotic platform is modelled and simulated. For vehicle modelling purpose a full 6 DOF model is considered and described by nonlinear state-space approach. Also a stable state-dependent parametrization (SDP) necessary for solution of the SDRE control problem is proposed and presented. Solution of the SDRE control problem with adequate defined weighting matrices in performance index shows possibility of fast and optimal vehicle control in infinite-time horizon. the method in this form can be used for mission planning of each ground vehicle tracking and dynamics control.

关键词： Riccati equations Optimal control Mathematical models Land vehicles Planning Performance analysis Numerical models

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Stabilization of fractional order linear discrete-time control systems

Stabilization of fractional order linear discrete-time contr...

引用

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

作者： Wiktoria Jurczyk Dorota Mozyrska Małgorzata Wyrwas Faculty of Computer Science Bialystok University of Technology Białystok Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the paper focuses on the stabilization of fractional order linear discrete-time systems with the Grünwald-Letnikov type fractional difference operator. the Z-transform, a highly effective method for stability analysis of linear control systems, is used to examine the behavior of the system’s solutions. Given the crucial importance of stability in automatics, the primary concern is the stabilization of control systems. Stabilization involves determining the appropriate feedback that ensures the asymptotic stability of the system. In cases where the system is not initially asymptotically stable, stabilization is achieved through a state feedback. this feedback mechanism is derived from the eigenvalues of the matrix linked to the closed-loop system. the outlined asymptotic stability conditions offer guidance in eigenvalue placement to guarantee system stability.

关键词： Discrete-time systems Asymptotic stability State feedback Transmission line matrix methods automation Stability analysis Eigenvalues and eigenfunctions

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Strategic Maintenance Optimization for Enhanced Operational Efficiency of Railway Station Infrastructure

Strategic Maintenance Optimization for Enhanced Operational ...

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

作者： Katarzyna Grobler-Dębska Rafał Mularczyk Waldemar Bauer Edyta Kucharska Dep. of Automatic Control and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Effective maintenance is a hard but very important task allowing keeping assets in operation. In particular this is something very relevant for critical infrastructure that are railways and railway stations. European wide analyses show, that there is no harmonization in data standards nor there are good solutions allowing to assist station operators in maintenance management. In this paper we focus on handling available data streams, integrating them with a data lake based centralisation and using it to provide a decision support system. Such system, based on dashboards created with Business Intelligence software, can provide significant help in managing of assets. As an example we provide appropriate routing mechanisms allowing to use the available maintenance personnel with more efficiency.

关键词： Routing Rail transportation Software Maintenance Personnel Streams Standards

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Concept of a data centralization system for a railway transportation and station management systems

Concept of a data centralization system for a railway transp...

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

作者： Waldemar Bauer Katarzyna Grobler-Dębska Włodzimierz Woźniak Dep. of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland Łukasiewicz Research Network - PoznańInstitute of Technology Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper advocates for the digitization of transportation enterprises, focusing on the railway industry’s need for integrated ticketing and asset management systems. It introduces Data Lake technology as a solution for centralized data management, enabling railway companies to enhance operational efficiency and improve decision-making processes. By integrating diverse data sources within the Data Lake framework, the paper demonstrates the potential for achieving holistic insights and predictive analytics to optimize railway operations. Practical implementation of Data Lake in the MOTIONAL project exemplifies its efficacy in real-world applications, underscoring its pivotal role in modernizing railway transportation and station management systems.

关键词： Soft sensors Decision making Transportation Focusing Lakes Big Data applications Rail transportation

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Neural network model of ship magnetic signature for different measurement depths

Neural network model of ship magnetic signature for differen...

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

作者： Kajetan Zielonacki Jarosław Tarnawski Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper presents the development of a model of a corvette-type ship’s magnetic signature using an artificial neural network (ANN). the capabilities of ANNs to learn complex relationships between the vessel’s characteristics and the magnetic field at different depths are proposed as an alternative to a multi-dipole model. A training dataset, consisting of signatures prepared in finite element method (FEM) environment Simulia Opera was constructed. A feedforward neural network was developed through a comparative analysis of different activation functions available in MATLAB’s Deep Learning Toolbox and the grid search method. Verification was performed using the leave-one-out cross-validation method (LOOCV). the model proved to be highly effective in predicting the magnetic signature for the northward direction in any measurement depth, with prospects to expand it to estimate other directions.

关键词： Training Search methods Artificial neural networks Predictive models Mathematical models Finite element analysis Feedforward neural networks

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Effect of Network Size on Fractional-Order Dynamics in Large, Scale-Free robotics Swarms and Platoons

Effect of Network Size on Fractional-Order Dynamics in Large...

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

作者： Bill Goodwine Department of Aerospace and Mechanical Engineering University of Notre Dame Notre Dame IN USA

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper studies the effect of the size of a large scale robot network on the fractional order of the dynamics of the step response of the system. We show that, for a scale free network with certain parameter values, as the number of robots increases the fractional order also increases up to certain size network, after which the order plateaus. In contrast, for a much more structured platoon network, the opposite happens. this paper presents those results and discusses some hypotheses attempting to resolve the apparent contradiction. We are interested in investigating the presence of fractional order dynamics in systems of this type because they are becoming increasingly common for large scale engineered systems. Very large scale systems can be difficult to design, analyze and control and understanding various approaches to determine effective and accurate reduced order models is important. A concise fractional order description of the dynamics offers insight into the nature of the system that may not otherwise be available through either the full, very large scale system dynamics or other types of reduced order models.

关键词： automation Accuracy Reduced order systems Large-scale systems Robots

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Trajectory Tracking for UAVs: An Interpolating Control Approach

Trajectory Tracking for UAVs: An Interpolating Control Appro...

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

作者： Zdeněk Bouček Miroslav Flídr Ondřej Straka New Technologies for the Information Society Research Center & Department of Cybernetics Faculty of Applied Sciences University of West Bohemia Pilsen Czechia

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Building on our previous work, this paper investigates the effectiveness of interpolating control (IC) for real-time trajectory tracking. Unlike prior studies that focused on trajectory tracking itself or UAV stabilization control in simulation, we evaluate the performance of a modified extended IC (eIC) controller compared to Model Predictive Control (MPC) through both simulated and laboratory experiments with a UAV. the evaluation focuses on the computational efficiency and control quality of real-time UAV trajectory tracking compared to previous IC applications. the results demonstrate that the eIC controller achieves competitive performance compared to MPC while significantly reducing computational complexity, making it a promising alternative for resource-constrained platforms.

关键词： Interpolation Trajectory tracking Computational modeling Predictive models Autonomous aerial vehicles Real-time systems Computational efficiency

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Modeling the structure of efficiency indicators in railway station management

Modeling the structure of efficiency indicators in railway s...

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

作者： Robert Ranosz Barbara Kowal Tomasz Moś Zbigniew Jancewicz Department of Economics and Management in Industry Faculty of Civil Engineering and Resource Management AGH University of Krakow Kraków Poland Department Department of Strategy Office of Strategic Management Polskie Koleje Państwowe S.A. Warszawa Poland Office of Research Development and Digitization Polskie Koleje Państwowe S.A. Warszawa Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the authors attempted to build a structure of efficiency indicators for managing railway station assets. the study aims to answer the following research question: how to model the structure of performance indicators for railway station management? this study focuses on the station and the assets of the Premium station. the article proposes a general model for calculating Key Performance Indicators (KPIs), which, when supplied with data, will enable a unified comparative assessment of station asset management at various railway stations.

关键词： automation Key performance indicator Buildings Rail transportation Data models Asset management Robots

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