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30th European Conference on Modelling and Simulation, ECMS 2016

作者： Rahul, Sharma K. Honc, Daniel Dušek, František Department of Process Control Faculty of Electrical Engineering and Informatics University of Pardubice Czech Republic

ISBN: (纸本)9780993244025

The paper deals with trajectory tracking of the differential drive robot with a mathematical model governing dynamics and kinematics. Motor dynamics and chassis dynamics are considered for deriving a linear state-space dynamic model. Basic nonlinear kinematic equations are linearized into a successively linearized state-space model. The dynamic and kinematic models are augmented to derive a single state-space linear model. The deviation variables are reference variables which are variables of an ideal robot following a reference trajectory which can be pre-calculated. Reference tracking is achieved by model predictive control of supply voltage of both the drive motors by considering constraints on controlled variables and manipulated variables. Simulation results are provided to demonstrate the performance of proposed control strategy in the MATLAB simulation environment. © ECMS Thorsten Claus, Frank Herrmann, Michael Manitz, Oliver Rose (Editors).

关键词： Mobile robots

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Teaching and Practicing Model Predictive control

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IFAC-PapersOnLine 2016年第6期49卷 34-39页

作者： Honc, Daniel Sharma K., Rahul Abraham, Anuj Duek, Frantiek Pappa, Natarajan Department of Process Control Faculty of Electrical Engineering and Informatics University of Pardubice Czech Republic Department of Instrumentation Engineering Madras Institute of Technology Campus Anna University Chennai India

How to explain Model Predictive control (MPC) to students? How to practise it? The paper deals with chain of actions involving teaching, practicing and laboratory application of MPC at University of Pardubice in Czech Republic and at Anna University in India. Individual steps are presented and discussed with examples from educational experience - e.g. modelling and identification, derivation of MPC controller, simulations and laboratory applications. Every phase has a key and weak point as well. Desired results is that students understand better the theoretical concepts and they are able to apply predictive controllers at least for laboratory processes. Derivations and MATLAB scripts are available online. © 2016

关键词： Model predictive control controllers Experiments Identification (control systems) MATLAB Models Optimization Predictive control systems Teaching Czech Republic Educational experiences Laboratory process Matlab scripts Modelling and identifications Predictive controller Weak points

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Identification of primary shape descriptors on 3D scanned particles

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica electrical engineering and computer science 2018年第2期62卷 59-64页

作者： Ludmány, Balázs Domokos, Gábor Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics P.O.B. 91 BudapestH-1521 Hungary MTA-BME Morphodynamics Research Group P.O.B. 91 BudapestH-1521 Hungary Department of Mechanics Materials and Structures Faculty of Architecture Budapest University of Technology and Economics P.O.B. 91 BudapestH-1521 Hungary

The number of global mechanical equilibria as a shape descriptor (among others, for sedimentary particles) is at the forefront of current geophysical research. Although the technology is already available to provide scanned, 3D images of the particles (appearing as fine spatial discretization of smooth surfaces), nevertheless, the automated identification and measurement of global equilibria on such 3D images has not been solved so far. The main difficulty lies in the algorithmic distinction between local equilibria (associated with the small un-evenness of the pebble's surface) and global equilibria, associated with the overall shape. The former are easily measured, however, only the latter provide meaningful physical information. Here we provide and illustrate an algorithm to detect global equilibrium points on a finely discretized, polyhedral surface provided by 3D scan of sedimentary particles. © Budapest University of Technology and Economics. All rights reserved.

关键词： Sedimentology

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Enhanced symbolic regression through local variable transformations 9

Enhanced symbolic regression through local variable transfor...

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9th International Joint Conference on Computational Intelligence, IJCCI 2017

作者： Kubalík, Jiří Derner, Erik Babuška, Robert Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic Cognitive Robotics Faculty of 3mE Delft University of Technology Delft Netherlands

ISBN: (纸本)9789897582745

Genetic programming (GP) is a technique widely used in a range of symbolic regression problems, in particular when there is no prior knowledge about the symbolic function sought. In this paper, we present a GP extension introducing a new concept of local transformed variables, based on a locally applied affine transformation of the original variables. This approach facilitates finding accurate parsimonious models. We have evaluated the proposed extension in the context of the Single Node Genetic Programming (SNGP) algorithm on synthetic as well as real-problem datasets. The results confirm our hypothesis that the transformed variables significantly improve the performance of the standard SNGP algorithm. © 2017 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Genetic programming

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Roster evaluation based on classifiers for the nurse rostering problem

arXiv

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arXiv 2018年

作者： Václavík, Roman Šůcha, Přemysl Hanzálek, Zdeněk Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Karlovo náměstí 13 Prague 2121 35 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Zikova street 1903/4 Prague 6166 36 Czech Republic

The personnel scheduling problem is a well-known NP-hard combinatorial problem. Due to the complexity of this problem and the size of the real-world instances, it is not possible to use exact methods, and thus heuristics, meta-heuristics, or hyper-heuristics must be employed. The majority of heuristic approaches are based on iterative search, where the quality of intermediate solutions must be calculated. Unfortunately, this is computationally highly expensive because these problems have many constraints and some are very complex. In this study, we propose a machine learning technique as a tool to accelerate the evaluation phase in heuristic approaches. The solution is based on a simple classifier, which is able to determine whether the changed solution (more precisely, the changed part of the solution) is better than the original or not. This decision is made much faster than a standard cost-oriented evaluation process. However, the classification process cannot guarantee 100% correctness. Therefore, our approach, which is illustrated using a tabu search algorithm in this study, includes a filtering mechanism, where the classifier rejects the majority of the potentially bad solutions and the remaining solutions are then evaluated in a standard manner. We also show how the boosting algorithms can improve the quality of the final solution compared with a simple classifier. We verified our proposed approach and premises, based on standard and real-world benchmark instances, to demonstrate the significant speedup obtained with comparable solution quality. Copyright © 2018, The Authors. All rights reserved.

关键词： Heuristic methods

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Energy optimization of robotic cells

arXiv

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arXiv 2018年

作者： Bukata, Libor Šůcha, Přemysl Hanzálek, Zdeněk Burget, Pavel Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Zikova 1903/4 Prague 6166 36 Czech Republic Faculty of Electrical Engineering Department of Control Engineering Czech Technical University in Prague Karlovo náměstí 13 Prague 212135 Czech Republic

This study focuses on the energy optimization of industrial robotic cells, which is essential for sustainable production in the long term. A holistic approach that considers a robotic cell as a whole toward minimizing energy consumption is proposed. The mathematical model, which takes into account various robot speeds, positions, power-saving modes, and alternative orders of operations, can be transformed into a mixed-integer linear programming formulation that is, however, suitable only for small instances. To optimize complex robotic cells, a hybrid heuristic accelerated by using multi-core processors and the Gurobi simplex method for piecewise linear convex functions is implemented. The experimental results showed that the heuristic solved 93 % of instances with a solution quality close to a proven lower bound. Moreover, compared with the existing works, which typically address problems with 3 to 4 robots, this study solved real-size problem instances with up to 12 robots and considered more optimization aspects. The proposed algorithms were also applied on an existing robotic cell in Škoda Auto. The outcomes, based on simulations and measurements, indicate that, compared with the previous state (at maximal robot speeds and without deeper power-saving modes), the energy consumption can be reduced by about 20 % merely by optimizing the robot speeds and applying power-saving modes. All the software and generated data sets used in this research are publicly available.90C10, 90C25 Copyright © 2018, The Authors. All rights reserved.

关键词： Industry 4.0

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Implementation of bi-fractional filtering on the Arduino Uno hardware platform 8th

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8th Conference on Non-integer Order Calculus and Its Applications, RRNR 2016

作者： Bauer, Waldemar Kawala-Janik, Aleksandra Department of Automatics and Biomedical Engineering AGH University of Science and Technology Al. Mickiewicza 30 Cracow30-059 Poland Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Proszkowska 76/1 Opole45-758 Poland

ISBN: (纸本)9783319454733

In this paper application of method based on bi-fractional filtering on the Arduino Uno was proposed. The authors showed that the implementation of a non-integer order filter on a micro-controller hardware platform is possible and gives promising results. Another aspect of potential implementation of such systems involves using biomedical data – in particular EEG signals, which were applied during the research carried out for the purpose of this paper. © Springer International Publishing AG 2017.

关键词： Bandpass filters

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Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

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IFAC-PapersOnLine 2017年第1期50卷 1304-1309页

作者： Pilbauer D. Michiels W. Vyhlídal T. Hromčík M. Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A Heverlee B-3001 Belgium CIIRC - Czech Institute of Informatics Robotics and Cybernetics Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic M. Hromčík is with Deptartment of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic

We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework. © 2017

关键词： H-infinity control inverse shapers spectral optimization time-delay

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A novel modified DTC-SVM method with better overload-capability for permanent magnet synchronous motor servo drives

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica electrical engineering and computer science 2017年第3期61卷 253-263页

作者： Vajsz, Tibor Számel, László Rácz, György Department of Electric Power Engineering Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics P.O.B. 91 BudapestH-1521 Hungary Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics P.O.B. 91 BudapestH-1117 Hungary

Direct torque control with space vector modulation (DTCSVM) is one of the most promising alternatives of field-oriented control in the case of permanent magnet synchronous motor drives. This method controls the electromagnetic torque of the motor with excellent dynamics which makes it an attractive choice in the case of servo drives. In this article DTC-SVM is investigated with Matlab-Simulink simulation and it is proven that DTC-SVM has severe instability-issues during overloading and its overload-capabilities are heavily dependent on the speed. Therefore, a novel modified DTC-SVM method is proposed which is stable during overloading and its overload-capabilities are practically independent of the speed. Also, the overload-capability of the new method is superior to that of classical DTC-SVM, while the two methods are practically identical from the point of view of the torque-control dynamics and the torque-ripple generated.

关键词： Vector control (Electric machinery)

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