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Mediterranean Conference on control and Automation

作者： Tomislav Haus Nikola Prkut Katarina Borovina Bruno Maric Matko Orsag Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems

ISBN: (纸本)9781467383479

In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.

关键词： Mathematical model Unmanned aerial vehicles Gravity Attitude control Robots

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Stability analysis and tracking performance of fractional-order PI controller for a second-order oscillatory system with time-delay

Stability analysis and tracking performance of fractional-or...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Talar Sadalla Dariusz Horla Wojciech Giernacki Piotr Kozierski Faculty of Electrical Engineering Institute of Control and Information Engineering Piotrowo Poznan Faculty of Computing Poznan University of Technology Piotrowo Poznan

The main aim of this paper is to present the analysis of stability regions and tracking performance for the closed-loop system with second-order plant with time-delay and continuous fractional-order PI controller. It is a trial to extend the results and methodology presented in [11] to non-integer order systems. The tracking performance is based on two quality indices IAE and ISE. The tuning method of fractional PI controller is with respect to Hermite-Biehler and Pontryagin Theorems.

关键词： Stability criteria Mathematical model Closed loop systems Tuning Analytical models

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Taming the big to small: efficient selfish task allocation in mobile crowdsourcing systems

Taming the big to small: efficient selfish task allocation i...

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作者： Li, Qingyu Yang, Panlong Fan, Xiaochen Tang, Shaojie Xiang, Chaocan Guo, Deke Li, Fan China Satellite Maritime Tracking and Control Department Jiangyin China College of Communications Engineering PLA University of Science and Technology Nanjing China University of Texas at Dallas RichardsonTX United States Logistic Engineering University of PLA Chongqing China National University of Defense Technology Changsha China Beijing Institute of Technology Beijing China School of Computer Science and Technology University of Science and Technology of China Hefei China School of Computer and Software Nanjing University of Information Science and Technology Nanjing China School of Computing and Communications Faculty of Engineering and Information Technology University of Technology Sydney UltimoNSW Australia

This paper investigates the selfish load balancing problem in mobile distributed crowdsourcing networks. Conventional methods heavily relied on cooperation among users to achieve balanced resource utilization in a platform-centric view. In achieving fairly low communication and computational overhead, this work leverages the d-choice method based on Ball and Bin theory for effective balancing under limited information and the Proportional Allocation scheme for selfish load balancing, maintaining good load balancing property among selfish users. Even with limited information, the balancing performance could be improved significantly. Moreover, theoretical analysis has been presented in convergence property. Extensive evaluations have been made to show that Chance-Choice outperforms several existing algorithms. Typically, comparing with Proportional Allocation scheme, it could decrease the load gap between the maximum and the minimal in system by 50% to 80% and reduce the overhead complexity from O(n) to O(1) comparing with the Max-weight Best Response algorithm, where n denotes the number of mobile users in a crowdsourcing system. Copyright © 2017 John Wiley & Sons, Ltd. Copyright © 2017 John Wiley & Sons, Ltd.

关键词： Crowdsourcing

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Stability analysis of simple anti-windup compensation in approximate pole-placement control of a second order oscillatory system with time delay

Stability analysis of simple anti-windup compensation in app...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Talar Sadalla Dariusz Horla Piotr Kozierski Adam Owczarkowski Faculty of Electrical Engineering Poznan University of Technology Poznan Faculty of Computing Chair of Control and Systems Engineering Poznan University of Technology Poznan

The main purpose of this paper, is to analyze the stability of anti-windup compensation impact on tracking performance for a second order plant with time delay and continuous-time PID controller tuned by pole-placement. The paper present results of the research that extends the output from the previous MMAR paper, and is mainly focused on analyzing the stability interplay with open-loop parameters, to show the application limits of the already proposed control law. In the paper, the non-Pade approximation of time delay is used in order to obtain a solution of Diophantine equation. The performance evaluation of the system is based on comparison between integral of absolute and squared tracking errors for system with and without compensation. On the other hand the BIBO stability test of the system is based on computation of the differences between consecutive peaks of possibly diverging output signal. The control system quality is described on the basis of two quality indices in case of stable oscillatory second-order plant with step function reference signal. The main contribution of the paper, is a given rule of thumb that defines the limits of requirements imposed on the dynamics of the closed-loop system with respect to anti-windup compensation scheme applied and modes of the plant and is a natural extension to the results presented before, where the control law has been derived with comments about its performance.

关键词： Stability criteria Delay effects Mathematical model Transfer functions Closed loop systems

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Particle filter in multidimensional systems

Particle filter in multidimensional systems

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Piotr Kozierski Talar Sadalla Adam Owczarkowski Szymon Drgas Poznan University of Technology Poznan Faculty of Electrical Engineering Institute of Control and Information Engineering Faculty of Computing Division of Signal Processing and Electronic Systems

The article presents studies on the estimation quality of a particle filter applied to small multidimensional objects. For the purposes of the article, a new type of network has been proposed, in which each node is associated with one state variable. Based on performed simulations it has been found that particle filter implemented for small systems (1- or 2-dimensional) is a good choice. However, for larger objects Kalman filter may return better results (it depends on the chosen particles number). This is due to the exponential dependence of needed particles number to the object dimension. It has been also observed that the particle filter, in comparison to the Extended Kalman filter, better estimates the state variables which are well metered, and simultaneously worse estimates the state variables which are worse metered. Possible approaches for objects with a greater number of state variables also have been adduced, including the dispersed particle filter.

关键词： Particle filters Estimation Atmospheric measurements Particle measurements Mathematical model Kalman filters Probability density function

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Allophones in automatic whispery speech recognition

Allophones in automatic whispery speech recognition

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Piotr Kozierski Talar Sadalla Szymon Drgas Adam Dąbrowski Poznan University of Technology Poznan Faculty of Electrical Engineering Institute of Control and Information Engineering Faculty of Computing Division of Signal Processing and Electronic Systems

The article presents studies on the automatic whispery speech recognition. In the performed research a new corpus with whispery speech has been used. It has been checked whether the extended set of articulatory units (allophones have been used instead of phonemes) improves quality of whispery speech recognition. Experimental results show that the small changes in the allophone set may provide better speech recognition quality than using phonemes approach. The authors also made available the trained g2p (grapheme-to-phoneme) model of Polish language for the Sequitur toolkit.

关键词： Speech recognition Speech Hidden Markov models Mel frequency cepstral coefficient Context Error analysis

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A Critical Review of MANET Testbed Using Mobile Robot Technology

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Journal of Physics: Conference Series 2018年第1期1019卷

作者： Farkhana Muchtar Abdul Hanan Abdullah Marina Md Arshad Mohd Helmy Abd Wahab Siti Nor Zawani Ahmmad Gaddafi Abdul-Salaam Faculty of Computing Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia School of Computer Sciences Universiti Sains Malaysia 11800 Gelugor Pulau Pinang Malaysia Faculty of Electronic and Electrical Engineering Universiti Tun Hussein Onn 86400 Batu Pahat Johor Malaysia Instrumental and Control Engineering University Kuala Lumpur MITEC Persiaran Sinaran Ilmu Bandar Seri Alam 81750 Johor Malaysia Department of Computer Science Kwame Nkrumah University of Science and Technology Ghana

This paper is a continuation of our previous paper under the same topic, MANET testbed using mobile robot technology. In our previous paper, we studied the topic by scrutinizing all the technical aspects and presented it as a technical review. However in this paper, we study the topic and presents it as a critical review that dwells into four aspect, namely (i) purpose, accessibility and scope of testbed facilities, (ii) usability and controllability of robot mobility in t estbed facilities, (iii) repeatability and reproducibility of real mobility in t estbeds, and (iv) tools for MANET implementation, deployment and debugging for experiments. With the wealth of information on the topic provided in this paper, the content of this paper is expected to be a source of reference for MANET researchers who are at a crossroad when selecting the preferred mobile robot technology and approach to suit their own specific needs.

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An inexact Newton-Krylov method for stochastic eigenvalue problems

arXiv

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arXiv 2017年

作者： Benner, Peter Onwunta, Akwum Stoll, Martin Computational Methods in Systems and Control Theory Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstrasse 1 Magdeburg39106 Germany Numerical Linear Algebra for Dynamical Systems Group Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstrasse 1 Magdeburg39106 Germany Technische Universität Chemnitz Faculty of Mathematics Professorship Scientific Computing Chemnitz09107 Germany

This paper aims at the efficient numerical solution of stochastic eigenvalue problems. Such problems often lead to prohibitively high dimensional systems with tensor product structure when discretized with the stochastic Galerkin method. Here, we exploit this inherent tensor product structure to develop a globalized low-rank inexact Newton method with which we tackle the stochastic eigenproblem. We illustrate the effectiveness of our solver with numerical experiments. Copyright © 2017, The Authors. All rights reserved.

关键词： Galerkin methods

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Aerial-ground Robotic System for Autonomous Delivery Tasks

Aerial-ground Robotic System for Autonomous Delivery Tasks

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IEEE International Conference on Robotics and Automation

作者： Barbara Arbanas Antun Ivanovic Marko Car Tomislav Haus Matko Orsag Tamara Petrovic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 10000 Croatia

ISBN: (纸本)9781467380270

In this paper we present a study of a robotic system that consists of an unmanned aerial vehicle equipped with a pair of manipulator arms (MMUAV), and unmanned ground vehicles (UGVs). The envisioned application scenario includes autonomous packet transportation, where MMUAV is used for picking/placing packets, while both MMUAV and UGV can be used for packet transportation, with different energy consumption profiles. We propose a reactive method for decentralized task planning and coordination of robots using hierarchical task decomposition based on TAEMS framework. Our approach takes into account low-level motion-planning aspects of the system as well as high-level mission specification, making this a multi-layered system. For low-level planning we use sampling-based planner combined with obstacle-free trajectory generation. Methods are verified in simulations and on an experimental testbed, using 3D Robotics quadcopter and Pioneer 3DX mobile robots with the results showing stability and robustness of the presented methods.

关键词： System Autonomous Delivery

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Design considerations for a large quadrotor with moving mass control

Design considerations for a large quadrotor with moving mass...

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International Conference on Unmanned Aircraft Systems

作者： Tomislav Haus Matko Orsag Stjepan Bogdan the University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 10000 Zagreb

ISBN: (纸本)9781467393355

In this paper we present our ongoing efforts to build a heavy lift multirotor platform capable of lifting over 50kg of payload. Such a system requires a paradigm shift in the design of the UAV. Therefore we propose using miniature two stroke internal combustion engines to supply the necessary lift and endurance and combine them with a novel control concept based on the variations of the center of gravity (CoG) of the system. In this paper we present a detailed stability and sensitivity analysis of the proposed control scheme and discuss its underlining effect on the construction design parametrization. We present simulation results from a Gazebo based simulator that confirm the results of our mathematical analysis.

关键词： Design considerations large

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