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检索条件"机构=Faculty of Control Systems and Robotics"

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Basis change, projection, and relative linear algebra tricks in signal and image processing

Basis change, projection, and relative linear algebra tricks...

引用

Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Adam Dąbrowski Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Jana Pawła II 24 Poznań University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

In this tutorial some basic linear algebra problems: basis change and projection, are discussed together with examples of their applications in signal and image processing. In typical linear algebra university courses perpendicular projections are only discussed. However, in image processing, for defining various color spaces, we need non-perpendicular projections. That is why this is the key problem in this tutorial.

关键词： Vectors Null space Gray-scale Image color analysis Symmetric matrices Color Tutorials Transforms Robot kinematics Transducers

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Digital Twin Data Handling for Propulsion Drive System of Autonomous Electric Vehicle: Case Study

Digital Twin Data Handling for Propulsion Drive System of Au...

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International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)

作者： Anton Rassõlkin Viktor Rjabtšikov Toomas Vaimann Ants Kallaste Vladimir Kuts Galina L. Demidova Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

ISBN: (数字)9781728195100

ISBN: (纸本)9781728195117

Nowadays, data is not just a collection of static documents, but a continuous flow of information. Research projects are required not only to manage data efficiently but also to keep it safe to ensure that it can be later correctly interpreted and reused. The Data Management Plan (DMP) is a document that describes the data management life cycle for the data to be collected, processed and/or generated during the project workflow. The DMP is not a fixed but rather a living document that will evolve through the lifespan of the project. A general idea of the paper is to give a brief description of the data (including any existing data, data taken from third-party sources or produced data) that is used during the project lifetime. Special attention is paid on how the data is created and collected, how the data is organized during the project (naming conventions, version control, and folder structures). Moreover, the choice of format and implications of data format and data volumes in terms of storage, backup, and access is discussed.

关键词： Propulsion Electric vehicles Tools Software Vehicle dynamics Estimation Electrical engineering

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Matrix-Based Approach to Sequence analysis in Multiple Reentrant Flowlines

Matrix-Based Approach to Sequence analysis in Multiple Reent...

引用

2008 American control Conference (ACC), vol.3

作者： Tamara Petrovic Stjepan Bogdan LARICS-Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engeneering and Computing University of Zagreb Croatia

This paper presents a method for extension of matrix model of manufacturing system in order to provide an efficient tool for analysis of systems with various dispatching sequences of shared resources. Proposed method is used for transformation of system matrices in linear max-plus model. Once the linear model is determined sequence feasibility can be checked. Furthermore, the method provides a straightforward procedure for production cycle calculation and resource utilisation. Efficiency of presented technique is demonstrated on a manufacturing system example at the end of the paper.

关键词： Manufacturing systems Dispatching Resource management Production Flexible manufacturing systems Algebra Laboratories Intelligent robots Intelligent control Computer aided manufacturing

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Fuzzy controller Design Based on the Phase Plane Isoclines

Fuzzy Controller Design Based on the Phase Plane Isoclines

引用

Mediterranean Conference on control and Automation (MED)

作者： Stjepan Bogdan Zdenko Kovacic Larics-Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In this paper we describe a procedure that exploits geometric properties of state space in the investigation of the system stability. Although this method is cumbersome, its practical value becomes clear in the situation when state space is reduced to a phase plane, which is the case in a second-order system. Then phase plane analysis offers well known procedures (especially in case f(.) is linear) for the determination of the system stability. Simulation results, obtained by implementation of the proposed method on the fuzzy controller design, are given at the end of the paper

关键词： Fuzzy control Fuzzy systems control systems Sliding mode control Stability analysis Nonlinear control systems Fuzzy logic State-space methods Stability criteria Lyapunov method

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Quadrotor control with a Guaranteed Presence of Output Signals under a Prespecified State Bounds

Quadrotor Control with a Guaranteed Presence of Output Signa...

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Mediterranean Conference on control and Automation (MED)

作者： Mikhail Kuznetsov Sergey Vrazhevsky Ekaterina Khalyamina Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory of Adaptive and Iintelligent Control of Networked and Distributed Systems IPME RAS Saint Petersburg Russia

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

The article proposes a new robust tracking control method for UAV systems in roll and pitch angular planes. The main achievement of the obtained controller is a guarantee that the output signal is confined in a sufficiently small prespecified bounded set formed by arbitrary continuously differentiable functions. The method is applied to a multiple-input multiple-output quadrotor model under external bounded disturbances and parametrical uncertainties influence. Results and achieved performance are verified via representative computer simulation results.

关键词： Uncertainty Computer simulation Heuristic algorithms Computational modeling Observers Stability analysis MIMO

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An Analysis of Common-Mode Noise Generation in Unbalanced and Balanced Switching Converters for Bidirectional DC Motor Drive

An Analysis of Common-Mode Noise Generation in Unbalanced an...

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第三届亚洲机械电子学学术会议

作者： Terdsak Intachot Kittisak Wadsuntud Yothin Prempraneerach Shuichi Nitta Department of Control Systems and Robotics Engineering Faculty of Industrial Technology Valaya Alongkorn Rajabhat University Pathumtani Thailand

This paper presents the analytical and the experimental investigation of common-mode (CM) current generation in a half-bridge converter (HBC) circuit comparison to a full-bridge converter (FBC) circuit by the viewpoint of circuit unbalance. Because of the CM current generation is the effect of the circuit unbalance. The circuit unbalance is mainly caused by the switching action, and parasitic capacitances occurrence in the circuit with respect to the frame ground or chassis. The HBC and FBC circuits analysis by equivalent circuit model is resultant that the HBC is the unbalanced switching circuit, especially unbalanced transmission path (sending and returning line) impedances, however, the FBC is the balanced switching circuit (especially balanced Transmission path impedances). The experimental results show that HBC circuit mostly generates the unbalanced CM voltages at the dc source terminals and produces the CM current, 348 mA flowing into the frame ground, however, the generated CM voltages of the FBC circuit at the dc source terminals are equal or balanced voltage, so that the production of CM current flowing into the frame ground is greatly reduced to 100 mA.

关键词： Unbalanced half-bridge converter Balanced full-bridge converter Unbalanced circuit model Unbalanced transmission paths.

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control Aspects in Programming by Demonstation for Robotic Deep- Micro- Hole Drilling

Control Aspects in Programming by Demonstation for Robotic D...

引用

Mediterranean Conference on control and Automation (MED)

作者： Bruno Maric Frano Petric Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling.

关键词： Drilling Service robots Dynamics Robot control Time factors Synchronization Task analysis

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Tracking Output Robust control of Unmanned Surface Vessel with Disturbance Cancellation and Anti-Windup

Tracking Output Robust Control of Unmanned Surface Vessel wi...

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Mediterranean Conference on control and Automation (MED)

作者： Mikhail A. Kakanov Fatimat B. Karashaeva Oleg I. Borisov Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

This paper shows an explicit application example of the robust output high-gain control framework augmented with the internal model and back-calculation anti-windup technique. The application in question concerns station-keeping and tracking of an unmanned surface vessel modeled as MIMO systems with cross-couplings. The framework is illustrated by a set of simulation runs under different conditions.

关键词： Observers Monitoring Task analysis Surface waves Robots Oscillators Robust control

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Design and Validation of a Wireless Drone Docking Station

Design and Validation of a Wireless Drone Docking Station

引用

International Conference on Unmanned Aircraft systems (ICUAS)

作者： Dario Stuhne Goran Vasiljević Stjepan Bogdan Zdenko Kovačić LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations to support both landing and recharging of the drone. To this end, we introduce a novel wireless drone docking station with three commercial wireless charging modules. We have developed two independent units, both in mechanical and electrical aspects: the energy transmitting unit and the energy receiving unit. We have also studied the efficiency of wireless power transfer and demonstrated the advantages of connecting three receiver modules connected in series and parallel. We have achieved maximum output power of 96.5 W with a power transfer efficiency of 56.6% for the series connection of coils. Finally, we implemented the system in practice on a drone and tested both energy transfer and landing.

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Towards Autonomous Navigation of a Mobile Robot in a Steep Slope Vineyard

Towards Autonomous Navigation of a Mobile Robot in a Steep S...

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Proceedings of the International Convention MIPRO

作者： I. Hrabar J. Goričanec Z. Kovačić University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) Zagreb Croatia

This paper explores potential applications of an autonomous all-terrain mobile manipulator (AMM) in the agricultural vineyard environment. A robotic arm mounted on a mobile base performs a spraying task while moving past vines and a bud rubbing task while stopping next to vines. We discuss the challenges of AMM navigation when performing tasks in steep vineyard terrain. The presented navigation approach is based on the use of a heterogeneous robotic system consisting of an unmanned aerial vehicle (UAV) and AMM. The navigation information provided by the UAV gives the waypoints for the AMM. We also present preliminary results from navigation simulation, based on digital elevation model (DEM). The model uses real-world data, acquired by UAV photogrammetric measurement campaign. We conclude by highlighting some open problems and related future research directions.

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