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Control of a robotic arm on the principle of separate decision of an inertial navigation system

applied Mechanics and Materials 2014年 611卷 60-66页

作者： Božek, Pavol Institute of Applied Informatics Automation and Mathematics Slovak University of Technology Hajdóczyho 1 917 24 Trnava Slovakia

This paper describes the system activity and the importance of autonomous inertial navigation system /INS/ and its implementation to control the robotic arm. The article further introduces the execution of DC motor regulation utilized for the positioning of a rotary positioned arm. The motor control comprises the current regulation, angular velocity and the rotation of the motor shaft fixed to the arm regarding the require dangular change course of the arm rotation. The regulation structure of the DC motor is carried out in MATLAB/Simulink programme. The arm movement is investigated via mathematical model and virtual dynamic model formed in MSC ADAMS programme. © (2014) Trans Tech Publications, Switzerland.

关键词： Three term control systems

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Towards a FAIR-DICE IAM: Combining DICE and FAIR Models

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IFAC-PapersOnLine 2018年第5期51卷 126-131页

作者： Faulwasser, Timm Nydestedt, Robin Kellett, Christopher M. Weller, Steven R. Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Eggenstein-Leopoldshafen76344 Germany Department of Mathematics Royal Institute of Technology Lindstedtsvägen 25 Stockholm Sweden School of Electrical Engineering and Computing University of Newcastle CallaghanNew South Wales2308 Australia

The estimation of the Social Cost of Carbon Dioxide (SC-CO2) is one of the essential purposes of Integrated Assessment Models (IAMs) used in the economics of climate change. One of the most widely used IAMs in this context is DICE. However, the DICE geophysical subsystem fails to account for feedback from the climate subsystem to the carbon subsystem, an effect recently observed in climate physics. This paper investigates how to combine the recently proposed FAIR climate model with the socioeconomic subsystem of DICE. Based on an analysis of its differential-algebraic structure, we propose an efficient discretization of FAIR that provides a new discrete-time hybrid of DICE and FAIR denoted as FAIR-DICE. Finally, we compare estimates of the SC-CO2 obtained with DICE2013 with those obtained via FAIR-DICE. © 2018

关键词： Climate models Algebra Carbon dioxide Climate change Differential equations Economics DICE Differential algebraic equations FAIR Integrated assessment models Optimal controls

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Real-Time Optimization Based on Adaptation of Surrogate Models

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IFAC-PapersOnLine 2016年第7期49卷 412-417页

作者： Singhal, Martand Marchetti, Alejandro G. Faulwasser, Timm Bonvin, Dominique Laboratoire d'Automatique École Polytechnique Fédérale de Lausanne LausanneCH-1015 Switzerland Institute for Applied Informatics Karlsruhe Institute of Technology KarlsruheD-76131 Germany

Recently, different real-time optimization (RTO) schemes that guarantee feasibility of all RTO iterates and monotonic convergence to the optimal plant operating point have been proposed. However, simulations reveal that these schemes converge very slowly to the plant optimum, which may be prohibitive in applications. This note proposes an RTO scheme based on second-order surrogate models of the objective and the constraints, which enforces feasibility of all RTO iterates, i.e., plant constraints are satisfied at all iterations. In order to speed up convergence, we suggest an online adaptation strategy of the surrogate models that is based on trust-region ideas. The efficacy of the proposed RTO scheme is demonstrated in simulations via both a numerical example and the steady-state optimization of the Williams-Otto reactor. © 2016

关键词： Iterative methods Monotonic convergence On line adaptation Operating points plant feasibility Plant model mismatches Real time optimization Steady state optimization Surrogate model

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Internet Computing 2

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1000年

作者： Ali Sunyaev

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ON RESILIENCE OF FUTURE DECARBONISED ENERGY SYSTEMS IN EUROPE 8

ON RESILIENCE OF FUTURE DECARBONISED ENERGY SYSTEMS IN EUROP...

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8th International Hybrid Power Plants and Systems Workshop, HYB 2024

作者： Lotze, Jonas Moser, Massimo Hagenmeyer, Veit Department of Strategic Grid Planning TransnetBW GmbH Stuttgart Germany Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Eggenstein-Leopoldshafen Germany

ISBN: (纸本)9781837241521

The general scope the present model-based research is to analyse climate-neutral scenarios for Europe and to assess the respective resilience of the energy system. Two scenarios are therefore examined, one with an unrestricted global hydrogen market and the other with improved European energy resilience that limits pipeline imports of hydrogen from non-European countries. Key findings include increasing electrification of the heat and transport sectors, widespread use of Power-to-X appliances and, as a result, a doubling of total electricity consumption in Europe. On the power generation side, there is a need for massive expansion of renewables such as wind and photovoltaics. The analysis shows that a more resilient energy system will require additional electrolysis capacity, hydrogen storage and hydrogen grid capacity. The marginal cost of hydrogen will also increase as a result, and a higher price level will subsequently reduce the demand for hydrogen. The overall conclusion is that a transition from fossil fuels to renewables will, in any case, make the energy system much less dependent on imports and thus more resilient. © Energynautics GmbH.

关键词： Carbon capture and utilization

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Computer modeling application of fluid outflow from vessels

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Materials Science Forum 2019年 952卷 250-257页

作者： Kraváriková, Helena Faculty of Materials Science and Technology in Trnava Institute of Applied Informatics Automation and Mechatronics Bottova 26 Trnava917 24 Slovakia

The aim of the paper is to evaluate numerical analysis of the fluid flow during the outflow from vessel orifices at various locations. The problems of the outflow velocities and pressure fields were well-chosen for the given purposes. The selected fluid flow problems were solved by numerical simulation using FEM in ANSYS. For numerical simulation, we used the basic steps to design an abstract model in the ANSYS virtual environment. Numerical simulation requires a geometric model complemented by physical properties of flowing fluids as well as both the initial and boundary conditions. It is then possible to calculate the velocity and pressure fields by numerical simulation for a particular fluid type. The results obtained from the numerical simulation were compared with those of the analytical solution. The results obtained from modeling and numerical simulation correspond to the actual values with minimum deviations. The demonstrated type of the problem solved by numerical simulation and modeling confirmed the advantages and possibilities of flexible solutions for any combination of problems in the field of fluid dynamics. Modeling and numerical simulation of fluid flow can provide results regarding the speed and the pressure fields in vessels and pipelines. © 2019 Trans Tech Publications Ltd, Switzerland.

关键词： Orifices

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Internet Computing 1

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2020年

作者： Ali Sunyaev

ISBN: (数字)9783030349578

ISBN: (纸本)9783030349561

Intended as a textbook for upper undergraduate and graduate classes, it features a wealth of examples, learning goals and summaries for every chapter, numerous recommendations for further reading, and questions for checking students’ comprehension. A dedicated author website offers additional teaching material and more elaborate examples. Accordingly, the book enables students and young professionals in IT-related fields to familiarize themselves with the Internet’s basic mechanisms, and with the most promising Internet-based technologies of our time.

关键词： Computer and Information Systems Applications Business IT Infrastructure Computer Communication Networks Software Engineering

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Model-oriented safety analysis of dynamic technological systems

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applied Mechanics and Materials 2014年 474卷 127-134页

作者： Strbo, Milan Tanuska, Pavol Gese, Augustin Korytar, Marek Institute of Applied Informatics Automation and Mathematics Slovak University of Technology in Bratislava Paulínska 16 917 24 Trnava Slovakia

ISBN: (纸本)9783037859445

The paper deals with the safety analysis for dynamic technological systems. The analysis is performed in the phase of control system development. The SQMD method has been proposed to use for safety analysis of dynamical systems. We created models for safety-critical states of system using this method. The models are divided to qualitative and quantitative. Qualitative models are created by using of fuzzy logic. There we will use the knowledge and experience of safety analysis of similar systems. Quantitative models are constructed by using of differential and difference equations. Mathematical models are verified by simulation. Hybrid models for individual safetycritical states are constructed by synthesis of qualitative and quantitative models. Finally is performed on-line monitoring and fault detection in real system by using these hybrid models. © (2014) Trans Tech Publications, Switzerland.

关键词： Difference equations

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The effect of materials on the efficiency of the spiroid gearing

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Materials Science Forum 2018年 919卷 362-369页

作者： Riečičiarová, Eva Oravcová, Jarmila Slovak University of Technology Faculty of Materials Science and Technology Institute of Applied Informatics Automation and Mechtronics Bottova 25 Trnava917 24 Slovakia

The contribution deals with is the material selection for spiroid gear. The combination of the softer material of one wheel with the harder material of the other wheel (or gear worm) is used for the trains of gears. The measurements were executed on the measurement stand comprising the machine aggregate with the spiroid drive. In Stage 1 of measurement, the spiroid gear was made of the steel gear worm and of the bronze wheel, in Stage 2 of measurements, it was made of the steel gear worm and of the plastic wheel. The efficiency was evaluated for various levels of the load moment, lubrication and material type used. © 2018 Trans Tech Publications, Switzerland.

关键词： Efficiency

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Classification of Bundle Branch Blocks with QRS Templates Extracted from 12-lead ECGs

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Current Directions in Biomedical Engineering 2021年第2期7卷 582-585页

作者： Welle, Hannes Nagel, Claudia Loewe, Axel Mikut, Ralf Dössel, Olaf Institute of Biomedical Engineering KIT Fritz-Haber-Weg 1 Karlsruhe Germany Institute for Automation and Applied Informatics KIT Hermann-von-Helmholtz-Platz 1 Eggenstein-Leopoldshafen Germany

Being non-invasive, cheap and widely available, the 12-lead electrocardiogram (ECG) is a standard method to assess cardiac function. Still, its reliable interpretation requires specialized knowledge and experience, rendering a second opinion valuable. We evaluated the performance of machine learning based classification of 11,705 healthy and bundle branch block 12-lead ECGs from 3 open databases. For each lead of the ECG signal, a representative QRS-complex template was extracted automatically. Principal component analysis (PCA) was applied to the concatenated, normalized and rescaled QRS signals to reduce their dimensionality. Multilayer perceptron and support-vector machine classifiers were trained using the principal components of weighted and non-weighted QRS template signals as input data. Classifiers achieved F1 scores between 0.92 and 0.96 on the test set for different input configurations. Anomaly based weighting slightly improved the performance of the classifiers. Neither class-wise PCA for feature extraction nor adding information on sex, gender and electrical heart axis to the input data yielded considerable improvement of the F1 scores. The achieved classification accuracy is similar to deep learning classifier performances and should generalize robustly to other ECG datasets. Our results suggest that this simple and well interpretable approach based on morphological signal characteristics is suitable for automatically and non-invasively identifying bundle branch block pathologies in clinical or smart electronics contexts. © 2021 by Walter de Gruyter Berlin/Boston.

关键词： Electrocardiograms

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