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2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)最新文献

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Multiparametric model predictive control and state estimation of the hypnotic component in anesthesia 麻醉中催眠成分的多参数模型预测控制与状态估计
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501357
I. Nascu, E. Pistikopoulos
{"title":"Multiparametric model predictive control and state estimation of the hypnotic component in anesthesia","authors":"I. Nascu, E. Pistikopoulos","doi":"10.1109/AQTR.2016.7501357","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501357","url":null,"abstract":"This paper describes multiparametric model predictive control strategies for the control of depth of anaesthesia. Based on a detailed compartmental model featuring a pharmacokinetic and a pharmacodynamics part, two different control strategies are employed: a nominal multiparametric model predictive control and a simultaneous multiparametric moving horizon estimation and model predictive control. The control strategies are tested on a set of 12 patients in the induction and maintenance phase and analyzed comparatively. Moreover the inter-as well as the intra-patient variability is analyzed in detail. The performed simulations show good performances and satisfactory behavior.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128914215","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Multi-view orientation estimation using Bingham mixture models
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501381
Sebastian Riedel, Zoltán-Csaba Márton, Simon Kriegel
{"title":"Multi-view orientation estimation using Bingham mixture models","authors":"Sebastian Riedel, Zoltán-Csaba Márton, Simon Kriegel","doi":"10.1109/AQTR.2016.7501381","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501381","url":null,"abstract":"This paper describes a multi-view pose estimation system, that is exploiting the mobility of a depth sensor through mounting it onto a robotic manipulator. Given a pose estimation algorithm that performs feature extraction and matching to a model database, we investigate the probabilistic modeling of the pose space as well as the measurement uncertainty, to be used in a sequential state estimation approach. Uncertainties in 3d position can be modeled in a parametric way by 3d Gaussians, but the space of rotations in 3d - the special orthogonal group SO(3) - requires approaches from directional statistics. A convenient representation for orientations are unit quaternions over which the Bingham distribution defines a parametric probability density function. The Bingham distribution also correctly accounts for the sign symmetry of orientation quaternions and leave degrees of freedom unconstrained (which is especially useful if an object is rotationally symmetric, with no unique quaternion describing its orientation). In our experiments we test different sequential fusion methods, optimize their parameters, and investigate how the derived filter performs in a case with high uncertainties.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131051808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
Advanced control of a wastewater treatment plant 污水处理厂的先进控制
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501337
Roxana Rusu-Both, I. Nascu
{"title":"Advanced control of a wastewater treatment plant","authors":"Roxana Rusu-Both, I. Nascu","doi":"10.1109/AQTR.2016.7501337","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501337","url":null,"abstract":"The aim of this paper is to design a multivariable H-infinity controller for a wastewater treatment plant. The use of advanced control strategies for such processes is necessary because wastewater plants have a nonlinear behavior and are extremely sensitive to the influent flow and load. Nonlinear mathematical models usually present a higher accuracy than the linear mathematical models, but due to their complexity, are difficult to use in control system design stages. The present approach uses a simple linear model of the process; an operational model that describes its most important properties. The use of an advanced control algorithm like H∞ robust design method, that takes into account the model uncertainties, came as a solution to counter act the simplifications introduced by using the operational mathematical model. The assessment of the developed control system is done by numerical simulation using the Matlab/SIMULINK environment.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130682236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Embedded speed control of BLDC motors using LPC1549 microcontroller 用LPC1549单片机实现无刷直流电机的嵌入式速度控制
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501341
Marius Rad, Florin Şimonca, Adrian Fratean, P. Dobra
{"title":"Embedded speed control of BLDC motors using LPC1549 microcontroller","authors":"Marius Rad, Florin Şimonca, Adrian Fratean, P. Dobra","doi":"10.1109/AQTR.2016.7501341","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501341","url":null,"abstract":"This paper presents a speed controller of a Brushless DC motor using root locus method. The control algorithm of the Brushless DC motor is implemented on LPC1549 microcontroller, using a hardware event driven state machine. This algorithm runs on a state configurable timer peripheral, without any intervention of the processor. The Hall sensors of the low cost motor are software calibrated in order reduce the output speed noise from the Brushless DC motor. The computational power of the microcontroller is used in order to achieve acceptable performances from a low cost Brushless DC motor.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130922845","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Factories of future towards next industrial revolution: Extended abstract 面向下一次工业革命的未来工厂:扩展抽象
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501272
I. Dumitrache
{"title":"Factories of future towards next industrial revolution: Extended abstract","authors":"I. Dumitrache","doi":"10.1109/AQTR.2016.7501272","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501272","url":null,"abstract":"The next industrial revolution progresses and will change markets, technologies, industries and society. Smart Systems Integration (SSI) with Cyber Physical Systems will have an high impact on the FoF. This paper introduces new concepts and new visions about next generation of the enterprises. The main capabilities of the CPS, IoT, IoS in the organization, management, optimization and control of production into Factories of Future (FoF) and the impact of nanosciences nanotechnology, intelligent materials and cognitive agents on the FoF are considered.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"467 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125153293","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Study about the dynamics of a translational robot axis based on ball screw transmission 基于滚珠丝杠传动的平移机器人轴线动力学研究
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501317
I. Negrean, C. Schonstein, K. Kacso
{"title":"Study about the dynamics of a translational robot axis based on ball screw transmission","authors":"I. Negrean, C. Schonstein, K. Kacso","doi":"10.1109/AQTR.2016.7501317","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501317","url":null,"abstract":"The paper is focused on a detailed dynamic study for an axis belonging to a serial robot structure. It contains an analytical study for the driving moments for a translational robot axis based on ball screw transmission. The study of transmission gearing, and implicit a rigorous determination of the driving moments, along the cinematic chain of the mechanical robotic system is a fundamental aspect, with deep implications in optimal robot design in terms of sizing, power consumption and accuracy.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"328 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113985525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Applications of (Mpdx) method in the numerical simulation of distributed and lumped parameter processes, for isotopic separation columns (Mpdx)方法在同位素分离柱分布和集总参数过程数值模拟中的应用
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501389
T. Colosi, M. Abrudean, M. Ungureșan, V. Muresan
{"title":"Applications of (Mpdx) method in the numerical simulation of distributed and lumped parameter processes, for isotopic separation columns","authors":"T. Colosi, M. Abrudean, M. Ungureșan, V. Muresan","doi":"10.1109/AQTR.2016.7501389","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501389","url":null,"abstract":"The paper proposes a solution for the numerical simulation of the 15N isotope distributed parameter separation process. In order to simulate the separation process, the matrix of partial derivatives of the state vector method, associated with Taylor series, is used. Also, an alternative form of a partial differential equation, of second order with two independent variables, is proposed to the Cohen equation, as the process model. The approximating solution which verifies the proposed partial differential equation represents an original element, too.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132528694","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Motor-drive solution for light electric vehicles based on a switched reluctance machine 基于开关磁阻电机的轻型电动汽车电机驱动解决方案
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501372
M. Ruba, D. Fodorean
{"title":"Motor-drive solution for light electric vehicles based on a switched reluctance machine","authors":"M. Ruba, D. Fodorean","doi":"10.1109/AQTR.2016.7501372","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501372","url":null,"abstract":"Worldwide nowadays there is a serious tendency of passing from internal combustion engines to electrical or hybrid propulsion systems. On this trend, the paper details the itinerary from concept to numerical validation of an electrical propulsion unit, dedicated for a light electric vehicle which is equipped with a switched reluctance machine (SRM). Starting from the design concept, analysis via complex simulations, appropriate power electronics and wise control strategies for torque smoothening, all the steps are presented, some of them in detail. One of the goals of the study is to maximize the efficiency and comfort ratings, by keeping in mind the most reduced investment, offering a complete design-numerical solution that can be extrapolated to higher power ratings.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133096659","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Modeling and parameter estimation for an activated sludge wastewater treatment process 活性污泥废水处理过程建模与参数估计
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501338
Nicoleta Ioana Hodasz, Vlad Ilie Bradila, I. Nascu, Z. Lendek
{"title":"Modeling and parameter estimation for an activated sludge wastewater treatment process","authors":"Nicoleta Ioana Hodasz, Vlad Ilie Bradila, I. Nascu, Z. Lendek","doi":"10.1109/AQTR.2016.7501338","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501338","url":null,"abstract":"Wastewater is treated in wastewater treatment plants (WWTP) through various physical, biological and chemical methods. A good control of WWTP processes could lead to better water quality and to an efficient use of energy. In order to control the treatment process all parameters need to be known. Some of them cannot be measured, so an estimate of the unknown parameters has to be used. This paper proposes the development of a linear model which will be used in future research for dynamic control design. To estimate the unknown parameters, a Luenberger observer and a Kalman filter are implemented.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117287298","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
On testing stability and flow-invariance of arbitrary switching positive systems via linear copositive Lyapunov functions 用线性合成李雅普诺夫函数检验任意切换正系统的稳定性和流动不变性
2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI: 10.1109/AQTR.2016.7501321
O. Pastravanu, M. Matcovschi
{"title":"On testing stability and flow-invariance of arbitrary switching positive systems via linear copositive Lyapunov functions","authors":"O. Pastravanu, M. Matcovschi","doi":"10.1109/AQTR.2016.7501321","DOIUrl":"https://doi.org/10.1109/AQTR.2016.7501321","url":null,"abstract":"The paper proposes an algebraic setting for the concrete construction of linear copositive Lyapunov functions associated with arbitrary switching positive systems; this approach complements a series of already reported results that are limited to the existence problem. Our development encompasses both discrete- and continuous-time dynamics, in a unifying manner, based on sets of quasi-linear inequalities and their solvability. The construction procedure can provide the linear copositive Lyapunov function exhibiting the optimal or ε-suboptimal decreasing rate. The procedure exploits the Perron-Frobenius eigenstructure of the representative matrix (built for columns), which possesses the greatest eigenvalue; the role of (ir)reducibility of this matrix is analyzed for some of mostly encountered practical cases. To illustrate the applicability of our developments, a numerical example from literature is considered.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124681956","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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