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2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)最新文献

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Event-Triggering in Model Reference Quasi-Sliding Mode Control 模型参考准滑模控制中的事件触发
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874292
K. Adamiak
{"title":"Event-Triggering in Model Reference Quasi-Sliding Mode Control","authors":"K. Adamiak","doi":"10.1109/MMAR55195.2022.9874292","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874292","url":null,"abstract":"This study considers a linear discrete time system subject to external disturbances and presents the design of event-triggered sliding mode control. The problem is organized in two main sections. First, we design a model-based reference trajectory. With application of a generalized non-switching type reaching law to the model, we achieve finite time convergence of the reference sliding variable to zero. Next, a model following reaching law is applied to the perturbed system in order to drive its representative point to the demand position in each step. However, we update the designed control signal only when a certain triggering condition is met, therefore implementing an event-triggered control scheme. In the model following approach this condition is based on the error between the reference trajectory and the actual position of the system's representative point. As a result we not only limit the impact of external disturbances on the system but also reduce the need for communication between the system elements and provide more time for the intersampling calculations.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"52 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132772615","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
Application of Tiny-ML methods for face recognition in social robotics using OhBot robots 使用OhBot机器人的社交机器人人脸识别中的Tiny-ML方法的应用
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874278
Eryka Probierz, Natalia Bartosiak, Martyna Wojnar, Kamil Skowronski, A. Gałuszka, Tomasz Grzejszczak, Olaf Kędziora
{"title":"Application of Tiny-ML methods for face recognition in social robotics using OhBot robots","authors":"Eryka Probierz, Natalia Bartosiak, Martyna Wojnar, Kamil Skowronski, A. Gałuszka, Tomasz Grzejszczak, Olaf Kędziora","doi":"10.1109/MMAR55195.2022.9874278","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874278","url":null,"abstract":"The aim of this paper is to show the possible application of Tiny-ML family neural networks to social robots for face recognition. Social robotics is a constantly developing field that allows the production and development of robots whose task is to accompany humans, participate in social situations and perform specific educational, entertainment and therapeutic tasks. One of the fundamental problems of social robotics is the proper recognition of humans by robots. This poses a critical problem because it is the moment when human-robot contact is initiated. Widespread solutions, in addition to high efficiency, also require adequate computing power, which in social robots cannot always be provided. For this purpose, solutions from the Tiny-ML stream are used, i.e. such a construction of neural networks and machine learning that would be adapted to limited technological resources and, at the same time, equally effective. The paper uses a YOLOv4-tiny network, which was compared to a YOLOv5s solution, both in terms of efficiency and processing time. The proposed networks were tested on social robots of the OhBot type and with extended capabilities, by using Neural Sticks. The results obtained show the highest efficiency of the implemented YOLOv5s network using a Raspberry Pi along with an accelerator. The presented research is an opportunity to draw attention to the problem of computational complexity in robotic applications, and also has the potential to popularize social robots and their use in everyday life.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116654962","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: 1
Comparison of Mobile Platform Teleoperation Systems Using a Force-Torque Sensor and a Joystick 使用力-扭矩传感器和操纵杆的移动平台遥操作系统的比较
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874296
Adam Pawlowski, A. Wolniakowski, S. Romaniuk
{"title":"Comparison of Mobile Platform Teleoperation Systems Using a Force-Torque Sensor and a Joystick","authors":"Adam Pawlowski, A. Wolniakowski, S. Romaniuk","doi":"10.1109/MMAR55195.2022.9874296","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874296","url":null,"abstract":"Mobile robots are used in more and more applications nowadays. These applications involve the research, but also real-world and industrial niches have been found where these platforms fulfill important tasks. In recent years huge focus has been put on the autonomous operation of mobile robots. However, in many tasks a direct control exerted by a human operator is necessary. These tasks may, for example, include search and rescue operations, or other tasks where human intelligence has not been yet surpassed by the machine intelligence. Furthermore, even in simple and repetitive operations it is very much desired to allow for robot programming with Learning-by-Demonstration approach. Teleoperation is therefore a very important topic. There is an extensive research covering the problem of the Human-Machine Interface (HMI) aspect of teleoperation. Numerous devices exist that allow for human control of robotic platforms. These devices offer various advantages and disadvantages that make them suited for different modes of operation. In this work, we focus on implementing a mobile platform teleoperation system with the use of a force-torque sensor. We present the configuration of such system using ROS and compare experimentally the performance of the proposed device with a typicalapproach using joystick control","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132800766","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
Frequency-based Identification Routine for the Inertial Parameters of an Industrial Robot 基于频率的工业机器人惯性参数辨识方法
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874334
L. Gründel, Antonio Alipaz-Dicke, Minh Trinh, S. Storms, C. Brecher, D. Bitterolf
{"title":"Frequency-based Identification Routine for the Inertial Parameters of an Industrial Robot","authors":"L. Gründel, Antonio Alipaz-Dicke, Minh Trinh, S. Storms, C. Brecher, D. Bitterolf","doi":"10.1109/MMAR55195.2022.9874334","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874334","url":null,"abstract":"The frequency response of an industrial robot's (IR) speed-controlled system (SCS) provides valuable information about the inertial parameters of the respective manipulator. In addition, the frequency domain offers decisive advantages regarding parameter identification as opposed to the time domain. This paper presents an identification routine for the inertial parameters of a 6-degree-of-freedom (DOF) IR based on the frequency response measurements of the SCS and a genetic algorithm (GA) conditioning approach. These measurements are less susceptible to noise and offer the possibility to incorporate friction effects using phase information. In addition, the presented identification model is independent of the joint speed and acceleration, allowing for the optimization of the observation matrix exclusively through the pose. The GA is used to define an optimal set of poses while considering possible collisions at the same time.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132010839","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: 1
A new Sliding-Mode Control law for a Planar Dielectric Elastomer Actuator to Track wide-Band Trajectories 一种新的平面介电弹性体作动器宽带轨迹滑模控制律
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874331
S. O. Kassim, James D. J. MacLean, S. S. Aphale
{"title":"A new Sliding-Mode Control law for a Planar Dielectric Elastomer Actuator to Track wide-Band Trajectories","authors":"S. O. Kassim, James D. J. MacLean, S. S. Aphale","doi":"10.1109/MMAR55195.2022.9874331","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874331","url":null,"abstract":"Dielectric Elastomer Actuator (DEA) based soft robots are gaining widespread recognition for numerous applications such as; medical devices, bio-inspired systems and flexible prosthetics to name but a few. Due to their nonlinearity relating mostly to hysteresis and creep, most DEAs are subject to precision positioning challenges. To enable precise positioning, control-enabling DEA models and controllers are developed to curb the issues of their nonlinear dynamics. This paper presents a new Sliding-Mode Control (SMC) based on reaching law for precise position tracking of an adopted simplified and experimentally validated DEA model. The proposed reaching law incorporates a high-slope saturation function with an exponential denominator to drastically reduce chattering and enhance fast and finite convergence. The sliding-mode controller stability is validated using a Lyapunov candidate for asymptotic stable. Finally, Closed-loop simulations demonstrating the controller's effectiveness at suppressing chattering and tracking wide-band trajectories (triangular and sinusoidal) were implemented.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134644075","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: 1
Optimization of the Stabilization Problem for the Vehicle Active Suspension System Using Linear Dynamic Feedback Control 基于线性动态反馈控制的汽车主动悬架系统镇定优化问题
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874312
M. Długosz, P. Skruch
{"title":"Optimization of the Stabilization Problem for the Vehicle Active Suspension System Using Linear Dynamic Feedback Control","authors":"M. Długosz, P. Skruch","doi":"10.1109/MMAR55195.2022.9874312","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874312","url":null,"abstract":"In this paper, a vehicle suspension system in the form of a quarter-car suspension model is investigated. Such a model consists of two mass bodies connected via springs and dampers. The principle of active suspension control is to design an effective algorithm aimed at reducing the vibrations of the masses. From the application point of view, the effectiveness of the algorithm is related to a fast implementation, usually on an embedded platform with limited resources and performance metrics such as settling time and maximum overshoot. To meet these objectives, a linear dynamic control law is proposed in which the parameters are selected to minimize the defined performance index. The stability property of the closed-loop system is proved by the use of a Lyapunov functional and the LaSalle invariance principle. The effectiveness of the proposed stabilization approach is compared with that of the PID controller.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133828377","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
Modeling of temperature of 2D surface using fractional order transfer functions 二维表面温度的分数阶传递函数建模
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874330
K. Oprzȩdkiewicz, M. Rosół, W. Mitkowski
{"title":"Modeling of temperature of 2D surface using fractional order transfer functions","authors":"K. Oprzȩdkiewicz, M. Rosół, W. Mitkowski","doi":"10.1109/MMAR55195.2022.9874330","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874330","url":null,"abstract":"The paper proposes fractional order (FO) transfer function models to describe a dynamics of temperature of a flat surface. Parameters of transfer functions are identified via minimization of the MSE cost function, describing the difference between step response of a model and real experimental system. The step responses of models have been described by analytical formulae. Experiments were done with the use of thermal camera. The good accuracy of both proposed transfer function models in the sense of the MSE cost function has been confirmed by the experimental results.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129124728","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
Inverse Kinematics For Serial Robot Manipulator End Effector Position And Orientation By Particle Swarm Optimization 基于粒子群优化的串联机器人末端执行器位置和姿态逆运动学
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874317
L. Nguyen, Hasan Danaci, T. L. Harman
{"title":"Inverse Kinematics For Serial Robot Manipulator End Effector Position And Orientation By Particle Swarm Optimization","authors":"L. Nguyen, Hasan Danaci, T. L. Harman","doi":"10.1109/MMAR55195.2022.9874317","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874317","url":null,"abstract":"This paper investigates the use of Particle Swarm Optimization (PSO) approach in solving the inverse kinematics problem for serial robotic manipulators. Inverse kinematics is a fundamental problem in robotics: a set of joint angles must be calculated so that the robot arm can be manipulated to the corresponding desired end effector position and orientation. Traditional solution techniques include analytical methods which may or may not exist for a particular robot, numerical methods such as Newton-Raphson, Jacobian inverse and other techniques using swarm intelligence have been developed. Many of the reviewed robotic manipulator inverse kinematics solutions using swarm intelligence only deal with end effector position and not its orientation. Our PSO approach provides the convergence of a complete end effector pose and will be demonstrated using the Baxter Research Robot which has two seven-joint arms although the method can be applied to any general serial robotic manipulator.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129179511","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
A Heatmap-Based Approach for Analyzing Traffic Sign Recognition and Lane Detection Algorithms 基于热图的交通标志识别与车道检测算法分析
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874299
Bartosz Nieroda, Tomasz Wojakowski, P. Skruch, M. Szelest
{"title":"A Heatmap-Based Approach for Analyzing Traffic Sign Recognition and Lane Detection Algorithms","authors":"Bartosz Nieroda, Tomasz Wojakowski, P. Skruch, M. Szelest","doi":"10.1109/MMAR55195.2022.9874299","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874299","url":null,"abstract":"A heat map (or heatmap) is an efficient and convenient way to condense the information into a single snapshot. It can also be used in the analysis of high-dimensional data structures that are representative of large data sets generated by vehicle sensory systems. In this paper, we show how to generate such heat maps from vision data recorded by the front camera in the vehicle. We present two algorithms that can be applied to build heat maps that represent the detection status of traffic signs and road lanes. The resulting graphs can then be used to evaluate in a qualitative and quantitative way the Traffic Sign Recognition and Lane Detection functionalities that are part of Advanced Driver Assistance Systems. The effectiveness of the presented approach is illustrated in several use cases of applications.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126471884","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: 1
Observability of Singularly Perturbed Linear Time-Varying Systems on Time Scales 时间尺度上奇异摄动线性时变系统的可观测性
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874295
O. Tsekhan, E. Pawłuszewicz
{"title":"Observability of Singularly Perturbed Linear Time-Varying Systems on Time Scales","authors":"O. Tsekhan, E. Pawłuszewicz","doi":"10.1109/MMAR55195.2022.9874295","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874295","url":null,"abstract":"The problem of observability of singularly perturbed linear time-varying systems on any time model is considered. The robust on small singularity parameter sufficient conditions for complete observability of these classes of systems are presented. For this aim the decomposition approach on the basis of the Chang-type transformation is applied.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114605615","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: 1
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