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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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Automatic classification of specification of ERP modifications documents ERP修改文件规格自动分类
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874269
K. Grobler-Dębska, Bartlomiej Zak, M. Ciurla, Adam Domagała, Adam Czarnoleski, J. Baranowski
{"title":"Automatic classification of specification of ERP modifications documents","authors":"K. Grobler-Dębska, Bartlomiej Zak, M. Ciurla, Adam Domagała, Adam Czarnoleski, J. Baranowski","doi":"10.1109/MMAR55195.2022.9874269","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874269","url":null,"abstract":"Producing ERP software modifications during implementation is one of the longest lasting and most expensive stages of implementation.Although methodologies for conducting implementation projects are constantly being refined due to changing customer demands or technology, there are no tools to support the automation of implementation work. The paper presents the results of the InfoConsulting research and development project related to development of an NLP solution for implementation documentation in order to significantly shorten work and costs by automatically searching for similar solutions in previous implementations.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"23 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":"123094911","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
Constrained Control for Heterogeneous Vehicle Platoons 异构车辆排约束控制
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874264
Felix Seeland, Fritz Miekautsch, A. Fay, J. Horn
{"title":"Constrained Control for Heterogeneous Vehicle Platoons","authors":"Felix Seeland, Fritz Miekautsch, A. Fay, J. Horn","doi":"10.1109/MMAR55195.2022.9874264","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874264","url":null,"abstract":"Controlling platoons comprised of vehicles with heterogeneous dynamic ranges has gained interest in recent years. In particular, different dynamics in terms of actuation lag and saturation is still an open issue. In this paper, an approach is presented which exploits limitations introduced by vehicles downstream with more restricted dynamic range. For this purpose, a control scheme is developed based on the linearization of the transient response of key members of the platoon. Additionally, the transient performance in tracking a reference is separated from safety in terms of collision avoidance. To this end, the nominal linear control is augmented by enforcing constraints with zeroing control barrier functions.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"23 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":"123527545","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
Modelling and Simulation of an Autonomous Vehicle Ethical Steering Control System (ESCS) 自动驾驶车辆伦理转向控制系统(ESCS)建模与仿真
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874320
Joshua D'Souza, K. Burnham, James E. Pickering
{"title":"Modelling and Simulation of an Autonomous Vehicle Ethical Steering Control System (ESCS)","authors":"Joshua D'Souza, K. Burnham, James E. Pickering","doi":"10.1109/MMAR55195.2022.9874320","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874320","url":null,"abstract":"This research uses modelling and simulation tools to investigate a vehicle ethical steering control system (ESCS) for autonomous vehicles (AVs). The ESCS would be activated when unavoidable collisions are detected and an ethical decision in regard to the selection of a collision target needs to be made. The ESCS involves three stages with these being; kinematic bicycle model (to model an AV), steering angle control of the AV and velocity control of all AVs involved in the collision. In terms of the ESCS, the primary ethical approach is that of the utilitarian philosophy, i.e., steering into the path of least injury severity.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"21 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":"122837074","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
Active speed and cruise control of the mobile robot based on the analysis of the position of the preceding vehicle 基于前车位置分析的移动机器人主动速度和巡航控制
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874298
Olaf Kędziora, Tomasz Grzejszczak, Eryka Probierz, Natalia Bartosiak, Martyna Wojnar, Kamil Skowronski, A. Gałuszka
{"title":"Active speed and cruise control of the mobile robot based on the analysis of the position of the preceding vehicle","authors":"Olaf Kędziora, Tomasz Grzejszczak, Eryka Probierz, Natalia Bartosiak, Martyna Wojnar, Kamil Skowronski, A. Gałuszka","doi":"10.1109/MMAR55195.2022.9874298","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874298","url":null,"abstract":"The aim of this study was to implement a vision system on board of a Nvidia Jetson Nano along with a camera, and to implement the Jetracer platform control. To introduce the theoretical background, literature related to image processing, active cruise control, and autonomous vehicles was reviewed. The image processing and vehicle control methods used in this paper are then described. The remainder of the paper focuses on presenting an implementation of the described algorithms. This implementation was used to conduct tests, which show that the image processing methods investigated were sufficient to control the platform. Factors affecting the quality of control have also been described, these include vehicle speed and steering control gains. Comparative time dependencies of speed and steering level were plotted for selected trials, allowing the system delays to be noted.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"46 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121128662","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
Machine Learning for Self-Calibration Parameters of Data-Driven Models: Case Study of an Integrated Maintenance Digital Platform 数据驱动模型参数自校准的机器学习:一个集成维护数字平台的案例研究
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874272
J. Szpytko, Yorlandys Salgado Duarte, Lázaro Ramón Millares Barthelemy
{"title":"Machine Learning for Self-Calibration Parameters of Data-Driven Models: Case Study of an Integrated Maintenance Digital Platform","authors":"J. Szpytko, Yorlandys Salgado Duarte, Lázaro Ramón Millares Barthelemy","doi":"10.1109/MMAR55195.2022.9874272","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874272","url":null,"abstract":"A well-established problem always in the process of methodological improvement is the coordination of generator maintenance scheduling in Power Systems. Usually, the sources of changes and improvements are the wide range of conditions and singularities of Power Systems, such as structure, needs, technologies, resources, information, etc. The risk-oriented approach is one of the most accepted criteria to address this well-defined problem. However, there are hidden challenges of data-calibration-modeling and technology-integration when applying this approach. One of the most controversial is the calibration of model parameters and variables in the evaluated scenario, as they depend on historical data. In this paper, to address this controversial hidden challenge, we propose to use machine learning for on-line calibration by introducing smart layers based on comprehensive human diagrams that filter and analyze historical data collected through monitoring systems and make all variables and parameters of the risk model ready for use. In particular, we focus the attention on one of the model components, the load modeling. This proposed organic connection ensures a feasible and practical solution to be used in a real system because it addresses a potential challenge in technology integration.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"126 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":"115828047","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
Droneport: From Concept To Prototype Droneport:从概念到原型
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874309
Lukáš Bláha, O. Severa, Petr Barták, Tomáš Myslivec, A. Jáger, Jan Reitinger
{"title":"Droneport: From Concept To Prototype","authors":"Lukáš Bláha, O. Severa, Petr Barták, Tomáš Myslivec, A. Jáger, Jan Reitinger","doi":"10.1109/MMAR55195.2022.9874309","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874309","url":null,"abstract":"The paper deals with the development of an experimental mechatronic system for battery management of drones called Droneport. It was developed as an automatic system with battery swapping and recharging feature set outside the drone, allowing a quick return to a mission. The first part presents its mechanical design, installed instrumentation and software environment. The next section is dedicated to the description of the individual hardware components, highlighting particular problems that had to be solved to optimize the size, weight and fulfill robustness demands. The last section summarizes our observations regarding the contribution of this tool to the drone or UAV autonomy in general.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"110 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":"132530332","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
Simulated Annealing-based Energy Efficient Route Planning for Urban Service Robots 基于模拟退火的城市服务机器人节能路径规划
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874325
Jacob Bräutigam, Abhishek Gupta, D. Göhlich
{"title":"Simulated Annealing-based Energy Efficient Route Planning for Urban Service Robots","authors":"Jacob Bräutigam, Abhishek Gupta, D. Göhlich","doi":"10.1109/MMAR55195.2022.9874325","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874325","url":null,"abstract":"Product development and operational methods of autonomous robot MURMEL (Mobiler Urbaner Roboter zur MüllEimer Leerung) for smart waste management focuses on all three aspects of sustainability. The robot autonomously empties the dustbins on the streets of Berlin, and concentrates on social sustainability by reducing the impact on the health of the workers. As one of the approaches towards efficient ecological and economical sustainability, MURMEL has its own route planning method delivered from an operation management model. For the operation management, the dustbins are allocated waypoints to the robot. In this paper, a cost function considering energy consumption is optimized in order to improve the robot's global route planning. By conducting numerous experiments with varying algorithm parameter values, the specific weightage of route permutation operators and the initial temperature for a simulated annealing method with nearest neighbour approach was narrowed down to a well-performing set. For an implementation in an actual existing park in Berlin for operation scenario, our simulation results show an average overall reduction of 11 % energy consumption as compared to results from a nearest neighbour heuristic.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"5 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132870591","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 Framework for Model Sailing Simulation in Gazebo 凉亭模型航行仿真框架
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874293
A. Wolniakowski, Maja Czarna
{"title":"A Framework for Model Sailing Simulation in Gazebo","authors":"A. Wolniakowski, Maja Czarna","doi":"10.1109/MMAR55195.2022.9874293","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874293","url":null,"abstract":"Recently there has been increased demand in wind power usage in maritime transportation. At the same time, due to numerous advances, interest in autonomous mobile platforms is at its all-time peak. The utilization of green Unmanned Surface Vehicle fleets could provide enormous benefits in research, security and transportation. The development of autonomous sailing vehicles can be greatly assisted with the usage of simulation where the control, planning and navigation systems can be tested and implemented. Furthermore, great synergy can be achieved through integration of software systems of such platforms with existing popular robotic frameworks, such as ROS. In this paper we propose a flexible ROS-based framework for simulation of customizable sailing vessels, focusing on small scale models.","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":"132953685","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
Control of Unmanned Aerial Vehicles with Non-Minimum Phase Dynamics Using Parallel Differential Compensation 基于并联差分补偿的非最小相位动力学无人机控制
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874294
Agnieszka Pukacz, J. Kabzinski
{"title":"Control of Unmanned Aerial Vehicles with Non-Minimum Phase Dynamics Using Parallel Differential Compensation","authors":"Agnieszka Pukacz, J. Kabzinski","doi":"10.1109/MMAR55195.2022.9874294","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874294","url":null,"abstract":"A novel control approach is proposed for non-minimum phase systems. A differential compensator connected parallel to the plant is used to move RHP zeros to LHP positions. The proposed approach is applied to design a new autopilot – pitch angle controller for a tailless fix-wing drone. Examples demonstrate controller tuning and system performance.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"446 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":"122938174","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
Real-time path planning for Autonomous Navigation Systems of Unmanned Surface Vehicles 无人水面车辆自主导航系统的实时路径规划
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI: 10.1109/MMAR55195.2022.9874267
A. Lazarowska, A. Żak
{"title":"Real-time path planning for Autonomous Navigation Systems of Unmanned Surface Vehicles","authors":"A. Lazarowska, A. Żak","doi":"10.1109/MMAR55195.2022.9874267","DOIUrl":"https://doi.org/10.1109/MMAR55195.2022.9874267","url":null,"abstract":"The paper presents results of research on the development of collision avoidance algorithms dedicated for the application in the Autonomous Navigation Systems of Unmanned Surface Vehicles. Autonomous vehicles constitute a dynamically developing area of research. One of the main issues related to this technology is the ability to avoid collisions with obstacles. Deterministic and non-deterministic algorithms developed for the purpose of the Unmanned Surface Vehicle real-time path planning are briefly introduced and results of tests carried out in order to evaluate the proposed methods are presented.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"30 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":"126415815","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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