2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)最新文献_第5页

Electrochemical impedance spectroscopy applied for assessment of electrodes used in EEG examination 电化学阻抗谱用于脑电图检查中电极的评价

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046901

P. Makiewicz, J. Górecka

引用次数: 0

Experimental results of stable time-varying multi-notch filter 稳定时变多陷波滤波器的实验结果

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046832

Sławomir Kocoń, P. Okoniewski, J. Piskorowski

引用次数: 3

Stiffness variations in granular jamming robots; an experimental method 颗粒堵塞机器人的刚度变化实验方法

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046907

Seyed Mohammad Zeyb Sayyadan, M. Moniri, F. Gharib

{"title":"Stiffness variations in granular jamming robots; an experimental method","authors":"Seyed Mohammad Zeyb Sayyadan, M. Moniri, F. Gharib","doi":"10.1109/MMAR.2017.8046907","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046907","url":null,"abstract":"One of the most challenging issues of granular jamming robots is both predicting and measuring the stiffness variations which are a direct function of elastic module. In this regard, in previous researches, it had demonstrated that the elastic module of robot's bulk is a fundamental function of vacuum pressure and must be acquired by experimental tests. However, there was not a unique formulation for both computing and predicting the accurate elastic module in each unique amount of vacuum pressure. Therefore, in this paper, for addressing the problem, the elastic module of jammable segments is calculated in each considered vacuum pressure and we have introduced a both simple and beneficial formulation to predict the amounts of stiffness based on variations of vacuum pressure. The proposed procedure was examined by performing an experimental test as well. On the other hand, the necessity of identifying organic material was felt due to introduction of just one organic granular material in previous researches for applying. Hence, four new organic granular materials were selected and also tested. Consequently, a usable blend of two of them was presented which was mixed of black Pepper seeds and Datura grains. This blend had a lightweight construction with high ratio of strength under external forces, therefore, it can be applied when a both high-strength and lightweight jammable structure in robotics is required.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122398736","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: 3

Relating phase-field and perimeter based structural optimization of variational inequalities 基于相场和周长的变分不等式结构优化

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046887

A. Myslinski, Konrad Koniarski

{"title":"Relating phase-field and perimeter based structural optimization of variational inequalities","authors":"A. Myslinski, Konrad Koniarski","doi":"10.1109/MMAR.2017.8046887","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046887","url":null,"abstract":"The paper is concerned with the analytical aspects of the structural optimization problems for elastic bodies in the unilateral contact with a given friction. The contact phenomenon is governed by the second order elliptic variational inequality. The aim of the topology optimization problem is to find such material density distribution function in a domain occupied by the body to minimize its normal contact stress. The original optimization problem is regularized in terms of the phase field model using Ginzburg-Landau free energy functional rather than the domain perimeter functional. In this model the width of the interfaces between the domain material phases is dependent on a small parameter. Therefore the goal of this paper is to investigate the relation between the phase field and the perimeter functionals regularized optimization problems as the width interface parameter tends to zero. Using the shape sensitivity approach the first order necessary optimality conditions for these two optimization problems are formulated. As the interface width parameter tends to zero the convergence of the first order necessary optimality conditions for the phase field regularized optimization problem to the first order necessary optimality conditions for the perimeter regularized optimization problem obtained in the framework of shape calculus is shown. Details of numerical implementation as well as numerical examples are provided and discussed.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127927765","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

Robust fractional order controller for a linear active magnetic bearing system 线性主动磁轴承系统的鲁棒分数阶控制器

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046906

T. Nartowicz, E. Pawłuszewicz, A. Mystkowski

引用次数: 5

Desiginig of active vibration control system for smart structure 2-D with non-collocated piezo-elements 二维非配位压电元件智能结构振动主动控制系统设计

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046976

A. Koszewnik

引用次数: 1

On-line spectrophotometric measurements of isopropanol concentration in process of nebulization 雾化过程中异丙醇浓度的在线分光光度测定

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046925

D. Choiński, W. Ilewicz, P. Krauze, Piotr Skupin, Zdzislaw Bielecki

引用次数: 0

Semi-symbolic operational computation for robust control system design 鲁棒控制系统设计的半符号运算

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046927

L. Gil, M. Radetzki

{"title":"Semi-symbolic operational computation for robust control system design","authors":"L. Gil, M. Radetzki","doi":"10.1109/MMAR.2017.8046927","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046927","url":null,"abstract":"Semi-symbolic simulation is becoming popular for inclusion of parameter uncertainties in the system design analysis. For robust control system design optimization, computational methods enabling fast semi-symbolic simulations are necessary. We propose an operational computation method based on orthogonal signals that is faster than step integration methods and allows the direct evaluation of system robustness to parameter variations. In order to improve the simulation performance during design optimization, we derive a novel operational method to compute the multiplication of signal expansions. Thus, common nonlinear cost functions can be directly computed, using only signal coefficients. The evaluation of signals during the optimization is avoided by this method, which is a significant advantage compared to other known approaches for dynamic system simulation. We validate the capability of our design methodology for the improvement of system performance and robustness by optimizing a DC motor control. The obtained results show that affine arithmetic computations are well suited for robust control system design optimization in the time domain.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129598455","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

Robust identification of quadrocopter model for control purposes 用于控制目的的四旋翼飞行器模型鲁棒辨识

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046849

K. Arminski, T. Zubowicz

引用次数: 5

Adaptive head movements tracking algorithms for AR interface controlled telepresence robot AR界面控制的远程呈现机器人自适应头部运动跟踪算法

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI: 10.1109/MMAR.2017.8046918

A. Shchekoldin, A. D. Shevyakov, Nikolay U. Dema, S. Kolyubin

引用次数: 3