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2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)最新文献

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Independent Flight Management System for Unmanned VTOL Aircraft 无人垂直起降飞机独立飞行管理系统
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8486095
Adam Sikora, R. Czyba
{"title":"Independent Flight Management System for Unmanned VTOL Aircraft","authors":"Adam Sikora, R. Czyba","doi":"10.1109/MMAR.2018.8486095","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486095","url":null,"abstract":"In this paper control strategy for an independent flight management system of unmanned Vertical Take-off and Landing (VTOL) aircraft is taken into consideration. The developed algorithm allows to verify independently the current VTOL aircraft location and on the basis of it, to take appropriate actions in emergency states. Motivation to take up this problem is Medical Express UAV Challenge competition, which is one of the biggest events promoting the idea of autonomous control of Unmanned Aerial Vehicles (UAV). The paper presents assumptions of the project, concept of the system as well as the algorithm independently verifying the location, its software implementation and hardware realization. Finally, tests performed on a real device show that the concept and proposed algorithm with control strategies are satisfactory at this early concept level.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128285249","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
Unintended Synchronisation Between Rotational Speed and PWM Frequency in a PM BLDC Drive Unit 永磁无刷直流驱动单元中转速和PWM频率之间的意外同步
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8486090
A. Tutaj, T. Drabek, T. Dziwinski, J. Baranowski, P. Piątek
{"title":"Unintended Synchronisation Between Rotational Speed and PWM Frequency in a PM BLDC Drive Unit","authors":"A. Tutaj, T. Drabek, T. Dziwinski, J. Baranowski, P. Piątek","doi":"10.1109/MMAR.2018.8486090","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486090","url":null,"abstract":"In an electric drive with a three-phase PM BLDC motor, tasks of PWM modulation and six-step or twelve-step commutation of phases are usually combined and carried out by an MCU or CPU-controlled MOSFET or IGBT transistor bridge. That approach cuts down electronic element count, decreases size and price of the inverter and reduces power losses. However, at the same time it can also give rise to an undesired phenomenon of a spontaneous synchronisation (locking) between the motor rotational speed and the PWM frequency. An inverter-motor drive system may behave like an unintended phase-locked loop (PLL), endeavouring to keep a constant ratio between the six-step commutation frequency and the PWM modulation frequency. Resulting nonlinearity, discontinuity, hysteresis and nonuniqueness of the drive unit mechanical characteristic makes it difficult to develop a controller algorithm. The paper shows this unexpected and unwanted effect and investigates its causes.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128974343","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 Control-Oriented Modeling in Heat Transfer Based on a Projection Technique and the Method of Integrodifferential Relations 基于投影技术和积分-微分关系法的面向控制的传热建模
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8486037
V. Saurin, A. Rauh, H. Aschemann
{"title":"On Control-Oriented Modeling in Heat Transfer Based on a Projection Technique and the Method of Integrodifferential Relations","authors":"V. Saurin, A. Rauh, H. Aschemann","doi":"10.1109/MMAR.2018.8486037","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486037","url":null,"abstract":"In this paper, projection techniques of an initial-boundary value problem formulated originally in PDEs to a system of ODEs of small dimension are presented. Properties of various quadratic relations derived from energy terms that arise in different problems of mathematical physics are studied and discussed. As an example, integrodifferential formulations of a 2-D heat transfer problem are considered. A feedforward control problem for heat transfer processes in a metal plate is reduced to a system of ordinary differential equations based on the finite element method and semi-discrete approximations with polynomial basis functions for which an analysis of the problem is performed. Finally, results of numerical simulations are presented and discussed.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129090562","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
Performance Analysis of the Image Fusion Methods of the Proposed 2D Acoustic Camera 二维声相机图像融合方法的性能分析
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8485920
J. Rzepecki, S. Budzan, Stanislaw Wrona, M. Pawełczyk
{"title":"Performance Analysis of the Image Fusion Methods of the Proposed 2D Acoustic Camera","authors":"J. Rzepecki, S. Budzan, Stanislaw Wrona, M. Pawełczyk","doi":"10.1109/MMAR.2018.8485920","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485920","url":null,"abstract":"In this paper the fundamental acoustic camera issues have been presented. First, design and construction of the 2D microphone array with a vision camera have been described. Finally, acoustic camera has been improved by the fusion of the sound map and digital image from the vision camera. The authors describe in details some fundamental issues related to the acoustic camera construction. Experiments have been performed with NI cDAQ acquisition system equipped with $4times 4$ microphone array including 2D vision camera. The experiments have been concentrated on the evaluation of different image fusion algorithms performance. In result, for the specific purposes, especially for noisy spaces, some alternative method of the image fusion might be more efficient than standard algorithm.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"365 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124581133","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
Experimental Modelling of a Floating Offshore Wind Turbine 浮式海上风力发电机的实验建模
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8485979
Christian Lindquist, P. Nielsen, Rikke Pedersen, M. Soltani
{"title":"Experimental Modelling of a Floating Offshore Wind Turbine","authors":"Christian Lindquist, P. Nielsen, Rikke Pedersen, M. Soltani","doi":"10.1109/MMAR.2018.8485979","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485979","url":null,"abstract":"Leading wind turbine manufacturers are increasingly looking at the possibilities of sending offshore wind turbines to deep seas. This can be done using a Floating Offshore Wind Turbine (FOWT). Therefore FOWT is an interesting and timely field of study. The aim of the paper is to use System Identification (SI) to make a data-driven-based model for the FOWT system, located in Offshore Wind & Wave Laboratory at Aalborg University. This is achieved by conducting experiments and analyzing the data. SI is used to analyze data from the experiments and obtain different models. These models are then evaluated based on the fit, the frequency response, autocorrelation and crosscorrelation. Eventually, an AutoRegressive Moving Average and Extra input (ARMAX) model is shown to be the most accurate amongst the analyzed models.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126703201","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
Kinematic Track Modelling for Fast Multiple Body Dynamics Simulation of Tracked Vehicle Robot 履带式车辆机器人快速多体动力学仿真的运动学轨迹建模
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8486133
S. Morita, T. Hiramatsu, M. Niccolini, A. Argiolas, M. Ragaglia
{"title":"Kinematic Track Modelling for Fast Multiple Body Dynamics Simulation of Tracked Vehicle Robot","authors":"S. Morita, T. Hiramatsu, M. Niccolini, A. Argiolas, M. Ragaglia","doi":"10.1109/MMAR.2018.8486133","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486133","url":null,"abstract":"This paper presents modelling technique for fast computation of multiple body dynamics of a tracked vehicle robot. Tracks are modelled as a series of small rigid plates constrained to move on a fixed path defined by the outline of the whole track. The tracks are modelled without deformation, but the external force from the ground is considered and computed based on the contact force between the track plates and the ground. The constraint on the movement of the rigid plates allows to significantly reduce both the number of degrees-of-freedom of the whole system and the simulation time. The validation of the model has been carried out against both a full dynamics model and experimentally measured data.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123899704","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
Integrated Drive System of Robotic Arm Joint Used in a Mobile Robot 移动机器人机械臂关节集成驱动系统研究
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8485842
P. Tomaszuk, A. Lukowska, M. Rećko, K. Dzicrzck
{"title":"Integrated Drive System of Robotic Arm Joint Used in a Mobile Robot","authors":"P. Tomaszuk, A. Lukowska, M. Rećko, K. Dzicrzck","doi":"10.1109/MMAR.2018.8485842","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485842","url":null,"abstract":"The objective of the article is the design of compact cycloidal gear with built-in brushless motor and integrated driver. The assumption of the project is lightweight joint with high ratio and durability to use in a mobile robot. The main advantage of a cycloidal gear is low backlash and self-locking. One of the most significant design problems is off-axial work of some gear parts. The internal part which directly transfers torque is being put into off-axis motion by the eccentrical shaft. The solution to restoring axial movement is the application of the second stage which is orientated backwards to the first stage. The created unit is a differential pair of gears with input and output shafts move in one axis. The specificity of this system requires a difference of ratio by one between both stages to work correctly. A brushless DC motor has been applied to maintain compact size of joint. This kind of electric motor allows for precise control of angle and speed. Moreover, it can halt in any desired position while withholding the torque. The internal driver based on STM32 microcontroller unit with ARM-Cortex core is used to control the drive. Thanks to DC/DC converter power supply unit of the driver is adapted to use the same power source as the motor. A measure of the motor current allows the driver to calculate load and prevents winding overcurrent even when the motor is not rotating. The absolute magnetic encoder is fitted to precisely determine the inclination of joint. The most significant advantage of the integrated joint is standalone construction with own control unit. Control algorithm adjusts inclination and load. This independent module communicates with other units using CAN-bus. Robot's central computer sends only set values of angle, speed and acceleration.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123673063","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
Development of a Model Predictive Controller for an Unstable Heavy Self-Balancing Robot 不稳定重型自平衡机器人模型预测控制器的研制
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8486128
M. Okulski, M. Lawrynczuk
{"title":"Development of a Model Predictive Controller for an Unstable Heavy Self-Balancing Robot","authors":"M. Okulski, M. Lawrynczuk","doi":"10.1109/MMAR.2018.8486128","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486128","url":null,"abstract":"This paper describes development of a control system for a heavy self-balancing two-wheeled robot. The development process includes: model identification, model tuning, design and tuning of a Model Predictive Control (MPC) algorithm. Although a simple linear state-space model with only two state variables is used, the results of laboratory experiments clearly indicate that the MPC algorithm based on such a model works well, i.e. the algorithm is able to effectively stabilise the robot.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114344643","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
Physical Modelling of an Antagonistic Pneumatic Pivot Drive 对抗性气动枢轴传动的物理建模
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8486105
F. Winter, Daniel Rucker, Stefan Landkammer, R. Hornfeck, P. Heß, K. Paetzold
{"title":"Physical Modelling of an Antagonistic Pneumatic Pivot Drive","authors":"F. Winter, Daniel Rucker, Stefan Landkammer, R. Hornfeck, P. Heß, K. Paetzold","doi":"10.1109/MMAR.2018.8486105","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486105","url":null,"abstract":"This work deals with the physical modelling of an antagonistic, pneumatic pivot drive, including time dependencies. The developed system includes two pneumatic actuators to control the joint angle. These are a flexible foldable membrane for extension torque and a McKibben-type artificial muscle for flexion torque. Additionally, there are some non-manipulable elements, whose behaviour depends on the joint angle and their derivations. The physical description of the active and passive system components is the main part of this paper. The system is divided into five subsystems which are separately described. The evaluation part shows a comparison between model and real system. For this purpose, different experiments are presented and the suitability of the chosen model is discussed.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116285141","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
SVM Based Bearing Fault Diagnosis in Induction Motors Using Frequency Spectrum Features of Stator Current 基于定子电流频谱特征的支持向量机异步电动机轴承故障诊断
2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2018-08-01 DOI: 10.1109/MMAR.2018.8485986
I. Andrijauskas, R. Adaskevicius
{"title":"SVM Based Bearing Fault Diagnosis in Induction Motors Using Frequency Spectrum Features of Stator Current","authors":"I. Andrijauskas, R. Adaskevicius","doi":"10.1109/MMAR.2018.8485986","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485986","url":null,"abstract":"Induction motors are the most popular motors in the world. Unscheduled breakdowns often lead to financial losses. The most common failure of induction motors is bearing related. Typically, vibration measuring methods are used to diagnose this type of faults. This study relies on stator current based diagnosis of bearing faults. Compared to the measurement of vibration, the stator's current-based method is less invasive and physically do not require to reach the motor housing. In this study, the most informative features are selected from stator current spectrum amplitudes. Feature weight vector is created by the application of Neighbourhood Component Feature Selection method. Support Vector Machine is used as supervised machine learning method for classification. In order to investigate feature selection and classifier performance an experiment with three artificially caused bearing faults were performed. The most informative spectrum points are discussed.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116290433","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
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