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2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)最新文献

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Demand Response of Multiple Households with Coordinated distributed Energy Resources 协同分布式能源多户需求响应研究
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528490
S. Taik, Jian Guo, B. Kiss, I. Harmati
{"title":"Demand Response of Multiple Households with Coordinated distributed Energy Resources","authors":"S. Taik, Jian Guo, B. Kiss, I. Harmati","doi":"10.1109/MMAR49549.2021.9528490","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528490","url":null,"abstract":"The optimal energy consumption of aggregated smart households is presented in this paper. The households are assumed to be equipped with distributed energy resources (electric vehicle, energy storage system, photovoltaic panel) besides the grid. The model is established to shift major loads and to allow energy exchangeability among the households. The common objective is to minimize the total electricity costs by maximizing local energy usage at the household and neighborhood levels. A noncooperative game-theoretic model, combined with a mixed-integer-programming model, is developed to satisfy the neighbor-hood's economic and energetic needs. The neighborhood's total electricity costs are reduced using the proposed method, and it is verified through simulation results.","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"43 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120836570","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
Highway Pilot Training from Demonstration 从示范看公路飞行员培训
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528436
Nikodem Pankiewicz, Wojciech Turlej, Mateusz Orłowski, T. Wrona
{"title":"Highway Pilot Training from Demonstration","authors":"Nikodem Pankiewicz, Wojciech Turlej, Mateusz Orłowski, T. Wrona","doi":"10.1109/MMAR49549.2021.9528436","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528436","url":null,"abstract":"As driving task has been and still is the domain of humans, they are a relatively good model of how to behave on road. However, as we would like to constantly raise standards of safety and efficiency of transportation by automated driving, simple imitation of human driving seems not to be good enough. In this paper, we present a method for learning a baseline agent represented as a neural network, which is responsible for planning the behaviour of an automated car, based on a set of expert demonstrations. We show that imitation learning could be a promising way for achieving initial policy, which is almost as effective as human. The generated policy could be then fine-tuned by the reinforcement learning methods. We show that such an approach suits well for an automated driving task and allows faster training of the RL-based artificial driver.","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121090443","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
Method for Road Occlusions Handling in Generic Sensor Models 通用传感器模型中道路遮挡处理方法
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528443
M. Jasinski
{"title":"Method for Road Occlusions Handling in Generic Sensor Models","authors":"M. Jasinski","doi":"10.1109/MMAR49549.2021.9528443","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528443","url":null,"abstract":"Due to the increasing complexity of Advanced Safety systems, a strong endeavor is required to acquire realistic and real-time capable simulations, in order to enable robust and easily reproducible system verification in virtual environments. To make simulations reliable, high-fidelity sensor models are required. One of the approaches is to implement a generic sensor model that explicitly emulates the output of an object detection algorithm, based on high-level simulation data. However, such a model has to accurately handle object-based occlusions, to assure that shadowed objects are not detected. Various generic sensor models available in the literature already solve the problem of how to estimate occlusions, given a set of objects. Nevertheless, none of the models takes into account a road profile, i.e. hills. The method proposed in this paper provides an accurate and easy to implement road profile estimation using a set of bounding boxes. Thanks to the generated structures, a road-based shadowing can be enabled in any of the object-based generic sensor models. The obtained results clearly show the robustness and usefulness of the proposed methodology.","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126860010","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
Nonlinear Luenberger observer for systems with quantized and delayed measurements 具有量子化和延迟测量系统的非线性Luenberger观测器
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528488
B. Rehák, V. Lynnyk
{"title":"Nonlinear Luenberger observer for systems with quantized and delayed measurements","authors":"B. Rehák, V. Lynnyk","doi":"10.1109/MMAR49549.2021.9528488","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528488","url":null,"abstract":"A Luenberger-like observer for nonlinear systems with quantized measurements is proposed. The observer design is based on the solution of a certain partial differential equation that is solved numerically. Then, stability of this observer is proved even in presence of quantized measurements and delayed measurements. The results are illustrated by an example.","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115261298","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
Fixed Wing Deflection Measurement using Sensor Fusion 基于传感器融合的固定翼偏转测量
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528493
J. Sasiadek, Julius O. Adoghe
{"title":"Fixed Wing Deflection Measurement using Sensor Fusion","authors":"J. Sasiadek, Julius O. Adoghe","doi":"10.1109/MMAR49549.2021.9528493","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528493","url":null,"abstract":"The system presented in this paper integrates measurements from Deflection-Detection-Vision-System (DDVS) and strain gauge sensors to calculate the dynamic performance of the unmanned aerial vehicle (UAV) fixed-wing. The fusion results are more accurate and reliable than the measurement from the single sensor alone, and this is used to design an advanced control system. Unscented Kalmar Filter (UKF) is the choice of fusion method because it gives better performance in dealing with nonlinear systems and deals with white and color Gaussian noise. The presented novel measurement and control system gives accurate shape and deflection of the fixed-wing, which will be used to calculate the aerodynamic performance. The DDVS was verified in extensive experiments with the system installed in the wind tunnel. The objective of experiments conducted was to determine the wing's deflection in flight parameters' function. The results of the camera and strain gauges integration resulted in accurate measurements in comparison with results obtained from one sensor only.","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122474575","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
Incremental 3D Maps Server based on Feature Matching for Multi-robot Systems 基于特征匹配的多机器人系统增量三维地图服务器
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528427
M. Drwiega
{"title":"Incremental 3D Maps Server based on Feature Matching for Multi-robot Systems","authors":"M. Drwiega","doi":"10.1109/MMAR49549.2021.9528427","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528427","url":null,"abstract":"This paper describes an incremental 3D maps server based on the point feature matching, which is dedicated to multi-robot systems. The idea behind the presented map server is that it maintains the 3D map by subsequent merging of received partial maps. The solution can be applied to distributed systems where each robot have its own map server instance and maintains a separate map instance. On the other side, in centralized robots systems, it can be one map server instance which integrates partial maps from robots, creates the common map and propagates it to the robots. The process of adding incoming maps consists of few steps. The first one is called a global alignment and is based on the feature extraction, description and matching with the assumption that the maps have an overlapping area. Then, the solution from the first step is used as the initial solution in the next step and it is corrected with a local alignment method. The last step is the data merging to obtain one, globally consistent model in the octree based representation. The presented solution was verified in the experiment with a group of wheeled robots - Turtlebots.","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128328959","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
Design of a phantom device with a safety system based on a non-invasive method of monitoring blood flow within an operator's arm 基于非侵入性方法监测操作者手臂内血流的安全系统的幻影装置的设计
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528428
K. Kamienski, M. Rećko, K. Dzierżek
{"title":"Design of a phantom device with a safety system based on a non-invasive method of monitoring blood flow within an operator's arm","authors":"K. Kamienski, M. Rećko, K. Dzierżek","doi":"10.1109/MMAR49549.2021.9528428","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528428","url":null,"abstract":"Paper presents the design process of a safety system for an exoskeletal phantom device. The device would enable remote control of a mobile robot equipped with a robotic arm. Systems creation is backed by an analysis of oxypulsometer based measurements using Cross Recurrence Plots, Recurrence Quantification Analysis and Principal Component Analysis. Studies provided clear answers to potential viability and use case of solution","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129000898","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
Power and Water for an off-grid resort 离网度假胜地的水电
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528475
F. Tadeo, M. Nachidi, Victor Lépine
{"title":"Power and Water for an off-grid resort","authors":"F. Tadeo, M. Nachidi, Victor Lépine","doi":"10.1109/MMAR49549.2021.9528475","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528475","url":null,"abstract":"The feasibility of replacing fossil fuel energy with a hybrid renewable energy system is studied for a case study in the hospitality industry. More precisely, the analysis concerns an isolated accommodation establishment, not connected to the electricity grid, which has to meet its needs for water and electricity. The proposal is evaluated for a specific case study with positive results.","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126907718","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
On the problem of optimised allocation of water quality sensors and actuators in DWDS DWDS中水质传感器和执行器的优化配置问题
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528449
T. Zubowicz, R. Langowski
{"title":"On the problem of optimised allocation of water quality sensors and actuators in DWDS","authors":"T. Zubowicz, R. Langowski","doi":"10.1109/MMAR49549.2021.9528449","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528449","url":null,"abstract":"The problems of water quality sensors and actuators placement in drinking water distribution systems (DWDSs) are addressed as separate, primarily. However, against the background of control systems theory, the nature of DWDSs dynamics indicates that these both problems are interdependent and impact the design of related water quality monitoring and control structures and algorithms. The research work presented in this paper is to investigate the state-of-the-art in this field and discuss the problems of water quality sensors and actuators placement within DWDS and to highlight the potential benefits of considering the joint task of their allocation.","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123853397","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
Numerical modeling of the possibility of scale power growth of the internal combustion engine in real time 内燃机规模功率实时增长可能性的数值模拟
2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2021-08-23 DOI: 10.1109/MMAR49549.2021.9528472
I. Korobiichuk, V. Mel'nick, V. Karachun, Vladyslav Shybetskyi, S. Kostyk
{"title":"Numerical modeling of the possibility of scale power growth of the internal combustion engine in real time","authors":"I. Korobiichuk, V. Mel'nick, V. Karachun, Vladyslav Shybetskyi, S. Kostyk","doi":"10.1109/MMAR49549.2021.9528472","DOIUrl":"https://doi.org/10.1109/MMAR49549.2021.9528472","url":null,"abstract":"A technical solution is proposed to improve the operational properties of the internal combustion engine in the process of operational use. The means for this is the formation of an additional blowing of the air mixture in the working volume, thanks to the artificially formed caustic surface. It is shown that low-frequency, below the cutoff frequency, oscillations artificially formed in cylindrical glasses of the engine under certain conditions, namely, with wave coincidence, as well as with a significant wave size of the glass surface, are formed coaxially to the glass of the caustic surface in the form of a cylindrical, increased energy activity of liquid-phase component of the engine, radically enriched with cavitation bubbles of various sizes. The presence of a wave coincidence, which forms a resonant environment in the combustion chamber, makes it possible to practically use the energy of sound irradiation practically without losses for automatic or semi-automatic regulation of the formation of a caustic surface of a given size.","PeriodicalId":212910,"journal":{"name":"2021 25th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125705939","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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