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2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)最新文献

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The crane control systems: A survey 起重机控制系统综述
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347867
P. Hyla
{"title":"The crane control systems: A survey","authors":"P. Hyla","doi":"10.1109/MMAR.2012.6347867","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347867","url":null,"abstract":"The paper presents a survey of proposed in the scientific works, as well as applications implemented in industrial practice of anti-sway crane control systems based on the intelligent solution (fuzzy logic, neural network and genetic algorithm and hybrid combine solution. The other part of paper contain review of solution concern crane workspace visualization techniques with obstacle identification for non-collision payload trajectory path planning. Presented solution was base on the image processing techniques, especially base on the stereovision technique.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115609460","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: 45
Fast grid based collision avoidance for vessels using A∗ search algorithm 基于A *搜索算法的船舶快速网格避碰
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347858
Michael Blaich, M. Rosenfelder, Michael Schuster, O. Bittel, J. Reuter
{"title":"Fast grid based collision avoidance for vessels using A∗ search algorithm","authors":"Michael Blaich, M. Rosenfelder, Michael Schuster, O. Bittel, J. Reuter","doi":"10.1109/MMAR.2012.6347858","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347858","url":null,"abstract":"In this work a real-time grid based collision avoidance algorithm for vessels in maritime environments is presented. Most grid based collision avoidance approaches use Lee's algorithm to find an optimal collision-free path. The drawback of this algorithm is the long runtime for large grids. To reduce this runtime, in this work the A* search is used instead of Lee's algorithm. The algorithm additionally regards the physical constrains of the vessel and pays attention to the COLREGs. The runtime and the resulting path of Lee's algorithm and the A* search are compared in computational experiments. Furthermore, the performance of the collision avoidance on a real vessel on the Lake Constance is presented.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114892044","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: 25
Maximal asymptotics of neutral type systems 中立型系统的极大渐近性
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347816
G. Sklyar, P. Polak
{"title":"Maximal asymptotics of neutral type systems","authors":"G. Sklyar, P. Polak","doi":"10.1109/MMAR.2012.6347816","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347816","url":null,"abstract":"We consider a differential system of neutral type with distributed delay. We obtain a precise norm estimation of semigroup generated by the operator corresponding to the system in question. Our result is based on a spectral analysis of the operator and some uniform estimation of norms of the exponentials of matrices. We also discuss the stability properties of corresponding solutions and the existence of the fastest growing solution.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115531467","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
Adaptive neuro-predictive control of robot manipulators in work space 工作空间中机械手的自适应神经预测控制
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347864
Horiyeh Mazdarani, M. Farrokhi
{"title":"Adaptive neuro-predictive control of robot manipulators in work space","authors":"Horiyeh Mazdarani, M. Farrokhi","doi":"10.1109/MMAR.2012.6347864","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347864","url":null,"abstract":"This paper proposes an adaptive Nonlinear Model Predictive Controller (NMPC) for hybrid position/velocity control of robot manipulators. Robot dynamics have generally uncertainties, including parameters variations, unknown nonlinearities of the robot, payload variations, and torque disturbances form the environment. The cost function of the NMPC is defined in such a way that by adjusting its weighting parameters, the end-effector of the robot tracks a predefined geometry path in Cartesian space with a constant velocity. Moreover, in order to cope with uncertainties in the robot model neural networks with Levenberg-Marquardt training algorithm will be used to estimate adaptively the model of the robot. The closed-loop stability is demonstrated using Lyapunov theory. Simulation results of the proposed control method applied to a 3-DOF manipulator actuated by DC servomotors show satisfactory results for trajectory tracking in work space of the robot.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122371759","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
Repetitive models in gas transportation networks 天然气输送网络中的重复模型
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347850
S. Dymkou, M. Dymkov
{"title":"Repetitive models in gas transportation networks","authors":"S. Dymkou, M. Dymkov","doi":"10.1109/MMAR.2012.6347850","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347850","url":null,"abstract":"The problem of distributing gas through a network of pipelines is formulated as an linearized nonstationary differential repetitive model subject to some flow-pressure constraints of material balances and pressure bounds. The linear model is constructed in the neighborhood of the known basic operating regime of gas delivery. The considered problem is to minimize the total supply cost of a gas transmission company with the minimal guaranteed pressure at the nodes. Some aspects of a comprehensive optimization theory based on a `constructive approach' are discussed.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129127584","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 concept of time-varying FIR notch filter based on IIR filter prototype 基于IIR滤波器原型的时变FIR陷波滤波器概念
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347905
Sławomir Kocoń, J. Piskorowski
{"title":"A concept of time-varying FIR notch filter based on IIR filter prototype","authors":"Sławomir Kocoń, J. Piskorowski","doi":"10.1109/MMAR.2012.6347905","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347905","url":null,"abstract":"In this paper a concept of time-varying finite impulse response narrow band-stop (notch) filter with improved dynamic behaviour, based on infinite impulse response filter prototype, is proposed. In order to reduce the amplitude of the transient response of the proposed FIR notch filter the pole radius of the IIR filter prototype is temporarily varied in time. Optimization algorithm for finding the parameters for the function of the pole radius is presented. The proposed filters are tested using sinusoid, rectangle, and ECG signals. Computer simulations demonstrate that the proposed time-varying FIR filters outperform traditional time-invariant FIR filters.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121541559","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
On the control of discrete linear repetitive processes using previous pass windowed information 用前传加窗信息控制离散线性重复过程
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347913
B. Cichy, K. Gałkowski, E. Rogers
{"title":"On the control of discrete linear repetitive processes using previous pass windowed information","authors":"B. Cichy, K. Gałkowski, E. Rogers","doi":"10.1109/MMAR.2012.6347913","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347913","url":null,"abstract":"Summary form only given: A repetitive process makes a series of sweeps or passes through dynamics defined on a finite duration termed the pass length. The process output is termed the pass profile and when each pass is completed, resetting to the starting location occurs before the next pass begins. On each pass the previous pass profile acts as a forcing function on, and hence contributes to, the dynamics produced. The result can be oscillations that increase in amplitude form pass-to-pass and which cannot be controlled by standard control action. There has been a considerable volume of profitable work on the development of a control theory for these processes with more recent focus on the design of control laws. The novel contribution of this paper is a new design algorithm which makes more use of available previous pass profile information and reduces the conservativeness present in existing alternatives.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122256660","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
Using genetic algorithms to fix a route for an Unmanned Surface Vehicle 利用遗传算法为无人水面飞行器确定路线
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347838
T. Praczyk, P. Szymak
{"title":"Using genetic algorithms to fix a route for an Unmanned Surface Vehicle","authors":"T. Praczyk, P. Szymak","doi":"10.1109/MMAR.2012.6347838","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347838","url":null,"abstract":"The paper reports the research whose the goal was to test whether genetic algorithms are able to effectively and quickly determine a route for an Unmanned Surface Vehicle (USV). In a normal working mode, the vehicle is manually controlled from Mobile Command Center (MCC) located on the seashore or on a ship. However, when a radio-connection between the vehicle and the MCC is disrupted, the USV has to independently reach a destination point, along a path fixed by a Route Fixing System (RFS). In the paper, a solution is presented in which the role of RFS is played by a Canonical Genetic Algorithm (CGA). Effectiveness of this algorithm was tested experimentally on artificial images imitating a sea chart. Results of the experiments are presented at the end of the paper.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131379606","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
The Grünwald-Letnikov formula and its equivalent Horner's form accuracy comparison and evaluation for application to fractional order PID controllers gr<s:1> nwald- letnikov公式及其等效的Horner形式在分数阶PID控制器中的精度比较与评价
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347821
D. Brzezinski, P. Ostalczyk
{"title":"The Grünwald-Letnikov formula and its equivalent Horner's form accuracy comparison and evaluation for application to fractional order PID controllers","authors":"D. Brzezinski, P. Ostalczyk","doi":"10.1109/MMAR.2012.6347821","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347821","url":null,"abstract":"In this paper we discuss a problem of numerical calculation accuracy of the Fractional-order Backward Difference/Sum (FOBD/S) of some discrete functions applied in discrete control strategies, in real-time closed-loop systems. We compare Grünwald-Letnikov formula vs. its Horner's equivalent form, as well as their “simplified” forms, in our opinion, an interesting tool in minimization of the time and memory shortage problems often to meet in such systems.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132507681","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: 8
Stability of 3-D system described by the nonlinear Fornasini-Marchesini model 用非线性Fornasini-Marchesini模型描述三维系统的稳定性
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347909
J. Kurek
{"title":"Stability of 3-D system described by the nonlinear Fornasini-Marchesini model","authors":"J. Kurek","doi":"10.1109/MMAR.2012.6347909","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347909","url":null,"abstract":"Stability of a system described by the time-varying nonlinear 3-D Fornasini-Marchesini model is considered. There are given notions of stability of the system and theorem for stability and asymptotic stability of the system which can be considered as the Lyapunov stability theorem extension for the system.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"472 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130434283","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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