2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)最新文献_第10页

Model-based controller design for antagonistic pairs of fluidic muscles in manipulator motion control 机械臂运动控制中对抗性流体肌肉对的模型控制器设计

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347868

Frank Schreiber, Yevgen Sklyarenko, G. Runge, W. Schumacher

引用次数: 11

Consistent control hierarchies with top layers represented by timed event graphs 一致的控制层次结构，顶层由定时事件图表示

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347921

Xavier David-Henriet, J. Raisch, L. Hardouin

{"title":"Consistent control hierarchies with top layers represented by timed event graphs","authors":"Xavier David-Henriet, J. Raisch, L. Hardouin","doi":"10.1109/MMAR.2012.6347921","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347921","url":null,"abstract":"To handle complexity in large scale control problems, a popular approach is to impose hierarchical control structures. Hierarchical control can be interpreted as an attempt to handle complex problems by decomposing them into smaller subproblems and reassembling their solutions into a “functioning” hierarchical structure. It typically involves a number of control layers operating on different time scales that may be clock driven or event driven. Signals on different levels of the control hierarchy may be of different granularity representing phenomena like measurement aggregation when passing from lower to higher level control. Within a suitable formal framework guaranteeing certain consistency conditions, complexity reduction is achieved by interpreting specifications for lower control levels as abstractions of the plant under low level control. An essential task within a hierarchical control synthesis procedure is then to come up with a suitable choice of specifications for the individual control layers. Because of the dual role of these specifications, this typically involves a non-trivial trade-off. E.g., imposing a less strict specification for a control layer will facilitate the control synthesis task for this layer, but will make the control synthesis task for higher level control more difficult. In this paper, this trade-off is formally investigated for a specific scenario, where the top control layer is only responsible for the timing of certain discrete events, and where the abstraction it is based on can be represented by a timed event graph (TEG).","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"28 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":"128133676","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

Fault detection and isolation of a hybrid synchronous machine using parity equations 基于奇偶方程的混合同步电机故障检测与隔离

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347892

S. Butt, R. Prabel, H. Aschemann

引用次数: 1

Multistage pattern recognition of signals represented in wavelet bases with reject option 用小波基表示信号的多级模式识别

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347907

Urszula Libal

引用次数: 3

Modeling, simulation and control for optimized operating strategies of combustion engine-based power trains 内燃机动力系统优化运行策略的建模、仿真与控制

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347903

A. Rauh, Julia Kersten, H. Aschemann

{"title":"Modeling, simulation and control for optimized operating strategies of combustion engine-based power trains","authors":"A. Rauh, Julia Kersten, H. Aschemann","doi":"10.1109/MMAR.2012.6347903","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347903","url":null,"abstract":"In this paper, two different control-oriented modeling strategies are presented for the dynamics of a combustion engine-based power train. The first modeling approach corresponds to a so-called inverse model relating a given drive cycle to the mass flow of fuel and to the total fuel consumption. The alternative modeling approach represents a direct system description in which the fuel mass flow serves as the system input, while the resulting vehicle acceleration and velocity are the corresponding output variables. These models are employed for the optimization of operating strategies with respect to the fuel consumption and for the design of observer-based feedback controllers which are validated by numerical simulations. These controllers are designed in such a way as to allow for a real-time implementation of a velocity control approach. The presented system models as well as the corresponding optimization and control strategies are the basis for an experimental implementation on a test rig that is currently being built up at the Chair of Mechatronics at the University of Rostock.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"38 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":"114289364","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

The 3D scanning system for the machine vision based positioning of workpieces on the CNC machine tools 基于机器视觉的数控机床工件定位三维扫描系统

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347906

K. Okarma, M. Grudziński

{"title":"The 3D scanning system for the machine vision based positioning of workpieces on the CNC machine tools","authors":"K. Okarma, M. Grudziński","doi":"10.1109/MMAR.2012.6347906","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347906","url":null,"abstract":"In the paper some algorithms applied for the calibration of the 3D scanning system and image analysis in the experimental system for positioning the workpieces on the CNC machines are discussed. The idea of the scanning is based on the application of photogrammetric algorithms using the fringe patterns approach. An experimental system consisting of three cameras and three structural light projectors has been built in order to acquire the images representing the scanned object with projected light patterns. These images are then analyzed in order to obtain the depth information for each point representing the workpiece or the background. Nevertheless, a good accuracy requires a proper calibration of the system considering the distortions introduced by the optics of the cameras and projectors. After the calibration, the acquisition of image series and their analysis, the 3D model of the object, represented as a point cloud, is obtained as the result, which should be filtered and can be fitted into the known model. The results obtained in the conducted experiments have also been compared to the effects of the application of an available commercial system with similar cameras.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"95 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":"130346293","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: 27

A model reference adaptive approach for state estimation in electromagnetic actuators 电磁执行器状态估计的模型参考自适应方法

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347862

Felix Prauße, J. Reuter

引用次数: 6

Numerical simulations and analytical analyses of the orbital capture manoeuvre as a part of the manipulator-equipped servicing satellite design 轨道捕获机动作为机动臂装备服务卫星设计的一部分的数值模拟和分析

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347926

T. Rybus, J. Lisowski, K. Seweryn, T. Barcinski

引用次数: 13

Application of idea of time-scale control to synthesis of control signals for linear and non-linear plants 时间尺度控制思想在线性和非线性对象控制信号合成中的应用

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347856

B. Grzywacz

{"title":"Application of idea of time-scale control to synthesis of control signals for linear and non-linear plants","authors":"B. Grzywacz","doi":"10.1109/MMAR.2012.6347856","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347856","url":null,"abstract":"The concept of control of plants represented by (1) has been proposed. Using (2),(3),(4),(5) one can determine plant input U(t) forming its output as Y(T), where “new” time T depending on time-scale A(t) is defined by dT=A(t) dt, whereas Y(t) is plant “reference” output obtained for A=1. Signal A(t) is obtained as result of static operation A(t)=q(e(t)), where q(0)=0 and e(t) is control system error. The technical applications can base on MFC structure (Fig. 4). The idea of control is simple: if e(t)=A(t)=0, then model (2) is decoupled, values of its state variables and output y are conserved. Because Y follows y (Fig. 4), then changes of plant output are stopped too. If e(t)=A(t) ≠0, then y and Y tend to reference signal yo and rate of follow-up action depends on q(e(t)). During this process the consecutive outputs of model and plant are y(T) and Y(T). Thus, the “reference” response Y(t) defines Y (T). The impressive results illustrating properties of proposed concept are shown in Fig. 5,6. Application of described method simplifies the analysis of system dynamics and yields perfect results of follow-up action (lack of overshoots, short setting times). The idea for SISO case has been generalized to form enabling control of MIMO plants.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"28 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":"130885821","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

Time-varying sliding-coefficient-based approach to the decoupled terminal sliding mode controller design 基于时变滑动系数方法的解耦终端滑模控制器设计

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347839

Husnu Bayramoglu, H. Komurcugil

引用次数: 0