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

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Controllability conditions of rotating beams and a construction of an optimal control 旋转梁的可控性条件及最优控制的构造
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347835
G. Sklyar, J. Wozniak
{"title":"Controllability conditions of rotating beams and a construction of an optimal control","authors":"G. Sklyar, J. Wozniak","doi":"10.1109/MMAR.2012.6347835","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347835","url":null,"abstract":"We present our works concerning controllability problem for Timoshenko beams rotating in a horizontal plane. Characterization of the set of null-reachability is given, the optimal control problem is stated and a numerical method of obtaining the solution is presented.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"48 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":"122541446","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
Closed — Loop system synthesis with the variable-, fractional — Order PID controller 闭环系统综合采用可变、分数阶PID控制器
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347819
P. Ostalczyk, P. Duch
{"title":"Closed — Loop system synthesis with the variable-, fractional — Order PID controller","authors":"P. Ostalczyk, P. Duch","doi":"10.1109/MMAR.2012.6347819","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347819","url":null,"abstract":"In the paper a closed - loop synthesis method based on the plant measured step response knowledge is proposed. Having the plant step response data one uses the discrete convolution sum to a linear controller synthesis. The method doesn't require building the plant mathematical model. Appropriate filtering of the plant step response enables to describe the closed - loop system with a controller. The method is illustrated be an example.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"26 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":"124839848","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: 11
Specification of control goals for mechanical systems as function minimization problem 作为功能最小化问题的机械系统控制目标的说明
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347817
Pawel Cesar Sanjuan Szklarz, E. Jarzębowska
{"title":"Specification of control goals for mechanical systems as function minimization problem","authors":"Pawel Cesar Sanjuan Szklarz, E. Jarzębowska","doi":"10.1109/MMAR.2012.6347817","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347817","url":null,"abstract":"A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then related to a function minimization problem over the system trajectory. It is shown that such minimization problems are strictly related to the Lyapunov condition.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"43 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":"125391759","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 path following control of a unicycle based on the chained form of a kinematic model derived with respect to the Serret-Frenet frame 基于基于Serret-Frenet框架的链式运动学模型的独轮车路径跟随控制
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347814
J. Plaskonka
{"title":"The path following control of a unicycle based on the chained form of a kinematic model derived with respect to the Serret-Frenet frame","authors":"J. Plaskonka","doi":"10.1109/MMAR.2012.6347814","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347814","url":null,"abstract":"In the paper the path following problem for a wheeled mobile robot of (2,0) type is considered. The Serret-Frenet frame is used to describe the robot relative to the desired path. The way how to transform obtained equations describing kinematic model derived with respect to the Serret-Frenet frame into the chained form is introduced. The kinematic control algorithm which is a combination of Astolfi algorithm - used for systems in the chained form - and Samson algorithm - dedicated to the unicycle - is proposed and compared to the Morin-Samson algorithm. Simulation results are shown to verify the effectiveness of the proposed method.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"40 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":"114784196","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: 14
Modeling and control of a novel FES driven assisted cycling mechanism 一种新型FES驱动辅助循环机构的建模与控制
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347842
S. Abdulla, O. Sayidmarie, S. Gharooni, M. Tokhi
{"title":"Modeling and control of a novel FES driven assisted cycling mechanism","authors":"S. Abdulla, O. Sayidmarie, S. Gharooni, M. Tokhi","doi":"10.1109/MMAR.2012.6347842","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347842","url":null,"abstract":"Functional Electrical Stimulation (FES) driven cycling using single muscle group, the quadriceps, is achieved using PID controller with a novel assisting mechanism represented by a flywheel with an electrical clutch. This mechanism is useful for disabled individuals whose muscles are weak and unable to push a fix-geared flywheel. The flywheel is engaged and disengaged by the clutch when necessary to assist or retard the cycling without imposing additional load on the person's leg muscle. A comparison between this new mechanism and a previously proposed method show positive results of the new mechanism towards reducing the number of muscle stimulation which leads to delay muscle fatigue and consequently promoting prolonged FES driven cycling for paralyzed people.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"27 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":"124083870","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: 5
Optimal risk-sensitive controller for second degree stochastic polynomial systems 二阶随机多项式系统的最优风险敏感控制器
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347836
M.T. Torres, M. A. Alcorta-Garcia
{"title":"Optimal risk-sensitive controller for second degree stochastic polynomial systems","authors":"M.T. Torres, M. A. Alcorta-Garcia","doi":"10.1109/MMAR.2012.6347836","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347836","url":null,"abstract":"This paper presents the optimal risk-sensitive controller problem for second degree polynomial stochastic systems with a scaling intensity parameter, multiplying the diffusion term in the state, observations equations and exponential-quadratic cost function to be minimized. The optimal risk-sensitive controller equations are obtained based on the optimal risk-sensitive filtering and control equations for second degree polynomial systems and the separation principle for polynomial systems. The performance of the equations of the controller risk-sensitive of second grade equations is verified in a numerical example compared to the conventional bilinear-quadratic controller equations for second degree polynomial systems. The simulation results reveal significant advantages in the criterion values in favor of the designed risk-sensitive controller, for all values of the scaling parameter.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"64 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":"123123607","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
Constrained controllability of semilinear dynamical systems with delay in control 具有时滞控制的半线性动力系统的约束可控性
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347887
K. Jerzy
{"title":"Constrained controllability of semilinear dynamical systems with delay in control","authors":"K. Jerzy","doi":"10.1109/MMAR.2012.6347887","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347887","url":null,"abstract":"In the paper finite-dimensional dynamical control systems described by first order semilinear both stationary and nonstationary ordinary differential state equations with single variable point delay in control are considered. Using a generalized open mapping theorem, sufficient conditions for constrained local controllability in a given time interval are formulated and proved. These conditions require verification of constrained global controllability of the associated linear first-order stationary or nonstationary dynamical control systems. It is generally assumed, that the values of admissible controls are in a convex and closed cone with vertex at zero. Moreover, several remarks and comments on the existing results for controllability of semilinear dynamical control systems are also presented. Finally, simple numerical example which illustrates theoretical considerations is also given. It should be pointed out, that the results given in the paper extend for the case of semilinear nonstationary first-order dynamical systems constrained controllability conditions, which were previously known only for linear stationary first-order systems.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"4 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":"125736450","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 singular values decomposition and patterns for human motion analysis and simulation 人体运动分析与仿真的奇异值分解与模式
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347916
A. Datas, P. Chiron, J. Fourquet
{"title":"On singular values decomposition and patterns for human motion analysis and simulation","authors":"A. Datas, P. Chiron, J. Fourquet","doi":"10.1109/MMAR.2012.6347916","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347916","url":null,"abstract":"We are interested in human motion characterization and automatic motion simulation. The apparent redundancy of the humanoid w.r.t its explicit tasks lead to the problem of choosing a plausible movement in the framework of redundant kinematics. This work explores the intrinsic relationships between singular value decomposition at kinematic level and optimization principles at task level and joint level. Two task-based schemes devoted to simulation of human motion are then proposed and analyzed. These results are illustrated by motion captures, analyses and task-based simulations. Pattern of singular values serve as a basis for a discussion concerning the similarity of simulated and real motions.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"33 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":"126690881","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
Large-amplitude base-motion compensation of a serial robot using an inertial measurement unit 基于惯性测量单元的串联机器人大幅度基运动补偿
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347894
Vladimirs Leontjevs, F. Flores, Jesús López, L. Ribickis, A. Kecskeméthy
{"title":"Large-amplitude base-motion compensation of a serial robot using an inertial measurement unit","authors":"Vladimirs Leontjevs, F. Flores, Jesús López, L. Ribickis, A. Kecskeméthy","doi":"10.1109/MMAR.2012.6347894","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347894","url":null,"abstract":"This paper describes the kinematical analysis and control of a large spatial robot for base motion compensation using an inertial measurement unit. The proposed method is intended for a 6 degrees of freedom serial manipulator, which compensates a large-amplitude spatial motion at its base such that the end effector maintains to a high degree a prescribed target location. Hereby, the robot circumvents hand wrist singularities by a new virtual redundant joint approach. The overall system is tested for a KUKA KR500 system and computergenerated as well as real wave signals with large amplitudes.","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":"129339494","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
Bond graph modeling, DAE formulation and numeric simulation of a three phase rectifier 三相整流器键合图建模、DAE公式及数值模拟
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347843
Noé Villa-Villaseñor, Gilberto González-Avalos, J. Rico-Melgoza
{"title":"Bond graph modeling, DAE formulation and numeric simulation of a three phase rectifier","authors":"Noé Villa-Villaseñor, Gilberto González-Avalos, J. Rico-Melgoza","doi":"10.1109/MMAR.2012.6347843","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347843","url":null,"abstract":"This paper describes how to apply a group of alternative methodologies to the modeling and simulation of a three phase rectifier. The system is a full bridge rectifier with RC load, that consist of diodes that are modeled with the accurate and close-to-real constituve relation of Shockley. This constitutive relation bring an unvariable topology and a non linear nature to the whole system. The emerging non linearities are handled with the described methodologies, and a procedure to formulate differential-algebraic equations (DAE) is reviewed. The obtained DAE is numerically solved and simulation results are presented. In order to prove the significance of the modeling and simulation approach, non standard conditions, such as unbalanced sources are included.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"54 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":"130402229","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
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