2017 21st International Conference on System Theory, Control and Computing (ICSTCC)最新文献_第3页

Robust and ultrafast decentralized control 鲁棒和超快速分散控制

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107008

D. Bensoussan, J. Brossard

引用次数: 2

Development of a robotic arm suitable for demonstration of advanced control methods 适合先进控制方法演示的机械臂的研制

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107037

Daniel Kajzr, L. Beran, V. Zada

{"title":"Development of a robotic arm suitable for demonstration of advanced control methods","authors":"Daniel Kajzr, L. Beran, V. Zada","doi":"10.1109/ICSTCC.2017.8107037","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107037","url":null,"abstract":"Our article deals with the development of a robotic arm with “open control system” (for this particular application — with two degrees of freedom and possibility to add). The open control system allows, together with the known parameters of our robotic arm, to use advanced control methods. The robotic arm is controlled by a PLC and automatically generated code via tools — BR Target for Simulink. This tool allows us to convert Simulink models into an automatically generated code in C/C++ and its direct implementation on PLCs. This method of a design allows an easy implementation for sophisticated simulation models and control structures. The article focuses on the preparation and evaluation of the properties of a robotic arm for implementation possibilities of advanced control methods. At first, we found the physical limitations of the individual actuators. Then we dealt with the problems of generating the trajectory with respect to the physical limitations of the individual actuators. For the dynamics of the robotic arm spline functions for trajectory generation and performed measurements of lag errors are used. In conclusion, we evaluated the advantages and disadvantages of this method of control and outlined possible applications for which we can apply this kind of control.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127277868","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

Prediction techniques in control of energy micro-systems based on renewable sources 基于可再生能源的能源微系统控制预测技术

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107135

C. Vlad, E. Ceanga, M. Barbu, R. Vilanova

引用次数: 0

Research on the attitude control of unmanned multi-ducted-fan flying vehicle 无人多道风机飞行器姿态控制研究

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107054

Yue Ma, Wanming Chen, Lu Lin, Yu Wang

引用次数: 0

A computationally efficient solution for path planning of mobile robots with boolean specifications 布尔型移动机器人路径规划的高效求解方法

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107012

Emanuele Vitolo, C. Mahulea, M. Kloetzer

{"title":"A computationally efficient solution for path planning of mobile robots with boolean specifications","authors":"Emanuele Vitolo, C. Mahulea, M. Kloetzer","doi":"10.1109/ICSTCC.2017.8107012","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107012","url":null,"abstract":"This paper presents a solution with reduced computational complexity for path planning of a team of robots that should satisfy a mission expressed as a Boolean formula. It is assumed that the robots move in a partitioned environment containing some regions of interest. The robots should reach some final regions such that a Boolean formula expressed using the regions of interest is satisfied. Moreover, other Boolean formula should be true during the trajectories. This problem has been studied in [1], where it is shown that the solution based on Petri net models and mathematical programming has a considerable advantage when the number of robots is greater than three or four with respect to the transition system solution. Here we propose to further reduce the complexity, even if the obtained solution will not be anymore optimal with respect to the total number of transition firings. The solution is based also on Petri net models and mathematical programming, but a new abstraction method allows us to reduce the number of variables and constraints of the mathematical programs used to compute the trajectories.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122552287","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

Comparative analysis of performance of the SEPIC converter using LQR and PID controllers 对比分析了采用LQR和PID控制器的SEPIC变换器的性能

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107141

Artun Sel, Uygar Güneş, Övünç Elbir, C. Kasnakoğlu

引用次数: 8

On improving efficiency of DisCSP methods 提高DisCSP方法效率的探讨

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107015

C. Pascal, D. Panescu

引用次数: 2

Multiple predictive control of an anaerobic digestion process of microalgae 微藻厌氧消化过程的多重预测控制

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107064

F. Stîngă, E. Petre, M. Marian

引用次数: 0

SHPN models based simulation and control of mobile robotic systems integrated into A/DML 基于SHPN模型的A/DML集成移动机器人系统仿真与控制

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107039

A. Filipescu, D. Cernega, A. Filipescu, R. Șolea, E. Minca

{"title":"SHPN models based simulation and control of mobile robotic systems integrated into A/DML","authors":"A. Filipescu, D. Cernega, A. Filipescu, R. Șolea, E. Minca","doi":"10.1109/ICSTCC.2017.8107039","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107039","url":null,"abstract":"Purpose of this paper is to model, simulate and control wheeled mobile robotic systems integrated into an assembly mechatronics line for making it reversible, i.e. have the capacity to deal disassembly using mobile platforms equipped with a manipulator. For this purpose, synchronised hybrid Petri nets (SHPN) models will be used to simulate and control an assembly/disassembly (A/D) mechatronics line (A/DML), with a fixed number of workstations. Two cases are presented: to the first one, A/DML is served by a wheeled mobile robots (WMR) equipped with robotic manipulator (RM). To the second case, A/DML is served by two WMRs, collaborative or parallel working. The SHPN models are hybrid type, where A/DML is the discrete part, and WMRs are the continuous part. Moreover, the model operates in synchronised mode with signals from sensors. Disassembly starts after the assembly process and if the assembled piece fails the quality test, to recover disassembled parts. The WMRs are used only during disassembly, to transport parts from the disassembling locations to the storage locations.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133314334","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

Considerations on using genetic algorithms for the 2D bin packing problem: A general model and detected difficulties 用遗传算法求解二维装箱问题的考虑:一般模型和检测难点

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI: 10.1109/ICSTCC.2017.8107051

Gia Thuan Lam, Viet Anh Ho, D. Logofătu, C. Bǎdicǎ

{"title":"Considerations on using genetic algorithms for the 2D bin packing problem: A general model and detected difficulties","authors":"Gia Thuan Lam, Viet Anh Ho, D. Logofătu, C. Bǎdicǎ","doi":"10.1109/ICSTCC.2017.8107051","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107051","url":null,"abstract":"The 2-dimensional bin packing problem appears in various fields across many industries such as wood, glass, or paper industries. They may differ in terms of specific constraints with respects to each area but they all share a common objective that is to maximize the material utilization. Belonging to the class of NP-Hard problems, there exist no efficient method to solve it, but only approximate solution by combining a greedy placement strategy with some optimization techniques such as Genetic Algorithms. That combination approach is very popular in this topic, but few researchers have clearly presented their method and no one has explained the difficulty of applying Genetic Algorithms to this problem, making it difficult for new researchers to reimplement the known algorithms. In this paper, in addition to proposing a general framework for applying Genetic Algorithms to solving this problem, we also identify the main difficulties of using this approach and propose 2 genetic operators, path recombination and hill-climbing mutation, to support our genetic model.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134089924","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