Pub Date : 2018-08-27DOI: 10.1109/MMAR.2018.8486083
J. Barth, Jean-Philippe Condomines, J. Moschetta, C. Join, M. Fliess
This paper presents first results of an innovative Model-Free Control (MFC) architecture applied to fixed-wing UAVs. MFC is an algorithm dedicated to systems with poor modeling knowledge. Indeed, the costs to derive a reliable and representative aerodynamic model for UAVs motivated the use of such a controller. By exploiting a purely numerical model, this algorithm provides an intuitive method to tune the control loop without any information about the controlled system. We propose to extend the MFC architecture to the case of fixed-wing UAVs and study the MFC properties in terms of uncertain parameters. As a first result, our designed MFC architecture provides a continuous controller able to stabilize the entire flight envelope of two different fixed-wing UAVs. These results show promising adaptive perspectives and demonstrate that MFC presents robust properties for both uncertain parameters and disturbance rejection.
{"title":"Model-Free Control Approach for Fixed-Wing UAVs with Uncertain Parameters Analysis","authors":"J. Barth, Jean-Philippe Condomines, J. Moschetta, C. Join, M. Fliess","doi":"10.1109/MMAR.2018.8486083","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486083","url":null,"abstract":"This paper presents first results of an innovative Model-Free Control (MFC) architecture applied to fixed-wing UAVs. MFC is an algorithm dedicated to systems with poor modeling knowledge. Indeed, the costs to derive a reliable and representative aerodynamic model for UAVs motivated the use of such a controller. By exploiting a purely numerical model, this algorithm provides an intuitive method to tune the control loop without any information about the controlled system. We propose to extend the MFC architecture to the case of fixed-wing UAVs and study the MFC properties in terms of uncertain parameters. As a first result, our designed MFC architecture provides a continuous controller able to stabilize the entire flight envelope of two different fixed-wing UAVs. These results show promising adaptive perspectives and demonstrate that MFC presents robust properties for both uncertain parameters and disturbance rejection.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121778370","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}
Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8486111
R. Czyba, M. Lemanowicz, M. Simon, Tomasz Kudala, Zbigniew Gorol, M. Galeja, Karol Hanke, Adam Sikora, Wojciech Grabowski, Lukasz Ryczko, M. Żurawski, Paulina Kapala, Karol Kreihs, Piotr Langner
This paper presents a design process of unmanned vertical take-off and landing aircraft, developed by the High Flyers team from Silesian University of Technology, who decided to participate in the Medical Express UAV Challenge competition. The designed system is described as a hybrid platform, where different operating modes correspond to the vertical flight, transition and spatial flight in the airframe system. Explanation of an iterative design process with the contribution of CAD design, CFD analysis and control system design in particular flight modes is presented. Simulation results are carried out to corroborate the design control system. Finally, the fast prototyping of proposed control strategy as well as manufacturing process is shown.
{"title":"Development of an Unmanned Vertical Take-Off and Landing Aircraft for Medical Express UAV Challenge","authors":"R. Czyba, M. Lemanowicz, M. Simon, Tomasz Kudala, Zbigniew Gorol, M. Galeja, Karol Hanke, Adam Sikora, Wojciech Grabowski, Lukasz Ryczko, M. Żurawski, Paulina Kapala, Karol Kreihs, Piotr Langner","doi":"10.1109/MMAR.2018.8486111","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486111","url":null,"abstract":"This paper presents a design process of unmanned vertical take-off and landing aircraft, developed by the High Flyers team from Silesian University of Technology, who decided to participate in the Medical Express UAV Challenge competition. The designed system is described as a hybrid platform, where different operating modes correspond to the vertical flight, transition and spatial flight in the airframe system. Explanation of an iterative design process with the contribution of CAD design, CFD analysis and control system design in particular flight modes is presented. Simulation results are carried out to corroborate the design control system. Finally, the fast prototyping of proposed control strategy as well as manufacturing process is shown.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115011410","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}
Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8485866
J. Kabzinski
An Extreme Learning Machine (ELM) – a neural network with fixed hidden layer and adjustable output weights is able to solve complicated regression (approximation) problems, but the standard selection of input weights and biases may lead to ill-conditioning of the output weights calculation and result in high values of the output weights. Two modifications of standard ELM are discussed: deterministic generation of hidden nodes parameters and modifications of activation functions to improve numerical properties of the algorithm.
{"title":"Numerical Aspects of Extreme Learning Machine Implementation to Regression Problems","authors":"J. Kabzinski","doi":"10.1109/MMAR.2018.8485866","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485866","url":null,"abstract":"An Extreme Learning Machine (ELM) – a neural network with fixed hidden layer and adjustable output weights is able to solve complicated regression (approximation) problems, but the standard selection of input weights and biases may lead to ill-conditioning of the output weights calculation and result in high values of the output weights. Two modifications of standard ELM are discussed: deterministic generation of hidden nodes parameters and modifications of activation functions to improve numerical properties of the algorithm.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123178333","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}
Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8485976
G. Mzyk
The paper considers popular problem of Hammerstein system identification. It is inspired by the real problem concerning modeling of differential scanning calorimetry for chalcogenide glass properties examination. In spite of variety of identification methods proposed in the literature, none of them can be applied directly, due to specific practical limitations. The most popular approaches, e.g. overparametrization approach, or nonparametric regression estimation, require relatively large number of data or lead to very complicated numerical tasks. The proposed algorithm consists of two steps. Firstly, the impulse response of the linear block is identified by the standard least squares method, assuming i.i.d. input excitation. Next, the coefficients of orthogonal expansion of nonlinear characteristic are estimated independently by iterative optimization, provided that the criterion function is convex. Results of simulation examples give promising results, i.e., satisfactory accuracy and relatively fast computations.
{"title":"Efficient Identification of Hammerstein Systems by Two-Level Optimization with Decomposition","authors":"G. Mzyk","doi":"10.1109/MMAR.2018.8485976","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485976","url":null,"abstract":"The paper considers popular problem of Hammerstein system identification. It is inspired by the real problem concerning modeling of differential scanning calorimetry for chalcogenide glass properties examination. In spite of variety of identification methods proposed in the literature, none of them can be applied directly, due to specific practical limitations. The most popular approaches, e.g. overparametrization approach, or nonparametric regression estimation, require relatively large number of data or lead to very complicated numerical tasks. The proposed algorithm consists of two steps. Firstly, the impulse response of the linear block is identified by the standard least squares method, assuming i.i.d. input excitation. Next, the coefficients of orthogonal expansion of nonlinear characteristic are estimated independently by iterative optimization, provided that the criterion function is convex. Results of simulation examples give promising results, i.e., satisfactory accuracy and relatively fast computations.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121358325","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}
Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8486046
W. Hunek, P. Majewski
A new nonunique inverse of nonsqure polynomial matrices is introduced in this paper. Following the new given definitions of ${T-, tau-, sigma-, S-}$ and $H$-inverse a new issue concerning the HM-inverse of plants having different number of input and output variables is presented. It is noted that a new method can be applied to the different nonsquare systems finally to obtain the inverse model control schemes known as the IMC structures. Additionally, it is emphasized that the authors' approach can be useful during design of perfect control strategy dedicated to LTI MIMO right-invertible objects. After some assumption the technique taken from perfect signal reconstruction tasks could be implemented in the minimum variance/perfect control problem and, crucially, stands as a counterpart to existing methods of signal recovery.
{"title":"A New Nonunique PSVD-Based Inverse of Nonsquare Polynomial Matrices","authors":"W. Hunek, P. Majewski","doi":"10.1109/MMAR.2018.8486046","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486046","url":null,"abstract":"A new nonunique inverse of nonsqure polynomial matrices is introduced in this paper. Following the new given definitions of ${T-, tau-, sigma-, S-}$ and $H$-inverse a new issue concerning the HM-inverse of plants having different number of input and output variables is presented. It is noted that a new method can be applied to the different nonsquare systems finally to obtain the inverse model control schemes known as the IMC structures. Additionally, it is emphasized that the authors' approach can be useful during design of perfect control strategy dedicated to LTI MIMO right-invertible objects. After some assumption the technique taken from perfect signal reconstruction tasks could be implemented in the minimum variance/perfect control problem and, crucially, stands as a counterpart to existing methods of signal recovery.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124895238","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}
Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8486007
Bartlomiej Wicher
The article presents simulation research over the position control of two-mass system with backlash. Author implemented Active Disturbance Rejection Control method for this type of object. The simulation research are preliminary tests before implementation the algorithm on laboratory bench. Detailed description of each block of the control system is presented, then simulation research are conducted, next - proposed performance indexes are calculated, finally conclusions and future works are discussed.
{"title":"ADRC Load Position Controller for Two Mass System with Elastic Joint and Backlash","authors":"Bartlomiej Wicher","doi":"10.1109/MMAR.2018.8486007","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486007","url":null,"abstract":"The article presents simulation research over the position control of two-mass system with backlash. Author implemented Active Disturbance Rejection Control method for this type of object. The simulation research are preliminary tests before implementation the algorithm on laboratory bench. Detailed description of each block of the control system is presented, then simulation research are conducted, next - proposed performance indexes are calculated, finally conclusions and future works are discussed.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124900873","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}
Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8485990
Patryk Grelewicz, P. Nowak, Michal Fratczak, Tomasz Klopot
In this paper, the possibility of using the virtual commissioning for developing the advanced controllers for example of electric flow heater is presented. First, based on the process measurement data, the virtual environment is prepared. Then, for selected advanced control algorithms, both virtual and real commissioning was carried out. The results are discussed in the paper and they demonstrate the impact of the applied commissioning method on the control performance provided by each of considered control algorithms.
{"title":"Practical Verification of the Advanced Control Algorithms Based on the Virtual Commissioning Methodology - A Case Study","authors":"Patryk Grelewicz, P. Nowak, Michal Fratczak, Tomasz Klopot","doi":"10.1109/MMAR.2018.8485990","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485990","url":null,"abstract":"In this paper, the possibility of using the virtual commissioning for developing the advanced controllers for example of electric flow heater is presented. First, based on the process measurement data, the virtual environment is prepared. Then, for selected advanced control algorithms, both virtual and real commissioning was carried out. The results are discussed in the paper and they demonstrate the impact of the applied commissioning method on the control performance provided by each of considered control algorithms.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115066074","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}
Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8485945
P. Wunderlich, O. Niggemann
Driven by the oil and chemical industry and amplified by the digitization and automation of the industry, the issue of alarm management has been gaining more and more importance. In highly automated and complex industrial systems, on the one hand, a large number of messages and alarms arise and, on the other hand fewer and fewer employees must be able to handle them. This amount of alarms is called alarm flood and it is a huge safety risk in facilities such as refineries. Therefore, it is necessary to reduce these alarm floods, thus reducing downtime, supporting the operator and preventing catastrophes. A novel approach to reducing alarm floods is concerned with learning the causal relationships between the alarms. The learned interrelations of the alarms are represented by a causal model. Based on these causal model, a root cause analysis is carried out to find out the cause of an alarm flood. This makes it possible to dramatically reduce the number of alarms and messages by displaying only the potential root causes. Therefore, we validate the approach of identifying the root cause of an alarm flood by a given causal model. The three most common inference methods are investigated and their suitability for practical application is evaluated on two demonstrators from SmartFactoryOWL.
{"title":"Inference Methods for Detecting the Root Cause of Alarm Floods in Causal Models","authors":"P. Wunderlich, O. Niggemann","doi":"10.1109/MMAR.2018.8485945","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485945","url":null,"abstract":"Driven by the oil and chemical industry and amplified by the digitization and automation of the industry, the issue of alarm management has been gaining more and more importance. In highly automated and complex industrial systems, on the one hand, a large number of messages and alarms arise and, on the other hand fewer and fewer employees must be able to handle them. This amount of alarms is called alarm flood and it is a huge safety risk in facilities such as refineries. Therefore, it is necessary to reduce these alarm floods, thus reducing downtime, supporting the operator and preventing catastrophes. A novel approach to reducing alarm floods is concerned with learning the causal relationships between the alarms. The learned interrelations of the alarms are represented by a causal model. Based on these causal model, a root cause analysis is carried out to find out the cause of an alarm flood. This makes it possible to dramatically reduce the number of alarms and messages by displaying only the potential root causes. Therefore, we validate the approach of identifying the root cause of an alarm flood by a given causal model. The three most common inference methods are investigated and their suitability for practical application is evaluated on two demonstrators from SmartFactoryOWL.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115335821","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}
Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8485871
A. Hajduga
Most of the modern electric vehicles (EV's) are not equipped with additional transmission that allows to set a different value of mechanical ratio. The redundancy of multispeed transmission application necessity is a result of very good electric motor (EM) torque speed characteristic. On the other hands, the changeable mechanical ratio allows to adjust in the best way the operational parameters of EM to momentary load on the vehicle wheels. This feature, in consequence, results in total drive efficiency increasing, so in the same time the energy consumption decreasing. The use of multispeed transmission in pure electric drive required its automated operation. There are many kinds of mechanical transmission that may be adopted to electric drive. One of them is Automated Manual Transmission (AMT). The advantage of mentioned transmission is relatively simple construction and way of operation as well as its lower price compared to other transmissions. However, its disadvantage is the EM interrupted operation during gear shifting. This disadvantage can be removed thanks to the proper drive train structure. One of them seems to be dual motor - single shaft drive powertrain. This structure consists of two electric motors and one multispeed transmission. One of EMs is connected to the multispeed transmission input shaft while the second is connected to the multispeed transmission output shaft and then to the final drive. This way of electric motor arrangement in electric drive structure brings together the benefits of multispeed transmission application and the possibility of vehicle propelling during gear shifting. The smooth and seamless operation of electric powertrain during gear shifting requires a proper way of both EMs control. The control strategy for gear shifting will be defined and verified using the computer simulations.
{"title":"Dual Motor Single Shaft Powertrain Concept","authors":"A. Hajduga","doi":"10.1109/MMAR.2018.8485871","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485871","url":null,"abstract":"Most of the modern electric vehicles (EV's) are not equipped with additional transmission that allows to set a different value of mechanical ratio. The redundancy of multispeed transmission application necessity is a result of very good electric motor (EM) torque speed characteristic. On the other hands, the changeable mechanical ratio allows to adjust in the best way the operational parameters of EM to momentary load on the vehicle wheels. This feature, in consequence, results in total drive efficiency increasing, so in the same time the energy consumption decreasing. The use of multispeed transmission in pure electric drive required its automated operation. There are many kinds of mechanical transmission that may be adopted to electric drive. One of them is Automated Manual Transmission (AMT). The advantage of mentioned transmission is relatively simple construction and way of operation as well as its lower price compared to other transmissions. However, its disadvantage is the EM interrupted operation during gear shifting. This disadvantage can be removed thanks to the proper drive train structure. One of them seems to be dual motor - single shaft drive powertrain. This structure consists of two electric motors and one multispeed transmission. One of EMs is connected to the multispeed transmission input shaft while the second is connected to the multispeed transmission output shaft and then to the final drive. This way of electric motor arrangement in electric drive structure brings together the benefits of multispeed transmission application and the possibility of vehicle propelling during gear shifting. The smooth and seamless operation of electric powertrain during gear shifting requires a proper way of both EMs control. The control strategy for gear shifting will be defined and verified using the computer simulations.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129614698","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}
Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8486054
Robert Maniarski, W. Paszke, M. Patan
Iterative Learning Control (ILC) is a very powerful control technique that iteratively improves the transient behaviour of systems that are repetitive in nature. In this paper it is shown how ILC algorithm is designed and implemented to improve the tracking trajectory performance of mobile robot with a differential drive. Two step design procedure is proposed where a feedback controller is chosen as a classical PID controller and involves some performance specification to attenuate non-repetitive disturbances and noises. Then, as the second step, the learning filter is determined by an appropriate application of a plant inversion method. It turns out that convergence and learning performance of this ILC scheme can be obtained for a physical system and hence practical usefulness of the scheme is verified experimentally on Lego EV3-based mobile robot.
{"title":"Application of Iterative Learning Methods to Control of a LEGO Wheeled Mobile Robot","authors":"Robert Maniarski, W. Paszke, M. Patan","doi":"10.1109/MMAR.2018.8486054","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486054","url":null,"abstract":"Iterative Learning Control (ILC) is a very powerful control technique that iteratively improves the transient behaviour of systems that are repetitive in nature. In this paper it is shown how ILC algorithm is designed and implemented to improve the tracking trajectory performance of mobile robot with a differential drive. Two step design procedure is proposed where a feedback controller is chosen as a classical PID controller and involves some performance specification to attenuate non-repetitive disturbances and noises. Then, as the second step, the learning filter is determined by an appropriate application of a plant inversion method. It turns out that convergence and learning performance of this ILC scheme can be obtained for a physical system and hence practical usefulness of the scheme is verified experimentally on Lego EV3-based mobile robot.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129810376","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}
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