Pub Date : 2018-08-01DOI: 10.1109/MMAR.2018.8486053
A. Uppal, S. Butt, A. I. Bhatti, H. Aschemann
One of the challenging control problems of an underground coal gasification (UCG) process involves maintaining a desired heating value from the extracted product gases. In this paper, a model-based control and state estimation of UCG process is described. For the purpose of control and state estimation, a sophisticated model of the UCG process using partial differential equations is approximated by a gain-scheduled nonlinear control-oriented model. Based on this approximated plant model, a robust integral sliding mode control is designed to track a desired trajectory of the heating value. Furthermore, for the estimation of unknown states of the system, a gain-scheduled modified Utkin observer is designed as well. The robustness of the nonlinear control and estimation techniques is assessed by introducing parametric uncertainties in the UCG plant. The simulation results highlight the effectiveness of the proposed nonlinear control and estimation techniques in comparison to a conventional PI controller.
{"title":"Integral Sliding Mode Control and Gain-Scheduled Modified Utkin Observer for an Underground Coal Gasification Energy Conversion Process","authors":"A. Uppal, S. Butt, A. I. Bhatti, H. Aschemann","doi":"10.1109/MMAR.2018.8486053","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486053","url":null,"abstract":"One of the challenging control problems of an underground coal gasification (UCG) process involves maintaining a desired heating value from the extracted product gases. In this paper, a model-based control and state estimation of UCG process is described. For the purpose of control and state estimation, a sophisticated model of the UCG process using partial differential equations is approximated by a gain-scheduled nonlinear control-oriented model. Based on this approximated plant model, a robust integral sliding mode control is designed to track a desired trajectory of the heating value. Furthermore, for the estimation of unknown states of the system, a gain-scheduled modified Utkin observer is designed as well. The robustness of the nonlinear control and estimation techniques is assessed by introducing parametric uncertainties in the UCG plant. The simulation results highlight the effectiveness of the proposed nonlinear control and estimation techniques in comparison to a conventional PI controller.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"18 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":"128075796","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}
Recently many deep Convolutional Neural Networks (CNN) based architectures have been used for predicting camera pose, though most of these have been deep and require quite a lot of computing capabilities for accurate prediction. For these reasons their incorporation in mobile robotics, where there is a limit on the amount of power and computation capabilities, has been slow. With these in mind, we propose a real-time CNN based architecture which combines low-cost sensors of a mobile robot with information from images of a single monocular camera using an Extended Kalman Filter to perform accurate robot relocalization. The proposed method first trains a CNN that takes RGB images from a monocular camera as input and performs regression for robot pose. It then incorporates the relocalization output of the trained CNN in an Extended Kalman Filter (EKF) for robot localization. The proposed algorithm is demonstrated using mobile robots in GPS-denied indoor and outdoor environments.
{"title":"Convolutional Neural Network Based Sensors for Mobile Robot Relocalization","authors":"Harsh Sinha, Jay Patrikar, Eeshan Gunesh Dhekane, Gaurav Pandey, Mangal Kothari","doi":"10.1109/MMAR.2018.8485921","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485921","url":null,"abstract":"Recently many deep Convolutional Neural Networks (CNN) based architectures have been used for predicting camera pose, though most of these have been deep and require quite a lot of computing capabilities for accurate prediction. For these reasons their incorporation in mobile robotics, where there is a limit on the amount of power and computation capabilities, has been slow. With these in mind, we propose a real-time CNN based architecture which combines low-cost sensors of a mobile robot with information from images of a single monocular camera using an Extended Kalman Filter to perform accurate robot relocalization. The proposed method first trains a CNN that takes RGB images from a monocular camera as input and performs regression for robot pose. It then incorporates the relocalization output of the trained CNN in an Extended Kalman Filter (EKF) for robot localization. The proposed algorithm is demonstrated using mobile robots in GPS-denied indoor and outdoor environments.","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":"125752404","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.2018.8486016
R. Almeida, A. Malinowska, T. Odzijewicz
The paper studies two types of fractional opinion formation models with leader: the Hegselmann–Krause and the Cucker–Smale. We aim to design an optimal control strategy for the systems to reach a consensus. A numerical scheme, based on Grünwald–Letnikov approximation of the Caputo fractional derivative, is proposed for solving the fractional optimal control problem. The effectiveness of the proposed control strategy is illustrated by examples.
{"title":"Fractional Opinion Formation Models with Leadership","authors":"R. Almeida, A. Malinowska, T. Odzijewicz","doi":"10.1109/MMAR.2018.8486016","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486016","url":null,"abstract":"The paper studies two types of fractional opinion formation models with leader: the Hegselmann–Krause and the Cucker–Smale. We aim to design an optimal control strategy for the systems to reach a consensus. A numerical scheme, based on Grünwald–Letnikov approximation of the Caputo fractional derivative, is proposed for solving the fractional optimal control problem. The effectiveness of the proposed control strategy is illustrated by examples.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"14 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":"126068205","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.2018.8486112
B. Broel-Plater, K. Jaroszewski, P. Dworak
In the paper we consider problems with precise control of position of the servo drive while moving with very small velocities. Movements with small velocities or changing movement direction which a typical for e.g. milling machines are seriously influenced and the performance deteriorated by the motor friction. To solve this problem we propose to utilize a model following control (MFC) structure which together with the tuning algorithm of its controllers. The proposed control scheme seems to be easily implemented in the modern servo drive controller which may be of great practical importance.
{"title":"Minimizing the Impact of Non-Linear Stribeck Friction on Positioning of a Servo Drive","authors":"B. Broel-Plater, K. Jaroszewski, P. Dworak","doi":"10.1109/MMAR.2018.8486112","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486112","url":null,"abstract":"In the paper we consider problems with precise control of position of the servo drive while moving with very small velocities. Movements with small velocities or changing movement direction which a typical for e.g. milling machines are seriously influenced and the performance deteriorated by the motor friction. To solve this problem we propose to utilize a model following control (MFC) structure which together with the tuning algorithm of its controllers. The proposed control scheme seems to be easily implemented in the modern servo drive controller which may be of great practical importance.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"18 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":"127215228","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.2018.8485874
Juan Sandino, Felipe Gonzalez
Surveillance tasks of weeds and vegetation in arid lands is a complex, difficult and time-consuming task. In this article we present a framework to detect and map invasive grasses, combining UAVs and high-resolution RGB technologies and machine learning for data processing. This approach is illustrated by segmenting Buffel Grass (Cenchrus ciliaris) and Spinifex (Triodia sp.), Segmentation results produced individual detection rates of 97% for buffel grass, 96% for spinifex and 97% for the overall classification task. The algorithm is robust against variations in illumination, occlusion, object rotation and density of vegetation.
{"title":"A Novel Approach for Invasive Weeds and Vegetation Surveys Using UAS and Artificial Intelligence","authors":"Juan Sandino, Felipe Gonzalez","doi":"10.1109/MMAR.2018.8485874","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485874","url":null,"abstract":"Surveillance tasks of weeds and vegetation in arid lands is a complex, difficult and time-consuming task. In this article we present a framework to detect and map invasive grasses, combining UAVs and high-resolution RGB technologies and machine learning for data processing. This approach is illustrated by segmenting Buffel Grass (Cenchrus ciliaris) and Spinifex (Triodia sp.), Segmentation results produced individual detection rates of 97% for buffel grass, 96% for spinifex and 97% for the overall classification task. The algorithm is robust against variations in illumination, occlusion, object rotation and density of vegetation.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"389 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":"122992134","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.2018.8486022
A. Hajduga
The application of multispeed gearbox in pure electric drive gives a significant benefit in electric energy consumption saving. It is visible, especially in the case of city exploitation conditions of the electric vehicle. Independent on the kind of use multispeed transmission its application in pure electric drive required its automated operation, both for vehicle acceleration and deceleration. In the case of Automated Manual Transmission the disadvantage is interrupted driving torque during gear shifting. This negative feature can be removed thanks to the proper drive train structure. One of them is proposed dual motor - single shaft drive structure. It consists of two electric motors. One of them is connected to the multispeed transmission input 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 puts together the benefits of multi speed gearbox application as well as the possibility of vehicles propelling during gear shifting. Additionally, compared to the classic electric drive structure with multispeed transmission, each motor rated power can be limited because the total drive power is the sum of both the motor powers. It is resulting in motors current limitation thus the same the losses are also limited and the drive efficiency increase. It seems that the effect on energy saving can be greater when both motors cooperate together in the proper way. This cooperation depends on both motor torque distribution. The motor torque distribution must be done under best efficiency motor operation condition. In the paper the analyses of the torque distribution influence on efficiency and battery power for the proposed structure of electric drive was done. There was proposed the definition of torque distribution based on the required output torque demand. The factors allowing the evaluation of quality torque distribution have been proposed.
{"title":"The Torque Distribution Analysis for Dual Motor - Single Shaft Electric Drive","authors":"A. Hajduga","doi":"10.1109/MMAR.2018.8486022","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486022","url":null,"abstract":"The application of multispeed gearbox in pure electric drive gives a significant benefit in electric energy consumption saving. It is visible, especially in the case of city exploitation conditions of the electric vehicle. Independent on the kind of use multispeed transmission its application in pure electric drive required its automated operation, both for vehicle acceleration and deceleration. In the case of Automated Manual Transmission the disadvantage is interrupted driving torque during gear shifting. This negative feature can be removed thanks to the proper drive train structure. One of them is proposed dual motor - single shaft drive structure. It consists of two electric motors. One of them is connected to the multispeed transmission input 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 puts together the benefits of multi speed gearbox application as well as the possibility of vehicles propelling during gear shifting. Additionally, compared to the classic electric drive structure with multispeed transmission, each motor rated power can be limited because the total drive power is the sum of both the motor powers. It is resulting in motors current limitation thus the same the losses are also limited and the drive efficiency increase. It seems that the effect on energy saving can be greater when both motors cooperate together in the proper way. This cooperation depends on both motor torque distribution. The motor torque distribution must be done under best efficiency motor operation condition. In the paper the analyses of the torque distribution influence on efficiency and battery power for the proposed structure of electric drive was done. There was proposed the definition of torque distribution based on the required output torque demand. The factors allowing the evaluation of quality torque distribution have been proposed.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"24 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":"126564787","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.2018.8486094
P. Latosiński, A. Bartoszewicz
Discrete time sliding mode control systems ensure a high degree of robustness with respect to disturbance by confining the system state to a specified vicinity of the switching hyperplane. However, quickly driving the state towards that vicinity often results in unfeasibly large values of the control signal. In order to ensure that robust quasi-sliding motion of the system begins immediately at the start of the control process while limiting the magnitude of the control signal and state variables, a new time-varying sliding hyperplane is proposed. An additional state variable not present in the original system is specified and the hyperplane is defined in the extended state space. The effect of this new variable on quasi-sliding motion of the system diminishes over time and eventually reaches zero. The strategy which drives the system representative point onto the time-varying hyperplane is applied to control the flow of data in connection-oriented communication networks. For such plants, it is demonstrated that the proposed approach allows one to impose bounds on the input and output of the system at all stages of the control process.
{"title":"Sliding Mode Control with Time-Varying Switching Hyperplane for Data Transmission Networks","authors":"P. Latosiński, A. Bartoszewicz","doi":"10.1109/MMAR.2018.8486094","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486094","url":null,"abstract":"Discrete time sliding mode control systems ensure a high degree of robustness with respect to disturbance by confining the system state to a specified vicinity of the switching hyperplane. However, quickly driving the state towards that vicinity often results in unfeasibly large values of the control signal. In order to ensure that robust quasi-sliding motion of the system begins immediately at the start of the control process while limiting the magnitude of the control signal and state variables, a new time-varying sliding hyperplane is proposed. An additional state variable not present in the original system is specified and the hyperplane is defined in the extended state space. The effect of this new variable on quasi-sliding motion of the system diminishes over time and eventually reaches zero. The strategy which drives the system representative point onto the time-varying hyperplane is applied to control the flow of data in connection-oriented communication networks. For such plants, it is demonstrated that the proposed approach allows one to impose bounds on the input and output of the system at all stages of the control process.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"5 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":"133183350","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.2018.8486063
I. Dulęba, I. Karcz-Dulęba
In this paper a few methods of accelerating computations of an inverse kinematic task for robot manipulators are discussed and compared. The methods adapt known ideas to the domain of robotics, and rely on an approximation of inverse matrices, that are computed in each iteration of the Newton algorithm of inverse kinematics, with much computationally cheaper matrix polynomials. The computational efficiency of the methods is illustrated on planar pendula with a varied degree of redundancy.
{"title":"Accelerating Newton Algorithms of Inverse Kinematics for Robot Manipulators","authors":"I. Dulęba, I. Karcz-Dulęba","doi":"10.1109/MMAR.2018.8486063","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486063","url":null,"abstract":"In this paper a few methods of accelerating computations of an inverse kinematic task for robot manipulators are discussed and compared. The methods adapt known ideas to the domain of robotics, and rely on an approximation of inverse matrices, that are computed in each iteration of the Newton algorithm of inverse kinematics, with much computationally cheaper matrix polynomials. The computational efficiency of the methods is illustrated on planar pendula with a varied degree of redundancy.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"34 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":"114079617","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.2018.8485993
M. Drwiega
The paper presents an approach for integration of three-dimensional world models (octree based maps) in multi-robot systems. The process of maps integration is based on ICP (Iterative Closest Point) algorithm that has been adapted and optimized to operate on octomaps. The presented method has been verified in numerous experiments both in simulation and with publicly available datasets captured from robots. The solution can be applied to various robotic applications such as underwater robots, aerial robots or robots equipped with manipulators - wherever 3D maps are needed and a task is performed by group of mobile robots.
{"title":"Efficient Integration of Octree Based Maps in Multi-Robot System","authors":"M. Drwiega","doi":"10.1109/MMAR.2018.8485993","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8485993","url":null,"abstract":"The paper presents an approach for integration of three-dimensional world models (octree based maps) in multi-robot systems. The process of maps integration is based on ICP (Iterative Closest Point) algorithm that has been adapted and optimized to operate on octomaps. The presented method has been verified in numerous experiments both in simulation and with publicly available datasets captured from robots. The solution can be applied to various robotic applications such as underwater robots, aerial robots or robots equipped with manipulators - wherever 3D maps are needed and a task is performed by group of mobile robots.","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":"129092498","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.2018.8486052
Dang Ngoc Danh, H. Aschemann
In this paper, the achievable tracking performance of a decentralized control scheme of a hydrostatic transmission is investigated for three alternative estimators in combination with output feedback linearization: a state and disturbance observer, an adaptive parameter estimator and a neural network. All these estimators address the given disturbances and uncertainty in the hydraulic system and contribute to the robustness of the feedback linearization as well the tracking accuracy. Firstly, the three control schemes are evaluated by means of simulations and, secondly, validated by experiments on a dedicated test rig at the Chair of Mechatronics, University of Rostock.
{"title":"Comparison of Estimator-Based Compensation Schemes for Hydrostatic Transmissions with Uncertainties","authors":"Dang Ngoc Danh, H. Aschemann","doi":"10.1109/MMAR.2018.8486052","DOIUrl":"https://doi.org/10.1109/MMAR.2018.8486052","url":null,"abstract":"In this paper, the achievable tracking performance of a decentralized control scheme of a hydrostatic transmission is investigated for three alternative estimators in combination with output feedback linearization: a state and disturbance observer, an adaptive parameter estimator and a neural network. All these estimators address the given disturbances and uncertainty in the hydraulic system and contribute to the robustness of the feedback linearization as well the tracking accuracy. Firstly, the three control schemes are evaluated by means of simulations and, secondly, validated by experiments on a dedicated test rig at the Chair of Mechatronics, University of Rostock.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"4 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":"115149308","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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