Pub Date : 2010-09-27DOI: 10.1109/MMAR.2010.5587234
Mohammad Keshmiri, M. Keshmiri
In this paper a comparative analysis is represented on various navigation guidance methods used for intercepting fast maneuvering moving objects. A glancing revision is introduced on relevant works within the introduction section. Four common methods for navigation guidance known as PNG, APNG, IPNG and AIPNG are under investigation. Results demonstrate their infirmity on smoothly intercepting a moving object. Hence, to improve the navigation guidance methods and to adapt them with robotic problems a modified version of AIPNG is proposed for 2D problems and is developed for 3D problems utilization.
{"title":"Performance comparison of various navigation guidance methods in interception of a moving object by a serial manipulator considering its kinematic and dynamic limits","authors":"Mohammad Keshmiri, M. Keshmiri","doi":"10.1109/MMAR.2010.5587234","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587234","url":null,"abstract":"In this paper a comparative analysis is represented on various navigation guidance methods used for intercepting fast maneuvering moving objects. A glancing revision is introduced on relevant works within the introduction section. Four common methods for navigation guidance known as PNG, APNG, IPNG and AIPNG are under investigation. Results demonstrate their infirmity on smoothly intercepting a moving object. Hence, to improve the navigation guidance methods and to adapt them with robotic problems a modified version of AIPNG is proposed for 2D problems and is developed for 3D problems utilization.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"222 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121123792","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587253
J. Figwer
In the paper an on-line secondary path model identification problem for feedforward as well as feedback adaptive active noise control systems working with a deterministic constant or random sampling interval is discussed. A focus on almost sure convergence of identified model to true plant in the case of information about secondary path hidden in between single multiplicities of the quant of A/D converter used is given.
{"title":"Secondary path model identification in active noise control","authors":"J. Figwer","doi":"10.1109/MMAR.2010.5587253","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587253","url":null,"abstract":"In the paper an on-line secondary path model identification problem for feedforward as well as feedback adaptive active noise control systems working with a deterministic constant or random sampling interval is discussed. A focus on almost sure convergence of identified model to true plant in the case of information about secondary path hidden in between single multiplicities of the quant of A/D converter used is given.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134476252","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587231
M. Shanmugavel, A. Tsourdos, B. White
This paper discusses path planning of a Micro Air Vehicle (UAV) with collision avoidance in a three dimensional space. The 3D space is chosen as an urban environment where the buildings are sparsely located. The process is divided into two phases: (i) Route planning where the buildings are isolated to form a route, which is followed by (ii) Path planning in which simple Dubins paths are employed to follow through the way-points generated by the route planner. The first phase creates a network of waypoints in between the buildings which meets the minimum distance required for safe manoeuvre. Delaunay triangulation is used to isolate the buildings from each other and to produce safe waypoints between them. Once the waypoints are assured safe to pass through, the path planner uses Dubins path to produce the flyable and safe paths.
{"title":"Collision avoidance and path planning of multiple UAVs using flyable paths in 3D","authors":"M. Shanmugavel, A. Tsourdos, B. White","doi":"10.1109/MMAR.2010.5587231","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587231","url":null,"abstract":"This paper discusses path planning of a Micro Air Vehicle (UAV) with collision avoidance in a three dimensional space. The 3D space is chosen as an urban environment where the buildings are sparsely located. The process is divided into two phases: (i) Route planning where the buildings are isolated to form a route, which is followed by (ii) Path planning in which simple Dubins paths are employed to follow through the way-points generated by the route planner. The first phase creates a network of waypoints in between the buildings which meets the minimum distance required for safe manoeuvre. Delaunay triangulation is used to isolate the buildings from each other and to produce safe waypoints between them. Once the waypoints are assured safe to pass through, the path planner uses Dubins path to produce the flyable and safe paths.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115723977","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}
This article has established FDES automata model for central air conditioning (AC) system and has studied FDES automata combination method based on average tensor, hereby applying it to the AC control system, obtaining control parameters and giving the control stategy based on FDES.
{"title":"FDES automata combination and its application in the air conditioning control","authors":"Danmei Li, Junsong Zhang, Qing Yang, Lamsal Kiran, Shiming Zhang, Hailing Tang","doi":"10.1109/MMAR.2010.5587193","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587193","url":null,"abstract":"This article has established FDES automata model for central air conditioning (AC) system and has studied FDES automata combination method based on average tensor, hereby applying it to the AC control system, obtaining control parameters and giving the control stategy based on FDES.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"334 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124303637","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587250
A. Kowalewski, A. Krakowiak, Z. Emirsajlow, J. Sokołowski
In the paper the first order sensitivity analysis is performed for a class of optimal control problems for infinite order hyperbolic equations. A singular perturbation of geometrical domain of integration is introduced in the form of a circular hole. The Steklov-Poincare´ operator on a circle is defined in order to reduce the problem to regular perturbations in the truncated domain. The optimality system is differentiated with respect to the small parameter and the directional derivative of the optimal control is obtained as a solution to an auxiliary optimal control problem.
{"title":"Sensitivity analysis of infinite order hyperbolic optimal control problems","authors":"A. Kowalewski, A. Krakowiak, Z. Emirsajlow, J. Sokołowski","doi":"10.1109/MMAR.2010.5587250","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587250","url":null,"abstract":"In the paper the first order sensitivity analysis is performed for a class of optimal control problems for infinite order hyperbolic equations. A singular perturbation of geometrical domain of integration is introduced in the form of a circular hole. The Steklov-Poincare´ operator on a circle is defined in order to reduce the problem to regular perturbations in the truncated domain. The optimality system is differentiated with respect to the small parameter and the directional derivative of the optimal control is obtained as a solution to an auxiliary optimal control problem.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121059305","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587252
Feng Wang, A. Tsourdos, R. Zbikowski, B. White
A nonlinear controller is designed for a L2 formation flying control system, and robust stability is investigated for the closed-loop system with uncertainties. The L2 formation flying is modeled as a second-order quasi-linear parameter-varying model, which is obtain from the nonlinear formation flying model with Barbashin method by including explicit dependence of the dynamic derivatives on states and external parameters. Base on this QLPV model, a polynomial eigenstructure assignment approach is applied to complete the controller design for the system. As function of state and external parameters, the controller realize the independence between the closed-loop system and the operating point to ensure the performance of the closed-loop system is independent with every operating equilibrium. Simulation is carried out to validate the control performance. Considering the uncertainties in the controller parameters and dynamic derivatives, parametric stability margins of system are analyzed by using Kharitonov's approach. Analysis results show the controller is fairly robust with respect to these uncertainties.
{"title":"Robust control for a quasi-linear parameter varying Sun-Earth L2 formation flying","authors":"Feng Wang, A. Tsourdos, R. Zbikowski, B. White","doi":"10.1109/MMAR.2010.5587252","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587252","url":null,"abstract":"A nonlinear controller is designed for a L2 formation flying control system, and robust stability is investigated for the closed-loop system with uncertainties. The L2 formation flying is modeled as a second-order quasi-linear parameter-varying model, which is obtain from the nonlinear formation flying model with Barbashin method by including explicit dependence of the dynamic derivatives on states and external parameters. Base on this QLPV model, a polynomial eigenstructure assignment approach is applied to complete the controller design for the system. As function of state and external parameters, the controller realize the independence between the closed-loop system and the operating point to ensure the performance of the closed-loop system is independent with every operating equilibrium. Simulation is carried out to validate the control performance. Considering the uncertainties in the controller parameters and dynamic derivatives, parametric stability margins of system are analyzed by using Kharitonov's approach. Analysis results show the controller is fairly robust with respect to these uncertainties.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127226377","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587242
Leonardo Marín, M. Vallés, Á. Valera, P. Albertos
In this paper, the implementation in the e-puck robot of an algorithm to keep going in a trajectory while evading fixed obstacles is presented. A review of some existing algorithms for trajectory tracking with obstacles avoidance is done. Also the basic characteristics of the mobile robot e-puck and the programming environment used to implement the control algorithm and prove the performance of the robot are summarized. By modeling the kinematics of the robot and simulating the implementation of the algorithm, the good performance of the control in both the simulated environment and the real robot in different surroundings are shown. The effects of different environmental factors in the performance of the robot are analyzed. This leads to suggest some algorithm improvements as a matter of future works.
{"title":"Implementation of a bug algorithm in the e-puck from a hybrid control viewpoint","authors":"Leonardo Marín, M. Vallés, Á. Valera, P. Albertos","doi":"10.1109/MMAR.2010.5587242","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587242","url":null,"abstract":"In this paper, the implementation in the e-puck robot of an algorithm to keep going in a trajectory while evading fixed obstacles is presented. A review of some existing algorithms for trajectory tracking with obstacles avoidance is done. Also the basic characteristics of the mobile robot e-puck and the programming environment used to implement the control algorithm and prove the performance of the robot are summarized. By modeling the kinematics of the robot and simulating the implementation of the algorithm, the good performance of the control in both the simulated environment and the real robot in different surroundings are shown. The effects of different environmental factors in the performance of the robot are analyzed. This leads to suggest some algorithm improvements as a matter of future works.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117084787","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587204
Adam M. Rogowski
This paper describes the application of the voice command recognition system for control of the robotized cell consisting of two machine tools, industrial robot and auxiliary devices. Short review of related works by other researchers is presented. Implementation of the voice control system required the robotized cell to be properly adapted. Technical measures, necessary to achieve that goal, have been described. Further, general description of the system architecture follows. As it is assumed that the robotized cell should function according to voice commands formulated in natural language, a great variety of possible command formulations must be taken into account. Solution to that problem has been discussed. Finally, future plans have been presented.
{"title":"Robotized cell remote control using voice commands in natural language","authors":"Adam M. Rogowski","doi":"10.1109/MMAR.2010.5587204","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587204","url":null,"abstract":"This paper describes the application of the voice command recognition system for control of the robotized cell consisting of two machine tools, industrial robot and auxiliary devices. Short review of related works by other researchers is presented. Implementation of the voice control system required the robotized cell to be properly adapted. Technical measures, necessary to achieve that goal, have been described. Further, general description of the system architecture follows. As it is assumed that the robotized cell should function according to voice commands formulated in natural language, a great variety of possible command formulations must be taken into account. Solution to that problem has been discussed. Finally, future plans have been presented.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117084846","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587258
A. Kaźmierczak, P. Plotnikov, J. Sokołowski, A. Zochowski
In the series of papers the mathematical theory of shape optimization for compressible Navier-Stokes inhomo-geneous boundary value problems is developed. The key part of the theory include the new results on the existence and shape differentiability of the weak solutions to compressible Navier-Stokes equations. In particular, our results lead to the rigorous mathematical framework for the drag minimization of an obstacle in the flow of gas with small adiabatic constant.
{"title":"Numerical method for drag minimization in compressible flows","authors":"A. Kaźmierczak, P. Plotnikov, J. Sokołowski, A. Zochowski","doi":"10.1109/MMAR.2010.5587258","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587258","url":null,"abstract":"In the series of papers the mathematical theory of shape optimization for compressible Navier-Stokes inhomo-geneous boundary value problems is developed. The key part of the theory include the new results on the existence and shape differentiability of the weak solutions to compressible Navier-Stokes equations. In particular, our results lead to the rigorous mathematical framework for the drag minimization of an obstacle in the flow of gas with small adiabatic constant.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127343610","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587227
M. Homayounzade, M. Keshmiri, M. Danesh
In this paper a state feedback controller is designed for Rigid Link Electrically-Driven (RLED) manipulators actuated by a brushed DC (BDC) motors based on joint velocity estimation. The observer based controller is in fact a model based controller but it can be shown practically that the method is robust against parametric uncertainties. Initially pseudo-velocity filter is proposed to estimate the joint's velocity, provided joint's position are measured. Using the measured and estimated states, a controller is designed through the direct Lyapunov method. It is shown that the controller is asymptotically stable in it's region of attraction, both in position and velocity tracking. To show the validity of the proposed scheme, the algorithm is implemented on a two link planar manipulator actuated by BDC motors.
{"title":"An observer-based state feedback controller design for robot manipulators considering actuators' dynamic","authors":"M. Homayounzade, M. Keshmiri, M. Danesh","doi":"10.1109/MMAR.2010.5587227","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587227","url":null,"abstract":"In this paper a state feedback controller is designed for Rigid Link Electrically-Driven (RLED) manipulators actuated by a brushed DC (BDC) motors based on joint velocity estimation. The observer based controller is in fact a model based controller but it can be shown practically that the method is robust against parametric uncertainties. Initially pseudo-velocity filter is proposed to estimate the joint's velocity, provided joint's position are measured. Using the measured and estimated states, a controller is designed through the direct Lyapunov method. It is shown that the controller is asymptotically stable in it's region of attraction, both in position and velocity tracking. To show the validity of the proposed scheme, the algorithm is implemented on a two link planar manipulator actuated by BDC motors.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115287431","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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