Pub Date : 2024-03-07DOI: 10.14313/jamris/4-2023/30
Amal Zouhri
This paper presents a novel approach to analyzing the robust stability of interconnected embedded systems. The paper starts by discussing the challenges associated with designing stable and robust embedded systems, particularly in the context of interconnected systems. The proposed approach combines the H∞ control theory with a new model for interconnected embedded systems, which takes into account the effects of communication delays and data losses. The paper provides a detailed mathematical analysis of the new model and presents several theorems and proofs related to its stability. The effectiveness of the proposed approach is demonstrated through several practical examples, including a networked control system and a distributed sensor network. The paper also discusses the limitations of the proposed approach and suggests several directions for future research. The proposed filter design method establishes a sufficient condition for the asymptotic stability of the error system and the satisfaction of a predefined H∞ performance index for time-invariant bounded uncertain parameters. This is achieved through the use of the strict linear matrix inequalities (LMI) approach and projection lemma. The design is formulated in terms of linear matrix inequalities (LMI). Numerical examples are provided to demonstrate the effectiveness of the proposed filter design methods.
{"title":"New Robust Model for Stability and H∞ Analysis for Interconnected Embedded Systems","authors":"Amal Zouhri","doi":"10.14313/jamris/4-2023/30","DOIUrl":"https://doi.org/10.14313/jamris/4-2023/30","url":null,"abstract":"This paper presents a novel approach to analyzing the robust stability of interconnected embedded systems. The paper starts by discussing the challenges associated with designing stable and robust embedded systems, particularly in the context of interconnected systems. The proposed approach combines the H∞ control theory with a new model for interconnected embedded systems, which takes into account the effects of communication delays and data losses. The paper provides a detailed mathematical analysis of the new model and presents several theorems and proofs related to its stability. The effectiveness of the proposed approach is demonstrated through several practical examples, including a networked control system and a distributed sensor network. The paper also discusses the limitations of the proposed approach and suggests several directions for future research. The proposed filter design method establishes a sufficient condition for the asymptotic stability of the error system and the satisfaction of a predefined H∞ performance index for time-invariant bounded uncertain parameters. This is achieved through the use of the strict linear matrix inequalities (LMI) approach and projection lemma. The design is formulated in terms of linear matrix inequalities (LMI). Numerical examples are provided to demonstrate the effectiveness of the proposed filter design methods.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"37 15","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140259599","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 : 2024-03-07DOI: 10.14313/jamris/4-2023/25
Samuel Guzmán López, Adolfo J. San Gil Santana, Jorge A. Cuba Alonso del Rivero, Sonia Pérez Lovelle, Humberto Díaz Pando
The Parallel and Distributed Computing group belonging to the Integrated Technological Research Complex (CITI). has been engaged in the creation of general-purpose components that support the processing of large volumes of information that characterize the problems involved in parallel computing. Using the oblivious cache model, which works independently of the computer architecture, and the divide and conquer principle, an algorithm for matrix transposition is implemented to reduce the execution time of this algebraic operation. The algorithm ensures that most of the data content is loaded to the cache for fast processing, and makes the most of its stay in the cache to minimize missed reads and achieve greater speed. The work includes conclusions and statistical tests carried out from experiments on computers with different architectures, reflecting the superiority of the algorithm that uses oblivious cache from an order of matrix determined according to the characteristics of each PC.
{"title":"Matrix Transposition Algorithm Using Cache Oblivious","authors":"Samuel Guzmán López, Adolfo J. San Gil Santana, Jorge A. Cuba Alonso del Rivero, Sonia Pérez Lovelle, Humberto Díaz Pando","doi":"10.14313/jamris/4-2023/25","DOIUrl":"https://doi.org/10.14313/jamris/4-2023/25","url":null,"abstract":"The Parallel and Distributed Computing group belonging to the Integrated Technological Research Complex (CITI). has been engaged in the creation of general-purpose components that support the processing of large volumes of information that characterize the problems involved in parallel computing. \u0000Using the oblivious cache model, which works independently of the computer architecture, and the divide and conquer principle, an algorithm for matrix transposition is implemented to reduce the execution time of this algebraic operation. The algorithm ensures that most of the data content is loaded to the cache for fast processing, and makes the most of its stay in the cache to minimize missed reads and achieve greater speed. \u0000The work includes conclusions and statistical tests carried out from experiments on computers with different architectures, reflecting the superiority of the algorithm that uses oblivious cache from an order of matrix determined according to the characteristics of each PC.\u0000 ","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"55 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140258800","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 : 2024-03-07DOI: 10.14313/jamris/4-2023/28
Ashkan Doust Mohammadi, Mohammad Mohammadi
This paper deals with optimal detection of number and best locations of power quality monitors (PQMs) in an unbalanced distribution network based on the monitor reach area concept. The proposed model uses binary strings which represent the state presence or absence of PQMs in each buses of network. In this paper the binary version of shuffled frog-leaping algorithm (BSFLA) because of having ability to improve the search capability with a fast convergence rate is utilized for optimization process. The overall cost function is formulated to optimize the two indices which are monitor overlapping index and sag severity index. The only optimization constraint in this problem is that, the number of monitors that can detect voltage sags due to a fault at a specific bus must not be zero. In this study, DIGSILENT software is utilized for fault analysis while the optimization problem is handled by the BSFLA. To verify the proposed algorithm, the IEEE 34 Bus unbalanced distribution network, is considered as case studies and results are compared to the similar investigations so as to illustrate the effectiveness of proposed algorithm.
{"title":"Binary Shuffled Frog Leaping Algorithm for Optimal Allocation of Power Quality Monitors in Unbalanced Distribution System","authors":"Ashkan Doust Mohammadi, Mohammad Mohammadi","doi":"10.14313/jamris/4-2023/28","DOIUrl":"https://doi.org/10.14313/jamris/4-2023/28","url":null,"abstract":"This paper deals with optimal detection of number and best locations of power quality monitors (PQMs) in an unbalanced distribution network based on the monitor reach area concept. The proposed model uses binary strings which represent the state presence or absence of PQMs in each buses of network. In this paper the binary version of shuffled frog-leaping algorithm (BSFLA) because of having ability to improve the search capability with a fast convergence rate is utilized for optimization process. The overall cost function is formulated to optimize the two indices which are monitor overlapping index and sag severity index. The only optimization constraint in this problem is that, the number of monitors that can detect voltage sags due to a fault at a specific bus must not be zero. In this study, DIGSILENT software is utilized for fault analysis while the optimization problem is handled by the BSFLA. To verify the proposed algorithm, the IEEE 34 Bus unbalanced distribution network, is considered as case studies and results are compared to the similar investigations so as to illustrate the effectiveness of proposed algorithm.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"30 18","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140260401","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 : 2024-03-07DOI: 10.14313/jamris/4-2023/29
Jean Sawma, Alain Ajami, T. Maillot, Joseph El Maalouf
The market of Unmanned Aerial Vehicles (UAVs) for civil applications is extensively growing. Indeed, these airplanes are nowadays widely used in applications such as data gathering, agriculture monitoring and rescue. The UAVs are required to track a fixed or moving object, thus tracking control algorithms that ensure the system stability and that have a quick time response are developed. This paper tackles the problem of supervising a fixed target using a ϐixed wing UAV flying at a constant altitude and a constant speed. For that purpose, three control algorithms are developed. In all of the algorithms, the UAV is expected to hover around the target in a circular trajectory. Moreover, the three approaches are based upon a Lyapunov‑LaSalle stabilization method. The first tracking algorithm ensures the UAV to circle around the target however the path that the UAV will follow in order to join this pattern is not studied. In the second and third approach, two different techniques that allow the UAV to intercept its final circular pattern in the quickest possible time and thus follow the tangent to the circular pattern are presented. Simulation results that show and compare the performances of the proposed methods are presented.
{"title":"Lyapunov‐Lasalle Based Dynamic Stabilization for Fixed Wing Drones","authors":"Jean Sawma, Alain Ajami, T. Maillot, Joseph El Maalouf","doi":"10.14313/jamris/4-2023/29","DOIUrl":"https://doi.org/10.14313/jamris/4-2023/29","url":null,"abstract":"The market of Unmanned Aerial Vehicles (UAVs) for civil applications is extensively growing. Indeed, these airplanes are nowadays widely used in applications such as data gathering, agriculture monitoring and rescue. The UAVs are required to track a fixed or moving object, thus tracking control algorithms that ensure the system stability and that have a quick time response are developed. This paper tackles the problem of supervising a fixed target using a ϐixed wing UAV flying at a constant altitude and a constant speed. For that purpose, three control algorithms are developed. In all of the algorithms, the UAV is expected to hover around the target in a circular trajectory. Moreover, the three approaches are based upon a Lyapunov‑LaSalle stabilization method. The first tracking algorithm ensures the UAV to circle around the target however the path that the UAV will follow in order to join this pattern is not studied. In the second and third approach, two different techniques that allow the UAV to intercept its final circular pattern in the quickest possible time and thus follow the tangent to the circular pattern are presented. Simulation results that show and compare the performances of the proposed methods are presented.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"32 7","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140077552","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 : 2024-03-07DOI: 10.14313/jamris/4-2023/32
Ali Medjebouri
In the chemical and petrochemical industries, the Continuous Stirred Tank Reactor (CSTR) is, without doubt, one of the most popular processes. From a control point of view, the mathematical model describing the temporal evolution of the CSTR has a strongly nonlinear cross-coupled character. Moreover, modeling errors such as external disturbances, neglected dynamics, and parameter variations or uncertainties make its control task a very difficult challenge. This problem has been the subject of a wide number of control strategies. This article attempts to propose a viable, robust nonlinear decoupling control scheme. The idea behind the proposed approach lies in the design of two nested control loops. The inner loop is responsible for the compensation of the nominal model's nonlinear cross-coupled terms via a static nonlinear feedback; while the outer loop, designed around an Extended State Observer (ESO), which the additional state gathers the global effect of modeling errors, is charged with instantaneously estimating and then compensating the ESO extended state. This way, the CSTR complex dynamics are reduced to a series of decoupled linear subsystems easily controllable using a simple Proportional-Integral (PI) linear control to ensure the robust pursuit of reference signals respecting the desired performance. The presented control validation was performed numerically by an objective comparison to a classical PID controller.
{"title":"Extended State Observer Based Robust Feedback Linearization Control Applied to an Industrial CSTR","authors":"Ali Medjebouri","doi":"10.14313/jamris/4-2023/32","DOIUrl":"https://doi.org/10.14313/jamris/4-2023/32","url":null,"abstract":"In the chemical and petrochemical industries, the Continuous Stirred Tank Reactor (CSTR) is, without doubt, one of the most popular processes. From a control point of view, the mathematical model describing the temporal evolution of the CSTR has a strongly nonlinear cross-coupled character. Moreover, modeling errors such as external disturbances, neglected dynamics, and parameter variations or uncertainties make its control task a very difficult challenge. This problem has been the subject of a wide number of control strategies. This article attempts to propose a viable, robust nonlinear decoupling control scheme. The idea behind the proposed approach lies in the design of two nested control loops. The inner loop is responsible for the compensation of the nominal model's nonlinear cross-coupled terms via a static nonlinear feedback; while the outer loop, designed around an Extended State Observer (ESO), which the additional state gathers the global effect of modeling errors, is charged with instantaneously estimating and then compensating the ESO extended state. This way, the CSTR complex dynamics are reduced to a series of decoupled linear subsystems easily controllable using a simple Proportional-Integral (PI) linear control to ensure the robust pursuit of reference signals respecting the desired performance. The presented control validation was performed numerically by an objective comparison to a classical PID controller.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"16 7","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140260058","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 : 2024-02-22DOI: 10.14313/jamris/3-2023/22
Filip Dyba, Alicja Mazur
In this paper applications of curvilinear parametrizations (Serret-Frenet, Bishop) in the path following task have been considered. The parametrizations allow one to derive manipulator's equations with respect to a path. The full mathematical model of the path following task involves two groups of equations, i.e. the dynamics of the manipulator and the equations obtained from the parametrization method, connected in the cascaded system. Based on those relations two path following algorithms have been designed according to the backstepping integrator method (dedicated to the cascaded systems). Depending on the chosen parametrization method the algorithms differ in requirements and performance. In the paper an in-depth analysis comparing features of both considered methods has been presented. The parametric description of a path requires projection of a robot on the path. In this article the orthogonal projection has been taken into account. It introduces a singularity in the robot description. We have proposed a new form of the orthogonal projection constraint which allows a robot to not only approach the path, but also move along it. This novelty design is an important enhancement of the algorithms used so far. The problem of partially known dynamic parameters of a robot has been also addressed. In the paper we have shown how to apply an adaptive controller to the path following task. Theoretical considerations have been verified with a simulation study conducted for a holonomic stationary manipulator. Achieved results emphasized why it is strongly recommended to use the algorithm version with the orthogonal singularity outside the path. Moreover, the comparative analysis results may be used to select the best curvilinear parametrization method according to the considered task requirements.
{"title":"Comparison of Curvilinear Parametrization Methods and Avoidance of Orthogonal Singularities in the Path Following Task","authors":"Filip Dyba, Alicja Mazur","doi":"10.14313/jamris/3-2023/22","DOIUrl":"https://doi.org/10.14313/jamris/3-2023/22","url":null,"abstract":"In this paper applications of curvilinear parametrizations (Serret-Frenet, Bishop) in the path following task have been considered. The parametrizations allow one to derive manipulator's equations with respect to a path. The full mathematical model of the path following task involves two groups of equations, i.e. the dynamics of the manipulator and the equations obtained from the parametrization method, connected in the cascaded system.\u0000Based on those relations two path following algorithms have been designed according to the backstepping integrator method (dedicated to the cascaded systems). Depending on the chosen parametrization method the algorithms differ in requirements and performance. In the paper an in-depth analysis comparing features of both considered methods has been presented.\u0000The parametric description of a path requires projection of a robot on the path. In this article the orthogonal projection has been taken into account. It introduces a singularity in the robot description. We have proposed a new form of the orthogonal projection constraint which allows a robot to not only approach the path, but also move along it. This novelty design is an important enhancement of the algorithms used so far.\u0000The problem of partially known dynamic parameters of a robot has been also addressed. In the paper we have shown how to apply an adaptive controller to the path following task.\u0000Theoretical considerations have been verified with a simulation study conducted for a holonomic stationary manipulator. Achieved results emphasized why it is strongly recommended to use the algorithm version with the orthogonal singularity outside the path. Moreover, the comparative analysis results may be used to select the best curvilinear parametrization method according to the considered task requirements.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"17 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140442022","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 : 2024-02-22DOI: 10.14313/jamris/3-2023/21
I. Dulęba
This paper is a practical~guideline how to analyze and evaluate literature algorithms of singularity-robust inverse kinematics or to construct new ones. Additive, multiplicative and based on the Singularity ValueDecomposition (SVD) methods are examined to retrieve well conditioning of a matrix to be inverted in the Newton algorithm of inverse kinematics. It is shown that singularity avoidance can be performedin two different, but equivalent, ways: either via properly modified manipulability matrix or not allowing to decreese the minimal singular value below a given threshold. It is discussed which method can always be used and which only when some pre-conditions are met. Selected methods are compared to with respect to the efficiency of coping with singularities based on a theoretical analysis as well as simulation results. Also some questions important for mathematically and/or practically oriented roboticians are stated and answered.
{"title":"Singularity-Robust Inverse Kinematics for Serial Manipulators","authors":"I. Dulęba","doi":"10.14313/jamris/3-2023/21","DOIUrl":"https://doi.org/10.14313/jamris/3-2023/21","url":null,"abstract":"This paper is a practical~guideline how to analyze and evaluate literature algorithms of singularity-robust inverse kinematics or to construct new ones. Additive, multiplicative and based on the Singularity ValueDecomposition (SVD) methods are examined to retrieve well conditioning of a matrix to be inverted in the Newton algorithm of inverse kinematics. It is shown that singularity avoidance can be performedin two different, but equivalent, ways: either via properly modified manipulability matrix or not allowing to decreese the minimal singular value below a given threshold. It is discussed which method can always be used and which only when some pre-conditions are met. Selected methods are compared to with respect to the efficiency of coping with singularities based on a theoretical analysis as well as simulation results. Also some questions important for mathematically and/or practically oriented roboticians are stated and answered.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"20 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140440233","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 : 2024-02-22DOI: 10.14313/jamris/3-2023/23
Alicja Mazur, M. Kaczmarek
This paper addresses the problem of following three‐ dimensional path by holonomic manipulator with para‐ metric or structural uncertainty in the dynamics. De‐ scription of the manipulator relative to a desired three‐ dimensional path was presented. The path is parame‐ terized orthogonally to the Serret‐Frenet frame which is moving along the curve. The adaptive and robust control laws for stationary manipulator which ensures realiza‐ tion of the task were specified. Theoretical considerations are supported by the results of computer simulations con‐ ducted for RTR manipulator.
{"title":"Adaptive and Robust Following of 3D Paths by Holonomic Manipulator","authors":"Alicja Mazur, M. Kaczmarek","doi":"10.14313/jamris/3-2023/23","DOIUrl":"https://doi.org/10.14313/jamris/3-2023/23","url":null,"abstract":"This paper addresses the problem of following three‐ dimensional path by holonomic manipulator with para‐ metric or structural uncertainty in the dynamics. De‐ scription of the manipulator relative to a desired three‐ dimensional path was presented. The path is parame‐ terized orthogonally to the Serret‐Frenet frame which is moving along the curve. The adaptive and robust control laws for stationary manipulator which ensures realiza‐ tion of the task were specified. Theoretical considerations are supported by the results of computer simulations con‐ ducted for RTR manipulator.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"6 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140438879","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 : 2024-02-22DOI: 10.14313/jamris/3-2023/24
Mateusz Wojtunik, F. Basmadji, Grzegorz Granosik, Karol Seweryn
It is considered to use a manipulator mounted on a satellite in order to perform active debris removal missions. Space manipulator control system needs to take the dynamic model of the satellite-manipulator system into account because of the influence of the manipulator motion on the position and attitude of the satellite. Therefore, precise modelling of the space manipulator dynamics as well as parameter identification are needed in order to improve the credibility of the simulation tools. In this paper we presented the identification of the flexible-joint space manipulator model based on dynamic equations of motion. Experiments were performed in emulated microgravity environment using planar air bearings. The arbitrarily selected joint-space trajectory was performed by the manipulator’s control system. The experiments were repeated multiple times in order to analyze the identification method sensitivity. The identification is based on Simulink SimMechanics model. Thus, the procedure can be used for any space manipulator without the need of obtaining analytical relations for dynamic equations each time. Including joint flexibility and spring viscous damping in the dynamic model allowed to reflect the experimental measurements better than the reference model could. Identified parameters of the flexible joint have values of the same magnitude as corresponding real system parameters.
{"title":"Parameter Identification of Space Manipulator's Flexible Joint","authors":"Mateusz Wojtunik, F. Basmadji, Grzegorz Granosik, Karol Seweryn","doi":"10.14313/jamris/3-2023/24","DOIUrl":"https://doi.org/10.14313/jamris/3-2023/24","url":null,"abstract":"It is considered to use a manipulator mounted on a satellite in order to perform active debris removal missions. Space manipulator control system needs to take the dynamic model of the satellite-manipulator system into account because of the influence of the manipulator motion on the position and attitude of the satellite. Therefore, precise modelling of the space manipulator dynamics as well as parameter identification are needed in order to improve the credibility of the simulation tools. In this paper we presented the identification of the flexible-joint space manipulator model based on dynamic equations of motion. Experiments were performed in emulated microgravity environment using planar air bearings. The arbitrarily selected joint-space trajectory was performed by the manipulator’s control system. The experiments were repeated multiple times in order to analyze the identification method sensitivity. The identification is based on Simulink SimMechanics model. Thus, the procedure can be used for any space manipulator without the need of obtaining analytical relations for dynamic equations each time. Including joint flexibility and spring viscous damping in the dynamic model allowed to reflect the experimental measurements better than the reference model could. Identified parameters of the flexible joint have values of the same magnitude as corresponding real system parameters.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"21 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140438896","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 : 2024-02-22DOI: 10.14313/jamris/3-2023/19
Vibekananda Dutta, Jakub Cydejko, Teresa Zielinska
The cognitive goal of this paper is to assess whether marker‐less motion capture systems provide sufficient data to recognize human postures in the side view. The research goal is to develop a new posture classification method that allows for analysing human activities using data recorded by RGB‐D sensors. The method is insensi tive to recorded activity duration and gives satisfactory results for the sagittal plane. An improved competitive Neural Network (cNN) was used. The method of preprocessing the data is first discussed. Then, a method for classifying human postures is presented. Finally, classification quality using various distance metrics is assessed.The data sets covering the selection of human activities have been created. Postures typical for these activities have been identified using the classifying neural network. The classification quality obtained using the proposed cNN network and two other popular neural networks were compared. The results confirmed the advantage of cNN network. The developed method makes it possible to recognize human postures by observing movement in the sagittal plane.
{"title":"Improved Competitive Neural Network for Classification of Human Postures Based on Data fom RGB-D Sensors","authors":"Vibekananda Dutta, Jakub Cydejko, Teresa Zielinska","doi":"10.14313/jamris/3-2023/19","DOIUrl":"https://doi.org/10.14313/jamris/3-2023/19","url":null,"abstract":"The cognitive goal of this paper is to assess whether marker‐less motion capture systems provide sufficient data to recognize human postures in the side view. The research goal is to develop a new posture classification method that allows for analysing human activities using data recorded by RGB‐D sensors. The method is insensi tive to recorded activity duration and gives satisfactory results for the sagittal plane. An improved competitive Neural Network (cNN) was used. The method of preprocessing the data is first discussed. Then, a method for classifying human postures is presented. Finally, classification quality using various distance metrics is assessed.The data sets covering the selection of human activities have been created. Postures typical for these activities have been identified using the classifying neural network. The classification quality obtained using the proposed cNN network and two other popular neural networks were compared. The results confirmed the advantage of cNN network. The developed method makes it possible to recognize human postures by observing movement in the sagittal plane.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"63 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140440273","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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