Pub Date : 2011-09-29DOI: 10.1109/MMAR.2011.6031318
J. Sasiadek, M. Walker, A. Krzyżak
The research presented in this paper ultimately aims at accurate Unmanned Aerial Vehicle (UAV) navigation using camera(s) to augment inertial navigation unit data while flying through an urban environment. Accurate position and depth determination requires precise image feature location and matching. This paper investigates accurate feature matching enabling determination of image depth. The paper offers two unique contributions to the field. First, it is shown how to improve feature matching accuracy when a good position estimate is available. Secondly, it is shown how to increase the number of matched features. In this way, there is more data and it may be possible, in future research, to identify the depth plane a feature belongs to and so increase the accuracy of position determination. Preliminary results are reported.
{"title":"Accurate feature matching for autonomous vehicle navigation in urban environments","authors":"J. Sasiadek, M. Walker, A. Krzyżak","doi":"10.1109/MMAR.2011.6031318","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031318","url":null,"abstract":"The research presented in this paper ultimately aims at accurate Unmanned Aerial Vehicle (UAV) navigation using camera(s) to augment inertial navigation unit data while flying through an urban environment. Accurate position and depth determination requires precise image feature location and matching. This paper investigates accurate feature matching enabling determination of image depth. The paper offers two unique contributions to the field. First, it is shown how to improve feature matching accuracy when a good position estimate is available. Secondly, it is shown how to increase the number of matched features. In this way, there is more data and it may be possible, in future research, to identify the depth plane a feature belongs to and so increase the accuracy of position determination. Preliminary results are reported.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130313288","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031306
A. Rauh, Thomas Dötschel, H. Aschemann
The design of robust control techniques is the prerequisite to guarantee maximum efficiency and lifetime for high-temperature fuel cells with constant and varying electrical load. For the design of such control laws as well as for the development of model-based observer approaches, it is essential to derive low-dimensional mathematical models which can be evaluated in real-time. These models have to represent the dominant dynamics of fuel cell systems including fluidic, thermodynamic, and electrochemical subprocesses. In this paper, a control-oriented mathematical model is described which focuses on the above-mentioned subprocesses. On the basis of experimental data, the parameters for the thermodynamic subprocess are identified. A comparison of the mathematical model, parameterized with the help of the experimental data, and numeric simulation results conclude this paper.
{"title":"Experimental parameter identification for a control-oriented model of the thermal behavior of high-temperature fuel cells","authors":"A. Rauh, Thomas Dötschel, H. Aschemann","doi":"10.1109/MMAR.2011.6031306","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031306","url":null,"abstract":"The design of robust control techniques is the prerequisite to guarantee maximum efficiency and lifetime for high-temperature fuel cells with constant and varying electrical load. For the design of such control laws as well as for the development of model-based observer approaches, it is essential to derive low-dimensional mathematical models which can be evaluated in real-time. These models have to represent the dominant dynamics of fuel cell systems including fluidic, thermodynamic, and electrochemical subprocesses. In this paper, a control-oriented mathematical model is described which focuses on the above-mentioned subprocesses. On the basis of experimental data, the parameters for the thermodynamic subprocess are identified. A comparison of the mathematical model, parameterized with the help of the experimental data, and numeric simulation results conclude this paper.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130709335","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031329
M. Zasuwa, J. Narkiewicz, J. Bartoszek
The paper presents innovative, reconfigurable simulator of mobile robots included in anti-crisis operations system. The simulator development is a part of the PROTEUS project. Along the whole anti-crisis system is developed, the simulator of mobile robots is constructed. Majority of the simulators developed worldwide are intended for specific vehicles and used for various applications of particular robots. This approach does not satisfy developers from Poland because the anti-crisis operations system has an open architecture and allows to introduce different mobile robots into action. In the paper the requirements and architecture of the simulator are described. Its integration with training system of all parts of anti-crisis operations is discussed. The paper shows the novelty of the solution (both in hardware and software).
{"title":"Innovative, reconfigurable simulator of mobile robots to support anti-crisis operations","authors":"M. Zasuwa, J. Narkiewicz, J. Bartoszek","doi":"10.1109/MMAR.2011.6031329","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031329","url":null,"abstract":"The paper presents innovative, reconfigurable simulator of mobile robots included in anti-crisis operations system. The simulator development is a part of the PROTEUS project. Along the whole anti-crisis system is developed, the simulator of mobile robots is constructed. Majority of the simulators developed worldwide are intended for specific vehicles and used for various applications of particular robots. This approach does not satisfy developers from Poland because the anti-crisis operations system has an open architecture and allows to introduce different mobile robots into action. In the paper the requirements and architecture of the simulator are described. Its integration with training system of all parts of anti-crisis operations is discussed. The paper shows the novelty of the solution (both in hardware and software).","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122495291","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031315
Joanna Karpinska, K. Tchoń
This paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1-parameter family of control functions. This family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. The approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.
{"title":"Continuation method approach to trajectory planning in robotic systems","authors":"Joanna Karpinska, K. Tchoń","doi":"10.1109/MMAR.2011.6031315","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031315","url":null,"abstract":"This paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1-parameter family of control functions. This family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. The approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124710224","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031319
A. Kowalewski
Optimal boundary control problems for linear parabolic-hyperbolic systems with the Neumann boundary conditions involving integral time delays are considered. Sufficient conditions for the existence of a unique solution for such parabolic-hyperbolic systems are proved. Necessary and sufficient conditions of optimality are derived for the Neumann problem. The problem of determining of the optimal control is discussed.
{"title":"Boundary control of parabolic-hyperbolic systems with integral time delays appearing in the boundary conditions","authors":"A. Kowalewski","doi":"10.1109/MMAR.2011.6031319","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031319","url":null,"abstract":"Optimal boundary control problems for linear parabolic-hyperbolic systems with the Neumann boundary conditions involving integral time delays are considered. Sufficient conditions for the existence of a unique solution for such parabolic-hyperbolic systems are proved. Necessary and sufficient conditions of optimality are derived for the Neumann problem. The problem of determining of the optimal control is discussed.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123145081","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031321
Eileen Kammann, F. Tröltzsch
We consider the following problem of error estimation for the optimal control of nonlinear parabolic partial differential equations: Let an arbitrary control function be given. How far is it from the next locally optimal control? Under natural assumptions including a second order sufficient optimality condition for the (unknown) locally optimal control, we are able to estimate the distance between the two controls. To do this, we need some information on the lowest eigenvalue of the reduced Hessian. We apply this technique to a model reduced optimal control problem obtained by proper orthogonal decomposition (POD). The distance between a (suboptimal) local solution of the reduced problem to a local solution of the original problem is estimated.
{"title":"A posteriori error estimation for nonlinear parabolic boundary control","authors":"Eileen Kammann, F. Tröltzsch","doi":"10.1109/MMAR.2011.6031321","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031321","url":null,"abstract":"We consider the following problem of error estimation for the optimal control of nonlinear parabolic partial differential equations: Let an arbitrary control function be given. How far is it from the next locally optimal control? Under natural assumptions including a second order sufficient optimality condition for the (unknown) locally optimal control, we are able to estimate the distance between the two controls. To do this, we need some information on the lowest eigenvalue of the reduced Hessian. We apply this technique to a model reduced optimal control problem obtained by proper orthogonal decomposition (POD). The distance between a (suboptimal) local solution of the reduced problem to a local solution of the original problem is estimated.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"2017 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128999998","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031371
J. Grochowalski, Jiri Lettl, J. Pavelka
The problem of diminishing the pulsating torques in high power induction motor drives are investigated. This paper describes analysis and numerical results of MMF in three and six phase AC machines supplying by sinusoidal and nonsinusoidal currents. Analysis of six phase machines are for different angle between three phase stator windings and different time angles between currents in both three phase systems.
{"title":"MMF of six phase induction motors for rectangular current supply","authors":"J. Grochowalski, Jiri Lettl, J. Pavelka","doi":"10.1109/MMAR.2011.6031371","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031371","url":null,"abstract":"The problem of diminishing the pulsating torques in high power induction motor drives are investigated. This paper describes analysis and numerical results of MMF in three and six phase AC machines supplying by sinusoidal and nonsinusoidal currents. Analysis of six phase machines are for different angle between three phase stator windings and different time angles between currents in both three phase systems.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129099397","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031351
René Schuh, H. Aschemann
This paper aims at demonstrating the possible improvement of currently used control concepts for steam turbines. A model-based control is designed for a condensation turbine with steam extraction, which is used to drive a compressor on the chemical process side. The turbine is part of a sophisticated steam system of a chemical high-duty plant. Modeling of the steam system with the turbine leads to a system of two nonlinear differential equations. Taking advantage of the flatness property of the given nonlinear system model, a flatness-based control approach involving nonlinear feedforward and feedback control is employed. Remaining model uncertainties as well as nonlinear friction can be counteracted by an observer-based disturbance compensation. Simulation results show an excellent control performance with small control errors.
{"title":"Nonlinear control of a condensation turbine with steam extraction","authors":"René Schuh, H. Aschemann","doi":"10.1109/MMAR.2011.6031351","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031351","url":null,"abstract":"This paper aims at demonstrating the possible improvement of currently used control concepts for steam turbines. A model-based control is designed for a condensation turbine with steam extraction, which is used to drive a compressor on the chemical process side. The turbine is part of a sophisticated steam system of a chemical high-duty plant. Modeling of the steam system with the turbine leads to a system of two nonlinear differential equations. Taking advantage of the flatness property of the given nonlinear system model, a flatness-based control approach involving nonlinear feedforward and feedback control is employed. Remaining model uncertainties as well as nonlinear friction can be counteracted by an observer-based disturbance compensation. Simulation results show an excellent control performance with small control errors.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129916875","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 : 1900-01-01DOI: 10.1109/mmar.2011.6031385
Expand the bookmarks and navigate to the desired Letter of the kKeyword. Scroll to the word and select a Blue page number link to open a paper. After viewing the paper, use the bookmarks to return to the Keyword Index or another section.
{"title":"MMAR 2011 keyword index","authors":"","doi":"10.1109/mmar.2011.6031385","DOIUrl":"https://doi.org/10.1109/mmar.2011.6031385","url":null,"abstract":"Expand the bookmarks and navigate to the desired Letter of the kKeyword. Scroll to the word and select a Blue page number link to open a paper. After viewing the paper, use the bookmarks to return to the Keyword Index or another section.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115282012","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 : 1900-01-01DOI: 10.1109/mmar.2011.6031304
Radosław Rudek, Agnieszka Rudek, P. Skworcow, T. Czyz
Expand the bookmarks and navigate to the desired Date and/or Session Name. Scroll to the desired paper and select a Blue title link to open the paper. After viewing, use the bookmarks to return to the the Table of Contents or another section.
{"title":"MMAR 2011 table of contents","authors":"Radosław Rudek, Agnieszka Rudek, P. Skworcow, T. Czyz","doi":"10.1109/mmar.2011.6031304","DOIUrl":"https://doi.org/10.1109/mmar.2011.6031304","url":null,"abstract":"Expand the bookmarks and navigate to the desired Date and/or Session Name. Scroll to the desired paper and select a Blue title link to open the paper. After viewing, use the bookmarks to return to the the Table of Contents or another section.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126671007","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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