2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)

The transition from a model-driven to a requirements-driven approach in the software development for programmable logic controllers will allow the developers to focus on the proper definition of the problem which needs to be solved and let the computer find a suitable solution for it automatically. This article presents a domain specific language intended to support this transition. The main focus... View full abstract»

Dynamic Positioning (DP) is an essential capability of marine vessels required for diverse scenarios. The retention of position by solely usage of thrusters requires an efficient and dynamic propulsion system. A Voith Schneider Propeller (VSP) features such qualities. In this paper a DP system is shown that utilizes the properties of a VSP in an enhanced way, especially in the thrust allocation. P... View full abstract»

Model-based predictive control is an effective method for control the large scale systems. Method is based on on-lin solution of control task over the control horizon using current and past measurements as well as the system model. Because model and measurement uncertainty, predicted and plant outputs might be different and plant output may exceed plant output constraints. Generated control is not... View full abstract»

In this paper, the practical verification of Active Disturbance Rejection Controller (ADRC) implementation for pneumatic setup is investigated. Apart from experimental results, the inverse half-rule is suggested to support ADRC tuning for the second order processes by adjusting the value of the scaling factor. This rule is based only on the approximation of the process step response by First Order... View full abstract»

This paper presents the control system of water level in double tank system with free flow, which uses in its structure a nonlinear model of the plant taking into account the dependence of the time constants on the value of the controlled variable. A model that reflects the properties of an object and is a part of the controller allows significant to shorten the settling time if the liquid is regu... View full abstract»

The paper presents the application of the linearizing control technique for stabilization of the isopropanol concentration in the ultrasonic nebulization process. The isopropanol concentration has to be kept constant to make the nebulization process more efficient. This is achieved by manipulating the inlet flow rate of a fresh isopropanol-water mixture. Because the content of the vessel is not we... View full abstract»

In this paper a Crazyflie 2.0 nano quadrotor helicopter (quadcopter) as an open source experimental platform for research and education in robotics and control engineering has been presented. This low cost, easily expandable and upgradeable flying robot is here characterized in terms of hardware and software. Three aspects, which demonstrate the potential of broad use of this unmanned aerial vehic... View full abstract»

Frequently CNC machines use rotary servo drives and a kinematic chain in the form of pulling screw with a nut. The disadvantage of that structure is: non-linear and falling friction, the susceptibility of the pulling screw to the torsion deformation and the backlash. In [3-5] outlines ways to modify the servo drive structure to minimize frictional effects and pulling screw elasticity in order to a... View full abstract»

Control algorithms are essential in multirotor aerial platforms and remain a trending research topic. This paper presents the development process of different cascade controllers for multirotor UAVs. Two main usage areas of this method are described - the control of position and attitude. Based on the literature and experience from previous research, structures of mentioned algorithms are proposed... View full abstract»

The paper describes methods of improving motion quality of servo drive in case of set a very small motion changes. Servo drive as well as control problems connected with static friction are described. Solutions of such problems are offered. First one is integration zeroing, second one based on a unique idea introduced by authors and finally feeding into the system an insensibility. All that method... View full abstract»

The paper considers influence of free convection on controlled heating or cooling of cylindrical bodies. Horizontal and vertical alignments of the body are studied. Free convection appears to be the main way of heat transfer for parameters of the considered experimental setup. An experiment of free cooling of a horizontal cylinder in ambient air has been performed. Its results are consistent with ... View full abstract»

Using the elementary operations algorithm, it is shown that a system matrix describing a wave discrete linear repetitive process can be reduced to that for a 2D singular Roesser model. The transformation linking the original polynomial system matrix with its associated 2D singular Roesser form is input-output equivalence. The nature of the resulting system matrix in singular form and the transform... View full abstract»

The classical Cayley-Hamilton theorem is extended to Drazin inverse matrices. A new procedure based on this extension for computation of the Drazin inverse matrices is proposed. View full abstract»

The goal of this article is to analyze the assurance of permissible quality indices in an interval system through the construction of the edge route and the use of D-partition method. There were obtained conditions for construction of D-partition domains on one and two edges of one face. On the basis of these conditions the technique for assurance of the permissible degree of robust stability and ... View full abstract»

This paper presents the first proposition of a method allowing the determination of a set of (A, B, C, D) realizations of the one-dimensional single-input multi-output (SIMO) dynamic system from created digraph. The algorithm presented is the extension of previously published algorithm that finds a complete set of all possible realizations, instead of only a few realizations, as was in case of can... View full abstract»

The primary goal of each of the navigation systems is to determine the object's position in a given reference frame. It can be achieved in many ways such as GPS, celestial navigation, inertial navigation etc. In local positioning systems a very important role is played by triangulation methods. This paper presents a new beacon-based triangulation system, in which both the transmitter and receiver ... View full abstract»

Depending on standards and class, dynamically positioned ships make use of different numbers of redundant sensors to determine current ship position. The paper presents a multi-sensor data fusion algorithm for the dynamic positioning system which allows it to record the proper signal from a number of sensors (GPS receivers). In the research, the Particle Kalman Filter with data fusion was used to ... View full abstract»

Collision Avoidance is considered as the final layer of safety to prevent mid-air collisions when all other avoidance measures have failed. These methods are gaining importance, in particular in recent years. The ultimate goal is to replace the already obsolete TCAS system, which is not included in the NextGen programme. Additionally, the dynamic UAS market in civil, commercial and military sector... View full abstract»

The paper considers the problem of ship autopilot design based on Bech's model of the vessel. Since the ship model is highly nonlinear and the state vector is not completely measurable, the control system synthesis is performed by means of output feedback linearization method combined with a state observer. Due to considerable parameter variations and other substantial uncertainties a robust-adapt... View full abstract»

In this paper a novel control algorithm for vibration attenuation is presented. Proposed scheme is developed to control linear systems with presence of external disturbance. The goal of the control is to steer the system to prescribed reference trajectory by minimizing associated quadratic performance index. The synthesis of the control law consists of two steps. At the first step, past measures o... View full abstract»

The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive c... View full abstract»

In this paper an advanced control system for an elastic joint two-link flexible link robot manipulator is considered. The system uses controller with an adaptive fuzzy logic. Nonlinear friction in the joints is modeled by the Hammerstein system. It is identified by the algorithm based on nonparametric nearest neighbor regression estimation. The asymptotically optimal choice of the parameters of th... View full abstract»

This paper describes the use of mobile agents in the group of cooperating UAV and UGV autonomous robots. Multiagent system simulation uses an environment that integrates robot operating system (ROS), V-REP simulation environment and JADE multi-agent system. Mobile agents ensure the continuation and completion of the mission even in case of failure of a device from a group. Paper describes a partic... View full abstract»

The article presents a bilateral teleoperation architecture with wave variables that has been applied in a new robotic system for remote medical examination. First we discuss specificity of requirements of the ReMeDi medical system with respect to teleoperation architecture and the process of its selection. Then we discuss implementation issues concerning the architecture. Finally we present evalu... View full abstract»