Automation 2021 : recent achievements in automation, robotics and measurement techniques / / editors, Roman Szewczyk, Cezary Zieliński, Małgorzata Kaliczyńska

• Pubblicazione: Cham, Switzerland : , : Springer, , [2021]; ©2021
• Descrizione fisica: 1 online resource (xii, 432 pages) : illustrations (some color)
• Disciplina: 629.8
• Soggetto topico: Artificial intelligence; Automatic control; Automation; Computational intelligence; Robotics; Control automàtic; Intel·ligència artificial; Intel·ligència computacional; Robòtica; Automatització
• Soggetto genere / forma: Congressos; Llibres electrònics
• Persona (resp. second.): SzewczykRoman (Mechatronics); ZielińskiCezary; KaliczyńskaMałgorzata
• Nota di bibliografia: Includes bibliographical references and index.
• Nota di contenuto: Intro -- Foreword -- Contents -- Editors -- Control and Automation -- New Sufficient Conditions of Global Stability of Nonlinear Positive Electrical Circuits -- 1 Introduction -- 2 Positive Electrical Circuits -- 3 Global Stability of Standard Nonlinear Feedback Systems -- 4 Concluding Remarks -- References -- The Use of Multilayer ConvNets for the Purposes of Motor Imagery Classification -- 1 Introduction -- 2 Multilayer ConvNets -- 3 Multilayer Network Training -- 4 Research Experiment -- 5 Conclusions -- References -- Ordered-Fuzzy-Numbers-Driven Approach to Out-Plant Milk-Run Dynamic Routing and Scheduling -- 1 Introduction -- 2 Related Work -- 2.1 Milk-Run Routing and Scheduling -- 2.2 An Ordered Fuzzy Numbers Framework -- 3 Preliminaries -- 4 Problem Description -- 4.1 Assumptions -- 4.2 Declarative Model -- 4.3 Fuzzy Constraint Satisfaction Problem -- 5 Solution Methodology -- 6 Computational Experiments -- 7 Conclusions -- References -- Application of the Reference Sliding Variable Profile as an Extension of the Time-Varying Sliding Surface QSM Control -- 1 Introduction -- 2 Problem Statement -- 3 Time-Varying Sliding Surface for QSM Control -- 4 Simulation Example -- 5 Conclusions -- References -- A Discrete, Fractional Order, Memory-Effective State Space Model of a RLC Circuit -- 1 Abbreviations -- 2 Introduction -- 3 Preliminaries -- 3.1 Elementary Ideas -- 3.2 The CFE Approximation -- 3.3 The CFE Based Method of Solution a FO State Equation -- 4 The Considered RLC Circuit and Its FO Models -- 4.1 The Time-Continuous Model -- 4.2 The Discrete CFE State Space Model -- 5 Simulations -- 6 Conclusions -- References -- The Comparison of IAE Optimal Time-Varying Sliding Modes for Second Order Systems -- 1 Introduction -- 2 Problem Description -- 3 Selection of the Sliding Lines -- 3.1 Constant-Velocity Sliding Mode. ; 3.2 Constant-Acceleration Sliding Mode -- 3.3 Time-Variant Curve Sliding Mode -- 4 Simulation Example -- 5 Conclusion -- References -- Advantages of Using a Reference Model of the Plant in Discrete-Time Sliding Mode Control -- 1 Introduction -- 2 Sliding Mode Control of a Discrete-Time System -- 2.1 Sliding Hyperplane Design -- 2.2 Reaching Law Approach -- 3 Sliding Mode Control with a Reference Model -- 3.1 Reaching Law for the Reference Model -- 3.2 Model Reference Control Strategy -- 4 Discussion -- References -- Sliding Mode Control with Minimization of ITAE and the Input Signal Limitation -- 1 Introduction -- 2 Sliding Mode Controller Design -- 3 ITAE Minimization with the Control Signal Constraint -- 3.1 Admissible Set -- 3.2 ITAE Minimization -- 4 Simulation Example -- 5 Conclusions -- References -- Fractional Order vs Integer Order Transfer Function Models of a Pendulum -- 1 Introduction -- 2 Preliminaries -- 2.1 Basic Ideas -- 2.2 The Oustaloup Recursive Approximation (ORA Approximation) -- 3 The Pendulum and Its Models -- 4 The Proposed Transfer Function Models of the Pendulum -- 4.1 Integer Order Model -- 4.2 Fractional Order Transfer Functions -- 5 Simulations and Experiments -- 6 Conclusions -- References -- Biologically Inspired Neural Behavioral Control of the Wheeled Mobile Robot -- 1 Introduction -- 2 Description of Motion a 2-Wheeled Robot -- 3 Method of Artificial Potential Fields -- 3.1 Avoidance Obstacles -- 3.2 Goal-Seeking Behaviour -- 3.3 Fusion of Behaviour -- 4 Neural Control -- 5 Numerical Simulation -- 6 Summary -- References -- Robust Follow-Up Sequencing Algorithm -- 1 Introduction -- 2 Problem Formulation -- 3 Follow-Up Sequencing Algorithm -- 4 Quality Indicators -- 5 Numerical Experiments -- 5.1 Testing the Effect of the Periodic Cleaning Period Value -- 5.2 Testing the Effect of the Plan Production Length. ; 5.3 Study of the Influence of the Color Distribution of Instances -- 6 Conclusions -- References -- State and Control Signal Limitations in Discrete Time Sliding Mode Control with Time Varying System's Uncertainties -- 1 Introduction -- 2 Control Law Design -- 3 Bounding the Control Signal and the State Variables -- 4 Bounding the State Variables Variations -- 5 Control Strategy and Sufficient Conditions -- 6 Numerical Example -- 7 Final Remarks -- References -- Modeling of Systems of Automated Auxiliary Processes in Pharmaceutical Industry -- 1 Introduction -- 2 Materials and Methods of Research -- 3 Results and Discussion -- 4 Conclusions -- References -- Analysis of the 3D Object Reconstruction Accuracy in an Mi-17 Mixed Reality Simulator -- 1 Introduction -- 2 Method Description -- 3 Results Analysis -- 3.1 Static Error Analysis -- 3.2 Dynamic Error Analysis -- 4 Summary -- References -- Extraction of Information from a PSD for the Control of Vehicle Suspension -- 1 Introduction -- 2 PSD Approximation and Road Profile Generation -- 3 Results and Discussion -- 4 Conclusions -- References -- Genetic Algorithm for Parameters Tuning of Two Stage Switching Controller for UAV Autonomous Formation Flight -- 1 Introduction -- 2 Research Object -- 3 Formation Flight Algorithm -- 3.1 Initial Guidance Algorithm -- 3.2 Precise Formation Flight Control -- 4 Genetic Algorithm Implementation -- 4.1 Crossing-Over -- 4.2 Mutation -- 4.3 Fitness Function -- 4.4 Hysteresis Generation -- 5 Simulations Performed -- 5.1 Precise Formation Flight Tuning -- 5.2 Full System Tuning -- 5.3 Fitness Function Evaluation -- 6 Conclusions -- References -- Robustness Analysis of a Distributed MPC Control System of a Turbo-Generator Set of a Nuclear Plant - Disturbance Issues -- 1 Introduction -- 2 The Turbo-Generator Set DMPC Control Structure with Local QDMC Controllers. ; 3 Parameters' Tuning -- 4 Disturbances -- 5 Simulation Test Results -- 6 Summary -- References -- Simulation and Testing of Flight Stabilisation System Using Trimmers -- 1 Introduction -- 2 Aeroplane Stabilisation System Using Trimming Surfaces -- 3 Results of the HIL Simulation -- 4 Concluding Remarks -- References -- Robotics -- Application of Safety Systems Based on Laser Scanners for Installations with Automatically Relocatable Industrial Robots -- 1 Introduction -- 2 Setup Description -- 3 Law Regulations -- 4 Safety Systems -- 4.1 Cobots and Industrial Manipulators -- 4.2 Physical Barriers -- 4.3 Sensors and Other Elements -- 5 Real Implementation -- 5.1 Main Safety System -- 5.2 Additional Safety Systems for Robots -- 5.3 Cell Arrangements -- 6 Summary -- References -- Robotic Swarm Shape Control Based on Virtual Viscoelastic Chain -- 1 Introduction -- 1.1 Swarm Control Objective -- 1.2 The Idea of Controlling a Swarm of Robots -- 2 Swarm Robots Dynamics -- 3 Swarm Control -- 3.1 Swarm Control Method -- 3.2 Swarm Shape Control -- 3.3 Analytical Approach -- 3.4 Numerical Approach -- 4 Simulations -- 4.1 Analytical Approach, Circle and Ellipse -- 4.2 Numerical Approach, Rounded Square and Heart -- 5 Summary -- References -- Robust Tracking Control of Omni-Mecanum Wheeled Robot -- 1 Introduction -- 2 Kinematics and Dynamics of Wheeled Robot -- 3 Synthesis of Robust Control -- 4 Simulation -- 5 Conclusions -- References -- Multi-stream Fusion in Image Sets Comparison -- 1 Introduction -- 2 Problem -- 2.1 Context -- 2.2 Similarity of Image Pairs -- 3 Similarity of Image Sets -- 3.1 Structure -- 3.2 Input Data -- 3.3 Semantic Segmentation -- 3.4 Car Type Classifier -- 3.5 Similarity of Image Pairs -- 3.6 Detecting and Comparing Image ROIs -- 3.7 Late Fusion and Final Classification -- 4 Results -- 4.1 ROI Detection -- 4.2 Car Type-View Classifier. ; 4.3 Single-Stream Evaluation of Image Set Content -- 4.4 Final Two Set-Similarity Classifier -- 5 Conclusion -- References -- Evaluation of Hand-Eye Calibration Algorithms in Application to Robotic Flexible Manufacturing Systems -- 1 Introduction -- 2 Methods -- 2.1 Experimental Setup -- 2.2 Experimental Procedure -- 2.3 Accuracy Evaluation -- 3 Results -- 3.1 Hand-Eye Algorithms Accuracy Comparison -- 3.2 Accuracy of Visual Tags Pose Estimation -- 4 Discussion -- 5 Conclusion -- References -- LiDAR Localization and Mapping for Autonomous Vehicles: Recent Solutions and Trends -- 1 Introduction -- 2 Methods for Registration of 3-D Scans -- 3 Map Structure and Optimization -- 4 Machine Learning in LiDAR SLAM -- 5 Conclusions -- References -- Convolutional Neural Network-Based Local Obstacle Avoidance for a Mobile Robot -- 1 Introduction -- 2 Related Work -- 3 Navigation with Deep Neural Network -- 3.1 Collision Avoidance -- 3.2 Motion to the Goal Pose -- 4 Results -- 5 Conclusions and Future Work -- References -- Benchmark and Analysis of Path Planning Algorithms of ``ROS MoveIt!'' for Pick and Place Task in Tomato Harvesting -- 1 Introduction -- 2 Benchmark Description -- 2.1 PC Specification -- 2.2 Evaluation Parameters -- 2.3 Test Scene -- 2.4 Approach -- 3 Available Planners -- 4 Benchmark -- 4.1 OMPL Planners -- 4.2 CHOMP/STOMP Planners -- 5 Results Analysis -- 6 Validation of Results -- 7 Summary -- References -- Preliminary Prototype of a 4-Unit Arm-Z Hyper-redundant Modular Manipulator -- 1 Introduction -- 2 The Concept of Arm-Z -- 3 Physical Demonstrator -- 3.1 (Quasi) Control -- 3.2 Construction of a Module -- 3.3 Transmission -- 4 Conclusions -- References -- Measuring Techniques and Systems -- Measurement of Qualitative Characteristics of Different Types of Wood Waste in the Forestries Zhytomyr Polissya -- 1 Introduction. ; 2 Research Methodology.
• Titolo autorizzato: Automation 2021
• ISBN: 3-030-74893-6
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910484156603321
• Lo trovi qui: Univ. Federico II
• Serie: Advances in Intelligent Systems and Computing