
Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques
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Content
- 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
- 3 The Results of Research
- 4 Conclusions
- References
- Evaluation of Motion Characteristics Using Absolute Sensors
- 1 Introduction
- 2 Experimental Research
- 2.1 Equipment
- 2.2 Methodology
- 3 Results of the Experiment
- 4 Conclusions and Recommendations
- References
- Influence of Signal Interference on Determining Direction of Arrival by Using the Indirect Phase Determination Method
- 1 Introduction
- 2 Determining DOA for the Wave Package
- 3 Experiments
- 4 Conclusion
- References
- Volumetric Estimation of Non-structured Heterogeneous Waste
- 1 Introduction
- 2 Problem Statement
- 3 Experiment Configuration
- 3.1 Sensor Module
- 3.2 AI-Based Detector
- 3.3 Methodology
- 4 Outcome
- 5 Conclusions
- References
- Uncertainty Bands of the Regression Line for Data with Type A and Type B Uncertainties of Dependent Variable Y
- 1 Introduction
- 2 Types of Linear Regression and Their Criteria
- 3 The Regression Line and Its Bands with Type B Uncertainty
- 4 Examples of Numerical Simulations
- 5 The Regression Line for Measurements with the Same Uncertainty
- 5.1 Regression Line Parameter Formulas for Points of Equal Uncertainties
- 5.2 Regression Line Using the Variance Estimator u2
- 6 Regression Line for Points with the Same Relative Uncertainty of yi
- 7 Comparison of Two Ways of Considering Type B Uncertainty
- 8 Summary
- References
- Uncertainty Bands of the Regression Line for Autocorrelated Data of Dependent Variable Y
- 1 Introduction
- 2 Basic Linear Regression Method for Correlated Data of Y Variable
- 2.1 The Criterion in the Regression Method for the Autocorrelated Y Variable
- 2.2 Regression Line Parameters and Uncertainties for the Autocorrelated Variable Y
- 3 Kinds of Correlation of the Measured Ordinates of Points
- 3.1 Points with Uncorrelated Ordinates and Equal Uncertainties
- 3.2 Correlation in a Series of Measurements of the Ordinate of a Single Point
- 3.3 Correlation Between Ordinates of the Various Measured Points
- 4 Numerical Examples
- 4.1 Regressions Line and Uncertainty Bands for Points of the Same Value of Absolute or Relative Uncertainty
- 4.2 Comparisons of Uncertainty Bands for Uncorrelated and Correlated Y Values
- 4.3 Effect of the Correlation Coefficient Value
- 4.4 Comparing of the Impact of Full and Non-correlated Ordinates yi
- 4.5 Effect of Correlation Between Ordinates yi of Measured Points
- 4.6 Regression Lines for Constant Absolute or Relative Uncertainties of Measured yi
- 5 Correlation of Y within the Band of Uncertainty
- 6 Straight Line for Two Repeatedly Measured Measurement Points
- 7 Summary and Conclusions
- References
- Dose Measurement of Flocculants in Water Treatment of Stone Processing Plants
- 1 Introduction
- 2 Research Materials and Methods
- 3 Results and Discussion
- 4 Conclusions
- References
- Resonance Situation in the Gyro Suspension When Changing the Acoustic Beam Angle
- 1 Introduction
- 2 Materials and Methods of Research
- 3 Results and Discussion
- 4 Conclusions
- References
- Application of the Polynomial Maximization Method for Estimation Parameters in the Polynomial Regression with Non-Gaussian Residuals
- 1 Introduction
- 2 Purpose of the Study
- 3 Mathematical Formulation of the Problem
- 4 Results
- 4.1 PPM-Estimates of Regression Parameters with Polynomial Degree S = 1
- 4.2 PPM-Estimates of Regression Parameters with Polynomial Degree S = 2
- 4.3 PPM-Estimates of Regression Parameters with Polynomial Degree S = 3 (Symmetric Case)
- 4.4 Algorithm for Adaptive PMM Estimates
- 5 Statistical Modeling
- 6 Experiments with Real Data
- 6.1 Experiment 1 (Asymmetrical Case - PMM S = 2)
- 6.2 Experiment 2 (Symmetrical Case - PMM S = 3)
- 6.3 Bootstrap Simulation
- 7 Summary and Conclusions
- References
- LTspice Implementation of Gyrator-Capacitor Magnetic Circuit Model Considering Losses and Magnetic Saturation for Transient Simulations of Switching Mode Power Supplies Utilizing Inductive Elements with Cores Made of Amorphous Alloys
- 1 Introduction
- 2 Gyrator Concept
- 3 Implementation of Gyrator-Capacitor Model of Inductive Component
- 4 Accuracy of the Model
- 5 Conclusions
- References
- Estimation of the Parameters of Anhysteretic Curve of Isotropic and Anisotropic Magnetic Materials on the Base of Initial Anhysteretic Permeability Measurements
- 1 Introduction
- 2 The Model of Anhysteretic Magnetization Curve for Isotropic and Anisotropic Materials
- 3 Identification of Parameters of Anhysteretic Curves for Both Isotropic and Anisotropic Materials
- 4 Conclusions
- References
- Author Index
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