Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques

Name: Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques
Brand: Springer
Price: 149.79 EUR
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Roman Szewczyk Cezary Zielinski Malgorzata Kaliczynska(Editor)

Springer (Publisher)

Published on 29. April 2021

XII, 432 pages

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978-3-030-74893-7 (ISBN)

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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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Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques

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