Multi-robot networks used in surveillance, industrial manufacturing, defense and distributed monitoring require maximal coverage and connectivity while adapting to changes in environmental and channel conditions. Trad...
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ISBN:
(纸本)9781457709142
Multi-robot networks used in surveillance, industrial manufacturing, defense and distributed monitoring require maximal coverage and connectivity while adapting to changes in environmental and channel conditions. Traditional algorithms attempt at solving this issue using deployment schemes and power control. In the case of mobile robot networks, the additional degree of freedom rendered by the mobility of the robots can additionally be used. In this paper we introduce a novel robot topology control mechanism aiming at maximizing coverage, connectivity and reliability using an irregular hexagonal static/ mobile multi-robot deployment scheme. Experimental data, along with simulation results demonstrate connectivity enhancement under signal loss.
Control-oriented magnetic models for solenoid actuators are analyzed and evaluated subject to their capabilities to reflect important features of the magnetic properties. Moreover, it is shown that undesired tuning re...
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ISBN:
(纸本)9781457709142
Control-oriented magnetic models for solenoid actuators are analyzed and evaluated subject to their capabilities to reflect important features of the magnetic properties. Moreover, it is shown that undesired tuning requirements can be omitted by use of flux channel models. the focus here is put on the modeling of eddy currents since the accurate calculation of eddy current losses is a requirement for control strategies that are designed to minimize these losses. It is shown that flux channel models provide good results while the computational burden is low in comparison to finite element models. However, flux channel models require an additional step when used in flatness-based optimization schemes. this step is called state-decomposition and is explained in the second part of this paper.
In this paper, a novel information design algorithm is proposed. It is based on the simulated annealing, which is regarded as one of the important meta-heuristic optimization methods. the idea behind our algorithm ori...
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ISBN:
(纸本)9781457709142
In this paper, a novel information design algorithm is proposed. It is based on the simulated annealing, which is regarded as one of the important meta-heuristic optimization methods. the idea behind our algorithm originates from the search for optimal solution, where selection avoids local minima. the simulated annealing model is used in the construction of diagrams depicting heating systems. the method offers an automated visual design tool, useful in CAD(1) construction of complex systems. the paper discusses the theoretical background, the properties of the proposed algorithm alongside withthe sample application prototype outputs.
Existing industrial automation projects require automated methods for faster changes and updates as well as continuous improvement and maintenance. Software Engineering uses Model Driven Development to shorten the dev...
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ISBN:
(纸本)9781467324199
Existing industrial automation projects require automated methods for faster changes and updates as well as continuous improvement and maintenance. Software Engineering uses Model Driven Development to shorten the development time by keeping documentation, models and code consistent during the whole development time and by using code generators to create many similar code artifacts and code for different platforms. To make this concept also available for automation projects we present an IEC 61131 model based on the Extended Backus Naur From provided by the standard. For the proposed IEC 61131 model also related application areas are outlined.
For high-dimensional data processing, like pattern recognition, it seems desirable to precede with a reduction of the number of describing features. Our aim is a comparison of various feature selection methods for pat...
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ISBN:
(纸本)9781457709142
For high-dimensional data processing, like pattern recognition, it seems desirable to precede with a reduction of the number of describing features. Our aim is a comparison of various feature selection methods for pattern recognition. We consider two-class supervised classification problem for signals decomposed in wavelet bases. We test kNN classification rule with soft and hard thresholding, performed in two stages: (1) wavelet detail coefficient thresholding (noise reduction) and (2) searching for the most differentiating coefficients between classes (selection of discriminating coefficients). We present a new classification rule based on LARS/LASSO. We compare criteria for L1-norm regularization of wavelet coefficients: AIC, BIC and the thresh derived for kNN rule. there were performed simulations for noisy signals with SNR in the range from 0 to 22 [dB], approximated for all possible wavelet resolutions. the quality of pattern recognition for the presented algorithms was measured by the estimated recognition risk and the size of reduced model.
I would like to invite you to Międzyzdroje, Poland for the 16thinternationalconference on methods and models in automation and robotics. Almost 100 draft papers have been submitted, from which the international Prog...
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I would like to invite you to Międzyzdroje, Poland for the 16thinternationalconference on methods and models in automation and robotics. Almost 100 draft papers have been submitted, from which the international Program Committee, chaired by Professor Tadeusz Kaczorek, has selected 79 papers for presentation. As before also this year's conference is organized under the auspices of the IEEE robotics & automation Society, the IEEE Control Systems Society. And as usual it is co-sponsored by the Committee of automation and robotics of the Polish Academy of Sciences and Polish Society for Measurement, Automatic Control and robotics.
In this paper an approach to gesture recognition is presented. It is based on application of simple ultrasonic range-finders. A set of five gestures is described which can be distinguish in this way. the described met...
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In this paper an approach to gesture recognition is presented. It is based on application of simple ultrasonic range-finders. A set of five gestures is described which can be distinguish in this way. the described method has been implemented for a mobile robot PeopleBot.
the positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roess...
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the positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roesser models for any switching are established. the considerations are illustrated by numerical examples.
In the paper stationarity of random processes obtained from elementary bilinear time-series models is analysed. It is shown in the presented analysis that elementary bilinear time-series models can be interpreted as l...
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In the paper stationarity of random processes obtained from elementary bilinear time-series models is analysed. It is shown in the presented analysis that elementary bilinear time-series models can be interpreted as linear time-series with time varying random parameters. the analysis is illustrated by simulation experiments showing time dependencies of some statistical moments of the discussed random processes.
the paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Opti...
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the paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.
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