An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which th...
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An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.
A model of a combination of antiangiogenic treatment and chemotherapy is proposed and analyzed. the model is a modified Hahnfeldt model and the analysis has two goals: first of all we check stability of the equilibriu...
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A model of a combination of antiangiogenic treatment and chemotherapy is proposed and analyzed. the model is a modified Hahnfeldt model and the analysis has two goals: first of all we check stability of the equilibrium point of the model to find conditions leading to tumour eradication for constant dosing and periodic treatment then we propose an optimization problem and give necessary conditions of its solution. We discuss modifications of the model which enable more realistic description of treatment effects.
A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tr...
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A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tracks given reference values of these masses. this is done by utilizing the exact linearization approach [1]. the final feed forward control law is verified in combination with a slightly modified design model as well as the original model.
the paper refers to the issue of robot companion being able to migrate between different embodiments. the main attention is focused on the case when two or more companions can share the same embodiment. It is shown th...
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the paper refers to the issue of robot companion being able to migrate between different embodiments. the main attention is focused on the case when two or more companions can share the same embodiment. It is shown that some behavioural characteristics can be significant in the process of recognition of the companion's identity. the results are based on a video based experimental study. Animations for this study were prepared using a dedicated software.
this paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. Fr...
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this paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1-parameter family of control functions. this family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. the approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.
this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based...
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this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.
Reversibility of elementary bilinear time-series model is very important issue in parametric model identification based on minimisation of mean square value of prediction error. the reason is that estimation of parame...
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Reversibility of elementary bilinear time-series model is very important issue in parametric model identification based on minimisation of mean square value of prediction error. the reason is that estimation of parameters of irreversible time-series model is irreversible it is difficult. there is already very well known mathematical reversibility condition expressed as a function of the model's coefficient, which has to be identified. the paper contains a discussion of simple condition, which can provide information about model's reversibility before its identification.
Generating and solving the Chen-Fliess-Sussmann (CFS) equation for a given representation of motion is a crucial step in deriving controls to steer nilpotent nonholonomic systems using the Lafferriere-Sussmann method....
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Generating and solving the Chen-Fliess-Sussmann (CFS) equation for a given representation of motion is a crucial step in deriving controls to steer nilpotent nonholonomic systems using the Lafferriere-Sussmann method. the equation can be quite complicated, and its derivation differs substantially from one representation to another. therefore instead to derive CFS for a given hard-to-compute representation we propose to derive it for any easy-to-compute representation and then to transform it to the given representation. For this purpose the Campbell-Baker-Hausdorff-Dynkin formula is applied. this approach is illustrated on generating and solving CFS for forward, backward and canonical representations.
In the paper an algorithm of 3D data registration based on CUDA implementation is shown. the research is related to the problem of collecting 3D data with laser measurement system mounted on rotated head, to be used i...
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In the paper an algorithm of 3D data registration based on CUDA implementation is shown. the research is related to the problem of collecting 3D data with laser measurement system mounted on rotated head, to be used in mobile robot applications. Assumed performance of data registration algorithm is achieved, therefore it can used as On-line. the ICP (Iterative Closest Point) approach is chosen as registration method. Computation is based on massively parallel architecture of NVIDIA CUDA. the presented concept of 3D data matching is based on parallel computation used for fast nearest neighbor search. Nearest neighbor search procedure is using 3D space decomposition into cubic buckets, therefore the time of matching is deterministic.
Reducing exhaust emissions is one of the biggest challenges facing the automotive engineering community today. In order to comply with future more stringent emission standards, the air-fuel ratio control must be impro...
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Reducing exhaust emissions is one of the biggest challenges facing the automotive engineering community today. In order to comply with future more stringent emission standards, the air-fuel ratio control must be improved. Commonly used control concepts do not account for the oxygen storage ability of the three-way catalyst, even though the storage state mainly influences post-catalyst exhaust emissions. In this paper a new air-fuel ratio control strategy based on the oxygen storage state is presented. Since the oxygen storage state can not be measured directly, a major component of the controller is a newly developed catalyst model that accounts for the spatial distribution of oxygen within the catalyst. the proposed control concept has been successfully tested on a vehicle equipped with a turbocharged, direct injection gasoline engine.
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