this paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cas...
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ISBN:
(纸本)9798350362350;9798350362343
this paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cases. We derive conditions under which a system with given x-flat output can be transformed into the proposed triangular form. Based on the triangular form we motivate a simple algorithm for identifying candidates for flat outputs.
the paper deals with sensitivity analysis of a new, fractional interval order model of the heat transfer in one dimensional body. In the model the derivative with respect to time is described by the fractional Caputo ...
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ISBN:
(纸本)9798350362350;9798350362343
the paper deals with sensitivity analysis of a new, fractional interval order model of the heat transfer in one dimensional body. In the model the derivative with respect to time is described by the fractional Caputo operator (C operator). the order of the C operator is not exactly known and it is described by an interval. Such a model has not been proposed yet and it is expected to properly describe e.g. disturbed measurements. For that model new senstivitity functions are proposed and used for numerical analysis. Simulations are supported by experimental data.
the paper proposes a new approach to distributed target assignment for a group of robots operating in a space with a circular obstacle. the simple approach of comparing functions of Cartesian distances, which works we...
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ISBN:
(纸本)9798350362350;9798350362343
the paper proposes a new approach to distributed target assignment for a group of robots operating in a space with a circular obstacle. the simple approach of comparing functions of Cartesian distances, which works well in free space, does not give good results if a static obstacle exists. the authors aimed to find an approach that is as computationally effective as possible and yet produces a sufficiently good result. the proposed solution makes use of city block distance expressed in a specific reference frame that depends on the mutual positioning of the robot, the target, and the obstacle. In addition to presenting the idea, the results of numerical simulations were given to confirm the effectiveness of the proposed algorithm.
this paper studies the effect of the size of a large scale robot network on the fractional order of the dynamics of the step response of the system. We show that, for a scale free network with certain parameter values...
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ISBN:
(纸本)9798350362350;9798350362343
this paper studies the effect of the size of a large scale robot network on the fractional order of the dynamics of the step response of the system. We show that, for a scale free network with certain parameter values, as the number of robots increases the fractional order also increases up to certain size network, after which the order plateaus. In contrast, for a much more structured platoon network, the opposite happens. this paper presents those results and discusses some hypotheses attempting to resolve the apparent contradiction. We are interested in investigating the presence of fractional order dynamics in systems of this type because they are becoming increasingly common for large scale engineered systems. Very large scale systems can be difficult to design, analyze and control and understanding various approaches to determine effective and accurate reduced order models is important. A concise fractional order description of the dynamics offers insight into the nature of the system that may not otherwise be available through either the full, very large scale system dynamics or other types of reduced order models.
the issue of identifying and designing control systems of fractional order models involves the necessity of their approximation to integer order. the most popular techniques include: Oustaloup's method, Matsuda...
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ISBN:
(纸本)9798350362350;9798350362343
the issue of identifying and designing control systems of fractional order models involves the necessity of their approximation to integer order. the most popular techniques include: Oustaloup's method, Matsuda's method, CFE (Continued Fraction Expansion) method, M-SBL method and different more. It is also possible to use the Pade approximation. the article examines some properties of this method. the case of the fractional power term (complex variable transfer function raised to a fractional power) is the main focus since it serves as a basis for approximating more intricate fractional order systems. the article's innovation is in using the nonlinear least squares method to obtain a mathematical description of the behavior of the zeros and poles of the chosen component after approximation. Relying on the gathered statistics, it was found that a very good fit was produced. the approximation of the behaviour of zeros and poles also allowed for the presentation of a new, alternative notation for the Pade approximation.
the problem of partially hinged partially free rectangular plate that aims to represent a suspension bridge subject to some external forces (for example the wind) is considered in order to model and simulate the unsta...
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ISBN:
(纸本)9798350362350;9798350362343
the problem of partially hinged partially free rectangular plate that aims to represent a suspension bridge subject to some external forces (for example the wind) is considered in order to model and simulate the unstable end behavior. Such a problem can be modeled by a plate evolution equation, which is nonlinear with a nonlocal stretching effect in the spanwise direction. the external forces are periodic in time and cause the vortex shedding on the structure (on the surface of the plate) and thus it may cause damage to the material. Numerical study of the behavior of steady state solutions for different values of the force velocity are provided with two finite element methods of different type.
Optimal control problem for semilinear hyperbolic equations is considered on 3 -star metric graph. the distributed controls on the edges are considered. the tracking type cost for steady state equation is considered f...
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ISBN:
(纸本)9798350362350;9798350362343
Optimal control problem for semilinear hyperbolic equations is considered on 3 -star metric graph. the distributed controls on the edges are considered. the tracking type cost for steady state equation is considered for the control problem. Using the Turnpike Property for dynamic control problem, the control problem is solved for the steady state equations. the necessary and sufficient optimality conditions are established for static control problems. then the optimum design problem is considered for the topological perturbation of the graph. the small cycle of size epsilon -> 0 replaces the central node of 3-star graph. the distributed controls are introduced on the edges of the cycle. the topological derivative of the shape functional indicates the possibility of nucleation of the small cycle.
In the field of mobile robotics, point clouds are widely used as an environment representation merged into a map. However, point cloud registration can be challenging when rapid movement occurs. In indoor environments...
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ISBN:
(纸本)9798350362350;9798350362343
In the field of mobile robotics, point clouds are widely used as an environment representation merged into a map. However, point cloud registration can be challenging when rapid movement occurs. In indoor environments, planelike features such as walls, floors, and ceilings are dominant and can be used to aid cloud merging. these features need to be extracted from point clouds. In this paper, we propose an open-source Hough transform implementation in Python. We have adapted this method, conventionally used for detecting shapes in images, to be applied to 3D point clouds and to detect planar features. To illustrate the point-cloud Hough transform algorithm, we generated synthetic point clouds. Additionally, we collected LiDAR measurements in the corridor. Processing the experimental data proved the algorithms ability to handle noise and measurement uncertainties. the study included an evaluation of the Hough transform by making a comparison to the ICP method. the Hough Transform provided more accurate results of corridor width measured on a merged point cloud by 0.06 m.
Nowadays, one of the most popular and ecological forms of passengers' transport is rail. In the last couple of years (especially after COVID-19 pandemic) many more passengers selected this type of transportation r...
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ISBN:
(纸本)9798350362350;9798350362343
Nowadays, one of the most popular and ecological forms of passengers' transport is rail. In the last couple of years (especially after COVID-19 pandemic) many more passengers selected this type of transportation rather than cars or even airplanes. It is connected with much higher travel comfort as well as the possibility of effective work on the train. However, due to the higher popularity, one extremely important problem was observed. It is connected withthe passengers' flow that can lead even to traffic. Sometimes it is hard to select an appropriate type of train to effectively serve all the interested people. In this work, we would like to propose not only the survey under the latest AI-based models for prediction of passengers' pileups but also provide information about possible ideas that will be tested on the real data, collected from one of the trains stations in Poland.
the control system design proposed in the article is a work platform that enables the implementation of control algorithms developed in many different programming languages. this functionality is made possible by inte...
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ISBN:
(纸本)9798350362350;9798350362343
the control system design proposed in the article is a work platform that enables the implementation of control algorithms developed in many different programming languages. this functionality is made possible by integrating the MATLAB/Simulink and TIA Portal programming environments using tools such as: SIMATIC S7-1500 ODK 1500S and SIMATIC Target 1500S for Simulink. the combination of these software tools withthe physical execution system implemented in the area of automated warehouse system with product relocation function is a new solution, not yet found in the literature. the above described configuration of software and devices provides the opportunity to implement advanced analytical tools in an industrial environment. Such a configuration also gives the possibility to use other programming languages, such as Python, C,C++, in the algorithm for controlling the automatic warehouse system. the proposed working environment gives the researchers the opportunity to develop and implement complex control algorithms faster in an industrial environment. this allows us to apply advanced artificial intelligence algorithms to control technology.
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