the improvement of energy efficiency in automation and robotic systems still has high significance in engineering research. this paper presents experimental results of minimum energy trajectory optimization for multi-...
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(纸本)9781479927227
the improvement of energy efficiency in automation and robotic systems still has high significance in engineering research. this paper presents experimental results of minimum energy trajectory optimization for multi-axis manipulators using electrical energy exchange via the shared inverter DC link. thus, existing simulation findings demonstrating the potential of the proposed minimum energy optimization approach are validated. In this context, a global optimization method is applied utilizing an advanced cost function formulation that is based on an energy flow model including all servo drive components. After the validation of the utilized system model, increased efficiency improvements are proven and compared to established methods. the presented approach as well as the experimental results are fully transferable to any kind of multi-axis system comprising DC link energy supply.
there is presented a method for calculation of inertial model for astatic system based on system step response. the method is simple and can be easily used in automatic control practice. Identified model can be applie...
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there is presented a method for calculation of inertial model for astatic system based on system step response. the method is simple and can be easily used in automatic control practice. Identified model can be applied in control algorithms more advanced than PID controller, for instance in predictive control.
the study of properties of switched and hybrid systems gives rise to a number of interesting and challenging mathematical problems. this paper aim to briefly survey recent results on stability and controllability of s...
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the study of properties of switched and hybrid systems gives rise to a number of interesting and challenging mathematical problems. this paper aim to briefly survey recent results on stability and controllability of switched linear systems. First, the stability analysis for switched systems is reviewed. We focus on the stability analysis for switched linear systems under arbitrary switching, and we highlight necessary and sufficient conditions for asymptotic stability.
In this paper visual odometry method for processing single-view images has been presented. the developed system is designed as a main navigation sensor for a police mobile robot used for investigation of crime scenes....
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In this paper visual odometry method for processing single-view images has been presented. the developed system is designed as a main navigation sensor for a police mobile robot used for investigation of crime scenes. Verification of correctness of the algorithms have been performed and results of preliminary simulated tests are included as well as guidelines for further development of the method.
A new variant of the genetic algorithm for finding the location and size of small holes in the domain described by the non-linear boundary value problem is considered. the expansion of the shape functional defined in ...
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A new variant of the genetic algorithm for finding the location and size of small holes in the domain described by the non-linear boundary value problem is considered. the expansion of the shape functional defined in non-linear domain is provided in order to determine the form of topological derivative. the value of topological derivative is used for computing the probability density applied later to generate location and size of holes by the genetic algorithm.
there is method for real time frequency analysis of the electromyogram is described in article. this method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method co...
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there is method for real time frequency analysis of the electromyogram is described in article. this method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method consists of realtime frequency estimation with preliminary using of band-pass filter. the method is easy to program and does not require any additional resources. the article gives an example of using this method in classification of movements problem which is actual for robotics and human-machine interfaces.
the paper presents connections between criteria which make three types of objects possible to recognize, namely: edges, planes and corners. these criteria can be applied while a binaural sonar system is used. It is sh...
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the paper presents connections between criteria which make three types of objects possible to recognize, namely: edges, planes and corners. these criteria can be applied while a binaural sonar system is used. It is shown that the criteria are specific forms of a general equation. the form of the equation depends on a single coefficient. In the paper the meaning of this coefficient is discussed. the constructions of the objects arrangements are presented which are bound with other values of the coefficient.
the problem of collective behavior of autonomous agents is discussed. Based on state dependent communication graphs we analyze a family of non-linear flocking models by establishing sufficient initial conditions so as...
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the problem of collective behavior of autonomous agents is discussed. Based on state dependent communication graphs we analyze a family of non-linear flocking models by establishing sufficient initial conditions so as connectivity and thus asymptotic flocking is ensured. We discuss models with non-linear uniformly bounded connection rates with and without delays.
the paper presents the proposition of a numerical model of the human circulatory system modification for the purpose of physical reproduction of conditions prevailing in the apex of the heart on a hybrid simulator. th...
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the paper presents the proposition of a numerical model of the human circulatory system modification for the purpose of physical reproduction of conditions prevailing in the apex of the heart on a hybrid simulator. this is a physical-numerical stand which performs a generation of hydraulic conditions occurring in the selected points of circulatory system. However, so far, there was no possibility of reproduction the apex of the heart point. the paper presents the nature of the problem and suggest solution. the results of simulation tests and analysis of assumptions correctness are shown. Description of further development works is included.
In this paper, we develop a tube based model reference adaptive configuration for a class of nonlinear dynamic systems with actuator failure which not only guarantees closed loop stability, asymptotically exact tracki...
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In this paper, we develop a tube based model reference adaptive configuration for a class of nonlinear dynamic systems with actuator failure which not only guarantees closed loop stability, asymptotically exact tracking and robustness to a nonlinear perturbation, and to an external disturbance with unknown bounds, but also diminishes the control cost with respect to some criterion.
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