In this paper the monocular visual odometry algorithm augmented with pose graph optimization is presented. the algorithm was tested using five different combinations of feature extractors and descriptors and evaluated...
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In this paper the monocular visual odometry algorithm augmented with pose graph optimization is presented. the algorithm was tested using five different combinations of feature extractors and descriptors and evaluated using two challenging datasets from KITTI database. the main result of this study is that the implementation of pose graph optimization may lead to reduction of position error ranging between 1.53% to 76.05%. the error reduction depends on a feature type and dataset used.
Space robotics is a relatively new field of science and engineering that was developed as an answer to growing needs created by space exploration and space missions. New technologies had to be invented and designed in...
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Space robotics is a relatively new field of science and engineering that was developed as an answer to growing needs created by space exploration and space missions. New technologies had to be invented and designed in order to meet demands in extremely hostile environments. those technologies have to work in a gravityless environment, rarefied atmosphere and often in high temperature. this paper recalls some of the major robotics missions in space and explains technologies related to them. Space robotic manipulators, especially flexible link and flexible joint robots are discussed. Autonomous robots for unmanned, long duration mission are presented.
In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations...
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In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. the gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot.
the paper presents a TS fuzzy controller for a crane planar model developed through combining a local pole placement method and interval analysis of closed-loop characteristic polynomial coefficients. A family of loca...
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the paper presents a TS fuzzy controller for a crane planar model developed through combining a local pole placement method and interval analysis of closed-loop characteristic polynomial coefficients. A family of local linear controllers represented by rule conclusions is determined based on the objective function derived from an interval Diophantine equation. the two methods, iterative procedure and evolutionary algorithm are developed to find minimum number of fuzzy sets and tune triangular membership functions satisfying the performances robustness to variation of operating conditions.
In the paper an approach to AR time-series identification based on observations obtained using data acquisition system equipped with a quantizer having saturation is presented. In the presented approach AR time-series...
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In the paper an approach to AR time-series identification based on observations obtained using data acquisition system equipped with a quantizer having saturation is presented. In the presented approach AR time-series model identification is replaced by an ARMA time-series model identification that returns parameters of AR time-series. A focus on model identification for ultra low- and ultra high-power AR time-series is given. the presented discussion is illustrated by a simulation case study showing properties of the presented approach.
Line following robots requires image acquisition and processing algorithms for the determination of the line trajectory. the Viterbi algorithm is proposed for the estimation of the line trajectory in this paper. the r...
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Line following robots requires image acquisition and processing algorithms for the determination of the line trajectory. the Viterbi algorithm is proposed for the estimation of the line trajectory in this paper. the robustness of this algorithm is verified using the Monte Carlo approach for two distortions types: additive Gaussian noise and false lines sets. the results show possibilities of reliable estimation, even if the real line is hidden in the noise, without the application of additional estimators based on the previous measurements.
In the paper an approach to discrete-time frequency response identification of a plant operating under feedback in the case of periodic disturbances is presented. In the presented approach to discrete-time frequency r...
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In the paper an approach to discrete-time frequency response identification of a plant operating under feedback in the case of periodic disturbances is presented. In the presented approach to discrete-time frequency response identification integrated bispectra and higher-order non-gaussian multisine excitations are applied. A focus on almost sure convergence of the identified discrete-time frequency response to true plant is given. the presented discussion is illustrated by examples showing effectiveness of the proposed approach.
In this paper a special case of non-integer filters - namely bi-fractional filters (BFF) - are considered. those filters are characterised by three parameters and offer rich possibilities of frequency response shaping...
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In this paper a special case of non-integer filters - namely bi-fractional filters (BFF) - are considered. those filters are characterised by three parameters and offer rich possibilities of frequency response shaping. this paper is a continuation of an earlier research and focuses on stable filters with eigenvalues in right complex half plane. Conditions on stability of such filters are presented, their impulse responses are analysed and certain remarks on frequency characteristics are given.
Congestion control plays a significant role in maintaining sufficient network throughput. Variety of methods and algorithms are proposed to solve the bottleneck issue. this paper describes a method based on a particle...
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Congestion control plays a significant role in maintaining sufficient network throughput. Variety of methods and algorithms are proposed to solve the bottleneck issue. this paper describes a method based on a particle swarm optimization algorithm and piecewise affine controller for non-stationary, discrete, dynamical model of data exchange network. this solution allows active network nodes buffer utilization to be adapted to sudden unexpected network state changes. that leads to alleviate network congestion effects.
the paper deals with discretisation of 2-D spatially invariant systems. three different discretisation schemes are used - Tustin's approximation, backward difference scheme and Crank-Nicolson discretisation. their...
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the paper deals with discretisation of 2-D spatially invariant systems. three different discretisation schemes are used - Tustin's approximation, backward difference scheme and Crank-Nicolson discretisation. their properties and importance are discussed in the paper. As an example a heat conduction in a rod is considered. Its model discrete in both time and space is obtained using all the above mentioned difference schemes. To determine whether the discrete model converges to the solution, von Neumann analysis of stability is applied to each scheme. the system is stabilised with use of each of obtained discrete models. Numerical simulations are included. Experiments with changing the parameters of discretisation are also given.
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