The cultivation of Escherichia coli bacteria is widely used by geneticists and biopharmaceuticals to produce medicines and vaccines. In such industries, Bioprocesses are known by their harsh environment and very expen...
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In the paper the practical implementation of a discrete PID algorithm (DPID) with non-uniform sampling is presented. Studies starts with the discretized well known continuous PID equation with trapezoidal integration ...
In the paper the practical implementation of a discrete PID algorithm (DPID) with non-uniform sampling is presented. Studies starts with the discretized well known continuous PID equation with trapezoidal integration method. As a result, difference equation associated with the respect continuous-time model is obtained. Then, MATLAB/Simulink block model is developed in such way that a change sampling time during simulation is enabled. Algorithm is tested numerically in modeled DC motor speed control system. In order to compare results with conventional fixed-step controller, functions of control quality and number of samples are used. In the next step, developed DPID with non-uniform sampling is implemented to microprocessor of Arduino board and put into a series of experimental tests. Obtained results are compared to simulation. In the last part of the paper advantages and disadvantages of the proposed system are described, conclusions are drawn and directions of future work are pointed out.
The paper presents cooperation of two heterogeneous mobile robots which are two-wheeled robot and an unmanned aerial vehicle. Those platforms are fully autonomous and are equipped with indoor positioning system to acq...
The paper presents cooperation of two heterogeneous mobile robots which are two-wheeled robot and an unmanned aerial vehicle. Those platforms are fully autonomous and are equipped with indoor positioning system to acquire position of each. This paper introduces simple algorithms of path planning in static environment which is known for rover robots and path handling for both platforms. Accurate environment map is given a priori. The main aim of this work are the simulation tests of the simple cooperation algorithm. Tests were conducted in Simulink and its results are presented in both mobile platforms trajectories and path errors in x and y directions. The presented results show the effectiveness of proposed method.
The objective of this paper is to explain the importance of research in wastewater transportation (sewage systems) using new technologies such as robotics systems and information and communication technologies. ECHORD...
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The objective of this paper is to explain the importance of research in wastewater transportation (sewage systems) using new technologies such as robotics systems and information and communication technologies. ECHORD++ (European Coordination Hub for Open robotics Development) is a very useful tool to foster this research and to meet needs and solutions. In this paper, authors explain the tool as well as the methodology to promote robotics research in urban environments, and the on-going experience will demonstrate that huge advances are made in this field.
This paper presents the identification process of the electric propulsion system for Unmanned Aerial Vehicles. Prepared identification test rig was described in details. It allows to control the electric motor with a ...
This paper presents the identification process of the electric propulsion system for Unmanned Aerial Vehicles. Prepared identification test rig was described in details. It allows to control the electric motor with a propeller and to measure the parameters like thrust force, torque, current and supply voltage, that were used during identification. The worked out and presented identification test helps to check and verify the electric propulsion properties and to develop more accurate simulation models of UAVs.
To facilitate scene understanding and robot navigation in large scale urban environment, a two-layer enhanced geometric map(EGMap) is designed using videos from a monocular onboard camera. The 2D layer of EGMap consis...
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To facilitate scene understanding and robot navigation in large scale urban environment, a two-layer enhanced geometric map(EGMap) is designed using videos from a monocular onboard camera. The 2D layer of EGMap consists of a 2D building boundary map from top-down view and a 2D road map, which can support localization and advanced map-matching when compared with standard polyline-based maps. The 3D layer includes features such as 3D road model,and building facades with coplanar 3D vertical and horizontal line segments, which can provide the 3D metric features to localize the vehicles and flying-robots in 3D space. Starting from the 2D building boundary and road map, EGMap is initially constructed using feature fusion with geometric constraints under a line feature-based simultaneous localization and mapping(SLAM) framework iteratively and progressively. Then, a local bundle adjustment algorithm is proposed to jointly refine the camera localizations and EGMap features. Furthermore, the issues of uncertainty, memory use, time efficiency and obstacle effect in EGMap construction are discussed and analyzed. Physical experiments show that EGMap can be successfully constructed in large scale urban environment and the construction method is demonstrated to be very accurate and robust.
The paper presents a simple method for obstacle detection and avoidance. The system can be applied for unmanned multirotors and is based on laser scanner detections. What is more, the proposed system supports the pilo...
The paper presents a simple method for obstacle detection and avoidance. The system can be applied for unmanned multirotors and is based on laser scanner detections. What is more, the proposed system supports the pilot during the manual flights. The proposed simple obstacle detection and avoidance algorithm was described in details. The main aim of the work was the in-flight test. The results were presented in the UAV trajectories plot and PWM control signal time plots. Obtained results validate the effectiveness of the proposed collision avoidance method. The described approach helps to ensure collision free conditions for UAV operators.
This article presents an object tracking algorithm based on information retrieved from the vision system. The proposed was implemented and tested on an unmanned quadrotor. The proposed vision-based object tracking alg...
This article presents an object tracking algorithm based on information retrieved from the vision system. The proposed was implemented and tested on an unmanned quadrotor. The proposed vision-based object tracking algorithm was presented in details. The main aim of this work was the experimental tests of proposed visual servoing method. During the tests the algorithm has been verified under various conditions that assess its quality.
The main objectives of SCADA (Supervisory control And Data Acquisition) systems are the supervisory analysis of the system, control algorithms validation, and data acquisition. These systems are normally implemented a...
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The paper describes and reviews the research prosecuted on the Mechanical faculty of the Białystok University of Technology on the topic of the autonomous multirotor landing with the computer vision systems. In the fi...
The paper describes and reviews the research prosecuted on the Mechanical faculty of the Białystok University of Technology on the topic of the autonomous multirotor landing with the computer vision systems. In the first section of the article the topic essentials and the motivation for research are described. The following paragraphs are focused over the topic of construction issues and experimental studies over the designed system. The research part is divided into the two sections concentrated respectively over the vision algorithms comparison and the in-flight performance. The results are described in the context of the further advancements and research.
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