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Lecture Notes in control and Information Sciences 2009年 396卷 35-44页

作者： Pazderski, Dariusz Kozlowski, Krzysztof R. Krysiak, Bartlomiej Chair of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland

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Kinematic tracking controller for unicycle mobile robot based on polar-like representation and Lyapunov analysis

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2009年 396卷 45-56页

作者： Pazderski, Dariusz Szulczyński, Pawel Kozlowski, Krzysztof R. Chair of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland

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Quadruped walking robot WR-06 - Design, control and sensor subsystems

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2009年 396卷 175-184页

作者： Michalski, Mateusz Kowalski, Michal Pazderski, Dariusz Chair of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland

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control system for designed mobile robot - Project, implementation, and tests

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2009年 396卷 401-410页

作者： Kozlowski, Stanislaw Majchrzak, Jaroslaw Chair of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland

ISBN: (纸本)9781848829848

The solution ofmobile robot control presented in the paper fulfilled the constructors? assumptions. One chosen test was presented The realization of positioning and velocity control tasks turned out to be effective. A set of elementary control tasks have been implemented, each of which can only be accomplished executing the proper command. The command can be sent only by the on-board computer (Fig. 37.3). The fast communication network works in real time. The CAN bus keeps up with the rate the control commands are being transmitted thanks to one of its properties ? relatively small number of data packed in one message. For example, using CAN itrate of 250 kb/s, the frequency of the control loop equals ca. 450 Hz (assuming that 5 111-bit frames are transmitted every cycle). Our system works with CAN bitrate of 250 kb/s. It is sufficient in the case of position or speed steering. During the project realization a set of dedicated tools were used e.g. CANopenTM profiles, IQMath library for precise fixed-point arithmetics using the DSP. The open communication system makes it possible to use additional on-board executive elements, as long as they are equipped with a CAN interface and a suitable modification of the on-board controller software is made. The extension is also possible in the range of environment contact sensors as well as different measuring systems. Nonholonomic constraints that rule the rights of robot movement are taken into account in this paper. The authors do not consider longitudinal constraints though, ecause the projected dynamics of movement was not large. In the future, these constraints we will be taken under consideration. One can see easily in the presented results that the amplitudes of the desired velocity signals are larger than the executed signals ? it is the result of drive settings. © 2009 Springer-Verlag London.

关键词： Fixed point arithmetic

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Finite-time VFO stabilizers for the unicycle with constrained control input

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2009年 396卷 23-34页

作者： Michalek, MacIej Kozlowski, Krzysztof R. Chair of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland

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Real-time object tracking using motorized camera

Real-time object tracking using motorized camera

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Paweł Pawłowski Krzysztof Borowczyk Tomasz Marciniak Adam Dąbrowski Chair of Control and System Engineering Division of Signal Processing and Electronic Systems Poznan University of Technology Poman Poland

This paper presents an experimental system for real time tracking of moving objects. It is equipped with the analog video camera CC-5299MAFS/M mounted on a controlled turntable. A standard PC computer operating with Linux system is used. The prepared software analyzes the captured video and decides how to control the turntable and the camera. Manual system control is also possible. The implemented algorithms are discussed in the paper in detail.

关键词： Tracking Optical saturation Optical sensors Cameras Optical computing Irrigation Search problems

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Prototype multimedia database system for registration of emergency situations

Prototype multimedia database system for registration of eme...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Julian Balcerek Szymon Drgas Adam Dąbrowski Adam Konieczka Department of Computing Science and Management Chair of Control and System Engineering Division of Signal Processing and Electronic Systems Poznan University of Technology Poznan Poland

In this paper a prototype emergency services system is presented, equipped with a multimedia database registering and storing relevant emergency situations in a semi automatic way. In this paper we assume that this database is created exclusively with sound and linguistic material won from emergency telephone calls. The presented system enables conducting speaker recognition experiments. Sources of data, metadata generation, architecture description, searching for results, and database implementation are comprised.

关键词： Manuals World Wide Web Phase locked loops Web pages Graphical user interfaces Encyclopedias

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Ankle robot for people with drop foot - Case study

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2009年 396卷 443-452页

作者： Sauer, Piotr Kozlowski, Krzysztof R. Morita, Yoshifumi Ukai, Hiroyuki Chair of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland Nagoya Institute of Technology Gokiso Showa Nagoya 466-8555 Japan

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Trajectory tracking for formation of mobile robots

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2009年 396卷 57-66页

作者： Kowalczyk, Wojciech Kozlowski, Krzysztof R. Tar, József K. Chair of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Budapest Tech Becsi ut 96/B Budapest H-1034 Hungary

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Design of a planar high precision motion stage

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2009年 396卷 371-379页

作者： Hermann, Gyula Tar, József K. Kozlowski, Krzysztof R. John von Neumann Faculty of Informatics Budapest Tech Institute of Intelligent Engineering Systems Bécsi út 96/B Budapest H-1034 Hungary Chair of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland

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