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Orientation of doubly nonholonomic mobile manipulator in the path tracking problem

7th International Conference on Informatics in control, Automation and robotics, ICINCO 2010

作者： Mazur, Alicja Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9783642195389

In the paper we want to present a problem of path following for nonholonomic mobile manipulators. In our consideration we restrict ourself to doubly nonholonomic mobile manipulators. Nonholonomic constraints appear due to motion of the robotic system without slipping effect between wheels and the surface (for nonholonomic platform) or between special supporting wheels and ball in an onboard manipulator equipped with nonholonomic gears. As a point of departure for mathematical formulation of this problem we will use so-called Frenet parametrization. It establishes some tool to find some control laws solving the formulated problem. A role of orientation in the path tracking will depend on the user-choice and number of control inputs. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Wheels

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Competitive and self-contained gene set analysis methods applied for class prediction

Competitive and self-contained gene set analysis methods app...

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2011 Federated Conference on Computer Science and Information Systems, FedCSIS 2011

作者： Maciejewski, Henryk Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9781457700415

This paper compares two methodologically different approaches to gene set analysis applied for selection of features for sample classification based on microarray studies. We analyze competitive and self-contained methods in terms of predictive performance of features generated from most differentially expressed gene sets (pathways) identified with these approaches. We also observe stability of features returned. We use the features to train several classifiers (e.g., SVM, random forest, nearest shrunken centroids, etc.) We generally observe smaller classification errors and better stability of features produced by the self-contained algorithm. This comparative study is based on the leukemia data set published in [3]. © 2011 Polish Info Processing Soc.

关键词： Classification (of information)

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Fast and accurate thermal simulation and modelling of workloads of many-core processors

Fast and accurate thermal simulation and modelling of worklo...

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17th International Workshop on Thermal Investigations of ICs and Systems, THERMINIC 2011

作者： Wojciechowski, Bartosz Berezowski, Krzysztof S. Patronik, Piotr Biernat, Janusz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9782355000171

In this work we use the Fourier expansion to characterize and model many-core processor workloads for the purpose of computing accurate predictions of individual core thermal statuses. We demonstrate, that even if the workload is modeled with only a few components of its Fourier expansion, not only we obtain improved accuracy of aggregate performance measures like throughput or power consumption, but also we obtain highly accurate thermal profiles of individual cores. In this work we present the measurement and simulation results and accuracy analysis of our proposed approach. Our experiments show that assuming average activity of threads in a multi-threaded workload run on a many-core processor may lead to as much as 25% error in the estimation of the overall throughput of the system, and even larger discrepancies in the estimates of individual core's temperature traces, while applying even a few-component Fourier expansion of the benchmark traces reduce these errors by large margins. © 2011 CMP.

关键词： Fourier transforms

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Upper bounds on network lifetime for clustered wireless sensor networks

Upper bounds on network lifetime for clustered wireless sens...

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IFIP International Conference on New Technologies, Mobility and Security

作者： Nikodem, Maciej Wojciechowski, Bartosz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9781424487042

This paper focuses on the theoretical aspects of clustering in wireless sensor networks, as a mean to improve network lifetime. We investigate whether clustering itself (with no data aggregation) can improve network lifetime in particular application when compared to non-clustered networks. We use integer linear programming to analyse 1D and 2D networks, taking into account capabilities of real-life nodes. Our results show that clustering itself cannot improve network lifetime so additional techniques and means are required to be used in synergy with clustering.

关键词： Integer programming

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Synthesis of generalised threshold gates and multi threshold threshold gates

Synthesis of generalised threshold gates and multi threshold...

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21st International Conference on Systems Engineering, ICSEng 2011

作者： Nikodem, Maciej Bawiec, Marek A. Biernat, Janusz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul.Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9780769544953

We present formal models and efficient synthesis algorithms for threshold gates of Generalised Threshold Gate (GTG) and Multi Threshold Threshold Gate (MTTG) structures. For GTG synthesis our method does not require to calculate thresholds, that separate function onset and offsets, which greatly simplifies and speeds up the synthesis algorithm. For MTTG we propose a novel synthesis method that determines structure and circuit parameters efficiently. As complexity of MTTG circuit increases with number of thresholds we have developed a dedicated heuristic for efficiently determining the number of required thresholds. The number of resulting thresholds is smaller compared to the number of thresholds calculated using other methods. © 2011 IEEE.

关键词： Resonant tunneling diodes

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How to predict future in a world of antibody-antigen chromosomes

How to predict future in a world of antibody-antigen chromos...

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2011 Federated Conference on Computer Science and Information Systems, FedCSIS 2011

作者： Pliszka, Zbigniew Unold, Olgierd Wroclaw Public Library Sztabowa 95 53-310 Wroclaw Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wyb. Wyspianskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9781457700415

The paper deals with a representation of the antibody-antigen chromosomes. The proposed new binary decoding allows us to prove the dependence between subsequent generations of chromosomes, using quick and simple operations on chromosomes indices, instead of processing the binary strings. Some formal properties of the immune system were expressed based on this representation. A consistency theoretical proof for epistatic properties as well as exploration possibilities of a crossover operator was given. © 2011 Polish Info Processing Soc.

关键词： Genetic algorithms

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A distributed protocol for motion coordination in free-range vehicular systems

A distributed protocol for motion coordination in free-range...

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作者： Roszkowska, Elzbieta Reveliotis, Spyros A. Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland School of Industrial and Systems Engineering Georgia Institute of Technology United States

ISBN: (纸本)9783902661937

This paper extends the RAS-based approach to conflict resolution in multi-vehicle systems presented in Reveliotis and Roszkowska (2008). Similar to that earlier work, the employed model assumes the tesselation of the motion space into cells, which constitute the set of resources shared by the system agents. The key difference in the proposed abstraction is the admission of up to two agents in a single cell at a time, instead of only one, that was assumed earlier. This changes dramatically the complexity of the state-safety problem, from computationally hard to easy, and allows the effective deployment of a maximally permissive control scheme for the coordination of the agents' motion, as well as the implementation of this scheme in the form of a distributed protocol. © 2011 IFAC.

关键词： Mobile agents

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Continuation method approach to trajectory planning in robotic systems

Continuation method approach to trajectory planning in robot...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Joanna Karpińska Krzysztof Tchoń Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Control and Robotics Wroclaw University of Technology Wroclaw Poland

This paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1-parameter family of control functions. This family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. The approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.

关键词： Trajectory Equations Planning Robots Kinematics Heuristic algorithms

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Feature selection for pattern recognition by LASSO and thresholding methods - a comparison

Feature selection for pattern recognition by LASSO and thres...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Urszula Libal Control and Robotics Wroclaw University of Technology Wroclaw Poland

For high-dimensional data processing, like pattern recognition, it seems desirable to precede with a reduction of the number of describing features. Our aim is a comparison of various feature selection methods for pattern recognition. We consider two-class supervised classification problem for signals decomposed in wavelet bases. We test kNN classification rule with soft and hard thresholding, performed in two stages: (1) wavelet detail coefficient thresholding (noise reduction) and (2) searching for the most differentiating coefficients between classes (selection of discriminating coefficients). We present a new classification rule based on LARS/LASSO. We compare criteria for L1-norm regularization of wavelet coefficients: AIC, BIC and the thresh derived for kNN rule. There were performed simulations for noisy signals with SNR in the range from 0 to 22 [dB], approximated for all possible wavelet resolutions. The quality of pattern recognition for the presented algorithms was measured by the estimated recognition risk and the size of reduced model.

关键词： Pattern recognition Signal to noise ratio Noise measurement Signal resolution Noise level Noise reduction

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Bad memory blocks exclusion in Linux operating system

Advances in Intelligent and Soft Computing

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Advances in Intelligent and Soft Computing 2011年 97卷 219-231页

作者： Surmacz, Tomasz Zawistowski, Bartosz Institute of Computers Control and Robotics Wroclaw University of Technology Poland

ISBN: (纸本)9783642213922

Memory failures are quite common in todays technology. When they occur, the whole memory bank has to be replaced, even if only few bytes of memory are faulty. With increasing sizes of memory chips the urge not to waste these 'not quite properly working' pieces of equipment becomes bigger and bigger. Operating systems such as Linux already provide mechanisms for memory management which could be utilized to avoid allocating bad memory blocks which have been identified earlier, allowing for a failure-free software operation despite hardware problems. The paper describes problems of detecting memory failures and OS mechanisms that can be used for bad block exclusion. It proposes modifications to Linux kernel allowing a software solution to hardware failures. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Linux

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