This contribution describes universal embedded system suitable for small motion robots. Most of the robots in this category are equipped at least 2 drive wheels with feedback for robot moving, RF link for the communic...
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This contribution describes universal embedded system suitable for small motion robots. Most of the robots in this category are equipped at least 2 drive wheels with feedback for robot moving, RF link for the communication with host computer or between another ones, microcontroller for robot control, single power supply and interfaces for interconnection with sensors or actuators. Plenty of design of this electronic exist but usually are developed only for one specific application. Our system was designed for general use. It provides good performances of robots suitable also for application in robot soccer game and plenty of applications as testing AI, multiagents system as well as education purpose.
This paper considers the stability of the fractional-order linear time-invariant systems with interval type uncertainties in both fractional orders and the relevant coefficients. It is an extension of our previous res...
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Direct adaptive control algorithms using state variables in control structure are known for their good adaptation capability and tracking performances that result from the fact that they use plant state variables in c...
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Direct adaptive control algorithms using state variables in control structure are known for their good adaptation capability and tracking performances that result from the fact that they use plant state variables in control law as well as in adaptation law. The implementation of standard model reference adaptive control (MRAC) with state variable control structure requires some a priori knowledge about the plant to be controlled including the plant order. This information is crucial for the proper choice of reference model describing the desired closed loop dynamical behavior and consequently for the adaptive system performances. The aim of our paper is to propose the fuzzy adaptation law for MRAC with state variable structure of control law that is able to ensure the adaptation process convergence and tracking capability even in the presence of unmodelled dynamics.
The paper is focused on the area of using multimedia in distributed systems (DS), its first part gives an introduction to the history of DS and multimedia. Its goal is to present basic terms and possibilities of imple...
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The paper is focused on the area of using multimedia in distributed systems (DS), its first part gives an introduction to the history of DS and multimedia. Its goal is to present basic terms and possibilities of implementation in this area where the big emphasis is given to integration and using multimedia and DS in still developing area of the internet. The report describes an experiment concerning on-line video transfer through the school network of VŠB-Ostrava where demonstrational projects have been developed (PC to PC, and connecting PC to the school network with various loads). These experiments were running using Microsoft and Real Network software, and the comparison of both systems has been done concerning the quality of the transfer.
Traditionally, when approaching controller design with the Youla-Kucera parametrization of all stabilizing controllers, the denominator of the rational parameter is fixed to a given stable polynomial, and optimization...
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Traditionally, when approaching controller design with the Youla-Kucera parametrization of all stabilizing controllers, the denominator of the rational parameter is fixed to a given stable polynomial, and optimization is carried out over the numerator polynomial. In this work, we revisit this design technique, allowing to optimize simultaneously over the numerator and denominator polynomials. Stability of the denominator polynomial, as well as fixed-order controller design with H/sub /spl infin// performance are ensured via the notion of a central polynomial and LMI conditions for polynomial positivity.
Today many vendors covering the process control automation area offer a variety of products using a Linux operating system. These controllers, communication and visualisation resources meets customer requirements for ...
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Today many vendors covering the process control automation area offer a variety of products using a Linux operating system. These controllers, communication and visualisation resources meets customer requirements for easy and relatively low-cost integration with information systems for enterprise management, as they contain standardized communication and graphics components commonly used in the internet network. This article covers typical problems we meet when using Linux in control systems and gives typical examples of such devices.
This contribution describes improvement of soccer robot (class Mirosot) communication. 2.4 GHz band, half-duplex communication and more than 100 channels are some of several advantages of the system. Main advantage is...
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This contribution describes improvement of soccer robot (class Mirosot) communication. 2.4 GHz band, half-duplex communication and more than 100 channels are some of several advantages of the system. Main advantage is wide range of communication modes and protocols which can be used on this hardware. It enables PC (Master) to robot, robot to robot communication as well as broadcast data for all robots. Main advantage is wide range of communication modes and protocols which can be used on this hardware. It enables PC (Master) to robot, robot to robot communication as well as broadcast data for all robots. This system (especial hardware part of system) rise effective bit-rate to order 100 kbit/s (before 19.2 kb/s), bi-directional communication and more channels for applying several channels in one time and safety communication protocol. Applications of distributed system, distributed AI as well as robot telemetry are now possible.
This paper considers the stability of the fractional-order linear time-invariant systems with interval type uncertainties in both fractional orders and the relevant coefficients. It is an extension of our previous res...
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This paper considers the stability of the fractional-order linear time-invariant systems with interval type uncertainties in both fractional orders and the relevant coefficients. It is an extension of our previous result on the robust stability analysis of the interval type uncertain fractional order LTI systems with crisply known fractional orders. We have proposed a stability check procedure for uncertain LTI systems with interval fractional orders and interval coefficients. The procedure is demonstrated with some simple examples
The paper is devoted to the problem of modeling demand for inventory management of slow-moving items in the case of reporting errors. It is proposed a generalization of the beta-binomial demand model that takes into a...
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The paper is devoted to the problem of modeling demand for inventory management of slow-moving items in the case of reporting errors. It is proposed a generalization of the beta-binomial demand model that takes into account possible reporting errors in the learning sample. For the new model, there are developed identification and forecasting algorithms that provide consistent estimators of the model parameters and mean square optimal forecasts. The efficiency of the proposed approach is illustrated by an application example for slow-moving car parts.
This paper focuses upon the diagnosis of an assembling/dissembling robot, using analytical methods based on observers. The paper presents a modality of detecting incidents, using the mathematical model of the robot, w...
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