The goal of this paper was to develop a Simple Access Object Protocol (SOAP) Parlay X Web service interface that supports standard GSM modems and can be used as development and testing environment for SMS based applic...
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The goal of this paper was to develop a Simple Access Object Protocol (SOAP) Parlay X Web service interface that supports standard GSM modems and can be used as development and testing environment for SMS based applications. The service interface was translated into Java classes from a selected set of Parlay X version 2.1 Web Service Description Language (WSDL) files providing mandatory SMS functionality. SendSms, ReceiveSms, NotificationManager and SmsNotification Web services were fully implemented. Other Parlay X services (e. g. MMS, ringtone services and other) can be built in a similar fashion and easily integrated into the system architecture. The service backend was implemented using Java wrapper classes that mimic the described Web services, their datatypes and membership functions. The SIM300 GSM modem was used to transmit and receive SMS, while a MySQL database schema was used as interface between the modem and the service interface. Handler classes (also implemented in Java) were used as modem behaviour controller, while the database connection was established using the Java Database Connectivity classes provided by Oracle. Detailed System architecture, implemented Web services functionality, database structure and Message Sequence Charts are given.
To begin with, two advanced nonlinear model-based control design methods are compared in view of industrial applications. The nonlinear repetitive control model and gain-scheduling control approach are actually based ...
To begin with, two advanced nonlinear model-based control design methods are compared in view of industrial applications. The nonlinear repetitive control model and gain-scheduling control approach are actually based on the polynomial feedback linearization formalism and on a non-Lyapunov method for the estimation of the attraction domains. Again, an input control which guarantees closeness and swiftness along a desired trajectory is consequently constructed. Accordingly, the comparative evaluation is carried out on a CSTR reactor model. Based on an analysis of simulation scenarios, the synthesized controller is validated with respect to trajectory tracking performance and implementation issues. Last of all, our results are illustrated via a numerical simulation.
The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal sw...
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The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal swings when moving between closely located obstacles, fuzzy rules are updated on-line. To this end, the fuzzy rules are expressed through a layered feed-forward neural network and parameters are updated on line in two steps--the rough and fine updating. That is followed by the description of the learning fault diagnosis using binary neural network based on the Carpenter and Grossbergs＇ adaptive resonance theory.
Vibrometry is a modern contactless measurement technique to analyze vibrations in different applications. It is extremely important for industry and research. Since spatial light modulators (SLM) have been developed, ...
Vibrometry is a modern contactless measurement technique to analyze vibrations in different applications. It is extremely important for industry and research. Since spatial light modulators (SLM) have been developed, new techniques in vibrometry are possible. This paper presents two applications which use the SLM as actor instead of a galvanic mirror. Both techniques modify the phase of the wave front of a laser beam by using an SLM. On the one hand, it allows varying the focus plane and repositioning of a spot without any mechanical device. For that, special patterns have to be written to the SLM. On the other hand, overlay patterns can be used to reduce speckle drop-outs nearly without changing position and focus of the spot. For both applications an optimized signal level is the key to get sufficient results in a rougher environment.
The Mono Axial Vehicle (MAV) mobile robot platform is two wheel chassis with ability to change of the position of the center of gravity. Our mathematical model brings a new approach to modelling of these types of vehi...
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The Mono Axial Vehicle (MAV) mobile robot platform is two wheel chassis with ability to change of the position of the center of gravity. Our mathematical model brings a new approach to modelling of these types of vehicles. We developed one generalized mathematical model with generalized distance of the center of mass of the MAV. Thanks to this approach we are able to make controller synthesis much easier than before. We also deal with robustness of this controller and observer for the generalized distance of the center of mass of the MAV.
The paper deals with a problem of modeling of an unknown environment by mobile robot control system. The robot is equipped with sensory system constructed for measuring distances to obstacles in the surrounding enviro...
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The paper deals with a problem of modeling of an unknown environment by mobile robot control system. The robot is equipped with sensory system constructed for measuring distances to obstacles in the surrounding environment. The range data is used to compute grid a based model of the environment utilized for navigation tasks. The contribution accentuates the proposal of appropriate sensor models for the range finders. The models are designed on the basis of the sensor identification procedures and they are used to interpret distance measurements by sensory fusion algorithms. Experimental examples of occupancy grids built from real data recorded in the environment are presented.
This paper proposes an approach of digital controller design on microcontrollers based on control surface disretization. As experimental setup a simple system composed of a DC motor, the PWM drive and a encoder was bu...
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This paper proposes an approach of digital controller design on microcontrollers based on control surface disretization. As experimental setup a simple system composed of a DC motor, the PWM drive and a encoder was built. Identification of this simple system was done using the first order linear model and the Hammerstein-Wiener model. The quality of these models was compared based on the fitness function and their ability to cope with system nonlinearities. A discrete PI speed controller was designed based on the Hammerstein-Wiener model and tuned by the Gauss-Newton optimization algorithm. The Fuzzy logic controller was designed on the basis of the PI controller behaviour with genetic algorithm parameter tuning. The control surface of the Fuzzy logic controller was discretized for microcontroller implementation. Both controllers were implemented on the Arduino Mega platform and their control performances were tested and compared.
In this paper we describe use of cloud computing platform for support of distributed creation of conceptual models based on the FCA (Formal Concept Analysis) framework. FCA is one of the approaches which can be applie...
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The paper deals with approximation of systems with the dominant first order dynamics by the Integrator Plus Dead Time (IPDT) model based on analysis of the nonsymmetrical oscillations with possible offset arising typi...
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The main purpose of vehicle suspension is to achieve good driving stability and passenger comfort regardless of road surface. These requirements are often contradictory. This article aims to show the possibilities off...
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The main purpose of vehicle suspension is to achieve good driving stability and passenger comfort regardless of road surface. These requirements are often contradictory. This article aims to show the possibilities offered by a combination of modeling in a virtual environment and evolutionary computation in the process of optimization. Mathematical half-car model was created in Matlab/Simulink. Passive suspension parameters (damping and stiffness coefficients) were optimized with use of evolutionary computation. Results from simulations of model with original and optimized suspension parameters were compared.
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