The paper presents an original Nyquist-based frequency domain robust decentralized controller design technique called Equivalent Subsystems Method (ESM) being developed at the Institute of control and Industrial Infor...
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The paper presents an original Nyquist-based frequency domain robust decentralized controller design technique called Equivalent Subsystems Method (ESM) being developed at the Institute of control and Industrial informatics (ICII), and shows how it is included in education of control engineers in Cybernetics within laboratory project-based learning on real-world laboratory plants.
This paper describes some improvements of Vector Field Histogram method used as reactive navigation of a mobile robot. In our application a laser rangefinder as a primary sensor for scanning an environment is used. Th...
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This paper describes some improvements of Vector Field Histogram method used as reactive navigation of a mobile robot. In our application a laser rangefinder as a primary sensor for scanning an environment is used. Therefore, improvements in computation of the histogram values are presented. Further a VFH*-based technique that enables robot to sense and avoid dynamic obstacles is proposed.
We demonstrate how CasADi, a recently developed, free, open-source, general purpose software tool for nonlinear optimization, can be used for dynamic optimization in a flexible, interactive and numerically efficient w...
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We demonstrate how CasADi, a recently developed, free, open-source, general purpose software tool for nonlinear optimization, can be used for dynamic optimization in a flexible, interactive and numerically efficient way. CasADi is best described as a minimalistic computer algebra system (CAS) implementing automatic differentiation (AD) in eight different flavors. Similar to algebraic modeling languages like AMPL or GAMS, it includes high-level interfaces to state-of-the-art numerical codes for nonlinear programming, quadratic programming and integration of differentialalgebraic equations. CasADi is implemented in self-contained C++ code and contains full-featured front-ends to Python and Octave for rapid prototyping. In this paper, we discuss CasADi from the perspective of the developer or advanced user of algorithms for dynamic optimization for the first time, leaving out details on the implementation of the tool. We demonstrate how the tool can be used to model highly complex dynamical systems directly or import existing models formulated in the algebraic modeling language AMPL or the physical modeling language Modelica. Given this symbolic representation of the process models, the resulting optimal control problem can be solved using a variety of methods, including transcription methods (collocation), methods with embedded integrators (multiple shooting) as well as indirect methods.
During the monitoring of information systems, experiments in progress, etc. it is often required that people are alerted about some events in real time, preferably via a mobile phone. Modern smartphones offer advanced...
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During the monitoring of information systems, experiments in progress, etc. it is often required that people are alerted about some events in real time, preferably via a mobile phone. Modern smartphones offer advanced means of notification, however these techniques are usually vendor specific. In this paper we design an unified platform for the delivery of short messages and notifications to smartphones. Our solution is based on a RESTful Java Web Service with simple interface and secure access. Although it is primarily targeted for the delivery of iOS Push Notifications, it can be easily extended for other platforms and/or transport methods (Android, SMS messaging, etc.).
This paper presents a methodology for avoiding joint limits of robot manipulators in the solution of the differential inverse kinematics problem. A nonlinear transformation is applied to the joint limits, leading to a...
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This paper presents a methodology for avoiding joint limits of robot manipulators in the solution of the differential inverse kinematics problem. A nonlinear transformation is applied to the joint limits, leading to a new kinematics formulation defined in the space of the transformed variables. The introduced transformation ensures that the joint variables stay between joint limits. Optimality conditions are converted into the transformed joint space, and closed-loop differential inverse kinematics is applied. The effectiveness of the introduced method is demonstrated on a simulational example.
The paper presents the technical infrastructure of the system for monitoring the road transportation of oversized and dangerous goods. It describes the basic components of the system - vehicle sensor network, vehicle ...
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The paper presents the technical infrastructure of the system for monitoring the road transportation of oversized and dangerous goods. It describes the basic components of the system - vehicle sensor network, vehicle on-board unit (OBU), monitoring centre and wireless communication system. Moreover, it specifies some important system parameters, especially the period of sending the data about the state / condition of goods to the monitoring centre.
An important issue in the analysis of two-dimensional electrophoresis images is the detection and quantification of protein spots. The main challenges in the segmentation of 2DGE images are to separate overlapping pro...
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The original TuringTest is modified in order to take into account the age&gender of a Judge who evaluates the machine and the age&gender of a Human with whom the machine is compared during evaluation. This yie...
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ISBN:
(纸本)9781908187154
The original TuringTest is modified in order to take into account the age&gender of a Judge who evaluates the machine and the age&gender of a Human with whom the machine is compared during evaluation. This yields a basic taxonomy of TuringTest-consistent scenarios which is subsequently extended by taking into account the type of intelligence being evaluated. Consistently with the Theory of Multiple Intelligences, nine basic intelligence types are proposed, and an example of a possible scenario for evaluation of emotional intelligence in early stages of development is given. It is suggested that specific intelligence types can be subsequently grouped into hierarchy at the top of which is seated an Artificial Intelligence labelled as "meta-modular". Finally, it is proposed that such a meta-modular AI should be defined as an Artificial Autonomous Agent and should be given all the rights and responsibilities according to age of human counterparts in comparison with whom an AI under question has passed the TuringTest.
The paper deals with the design of the robust PID controller for real uncertain Coupled-Tank process in the frequency domain. Only the first independent tank is considered (single-input single-output system). In robus...
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The paper deals with the design of the robust PID controller for real uncertain Coupled-Tank process in the frequency domain. Only the first independent tank is considered (single-input single-output system). In robust controller design procedure the Edge Theorem and the Neimark's D -partition methods for the affine model are included. For identification and control of Coupled-Tank process LABREG software is used.
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