An innovated investigation of the control problem for nonlinear discrete-time plant systems via Takagi-Sugeno fuzzy model was carried out. Firstly, nonlinear dynamic plants are represented by such a fuzzy model, and t...
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There are many robotic platforms usable in the educational process. In the introduction, some of the educational platforms are presented. The main body of this paper deals with educational robotic platform iRobot Crea...
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There are many robotic platforms usable in the educational process. In the introduction, some of the educational platforms are presented. The main body of this paper deals with educational robotic platform iRobot Create. In this paper, main parts of this platform are described, such as mechanics, sensors and actuators. The software equipment with communication protocol of this platform is also described. The results of the analysis of this platform show its rich possibilities in its use in educational process such as mechanics, electronics and algorithms used in robotics.
Ladder circuits can be considered as two-dimensional (2D) systems where information is propagated in two separate directions, i.e. in the time t ∈ R and in the space represented by a node number p ∈ N. Lifting along...
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The paper presents discussion over two new optimal conditioning technique algorithms for a priori anti-windup compensation in the case of multivariable systems with amplitude- and rate-constrained control vector toget...
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The paper presents discussion over two new optimal conditioning technique algorithms for a priori anti-windup compensation in the case of multivariable systems with amplitude- and rate-constrained control vector together with requirement of no directional changes in controls.
The paper presents a problem of directional change in controls when anti-windup compensator is introduced into the control system, together with presenting connections of anti-windup compensation and avoiding changes ...
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The paper presents a problem of directional change in controls when anti-windup compensator is introduced into the control system, together with presenting connections of anti-windup compensation and avoiding changes in control vector direction for systems with amplitude and rate constraints.
The paper presents the results of analysis and modelling of differentiated services using Petri nets. Mechanisms and methods of implementation of QoS (Quality of Service) services in packet networks are discussed. A n...
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In this paper, we present a robust DCM-based online trajectory generator with step timing adaptation using MPC in addition to manipulating the ground reaction forces by the DCM tracking controller. The proposed contro...
In this paper, we present a robust DCM-based online trajectory generator with step timing adaptation using MPC in addition to manipulating the ground reaction forces by the DCM tracking controller. The proposed control framework utilizes three strategies to react to disturbances: timing adaptation, footstep position adjustment, and CoP modulation. Most state-of-the-art walking controllers only address some of these aspects, and especially the timing adaptation is often neglected in the presence of double support phases as the resulting optimization problem generally becomes nonlinear. We show that we can keep the fast disturbance rejection from the DCM tracking controller while adjusting the timing and location of the footsteps via MPC if the CoP-based ankle strategy is insufficient to maintain balance. This framework is particularly relevant for robots with active control of the CoP inside the support polygon by utilizing a combination of ankle and step strategy to take full advantage of the robot's capabilities in response to external disturbances. The method is validated in simulation on the robot kangaroo. It has lightweight, fully actuated legs and a sufficiently large contact area, making it highly suitable for a combined step time adaptation and contact force modulation approach.
A mathematical model of blood pressure regulation in rats is presented. The three major regulatory systems - sympathetic nervous system, renin-angiotensin-aldosterone system and L-Arginine/nitric oxide system are cons...
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Lava tube systems are of great interest for the future exploration of the Moon and Mars. On both celestial bodies, lava tubes could serve as sheltered environments for the construction of human settlements. Furthermor...
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ISBN:
(纸本)9781713842989
Lava tube systems are of great interest for the future exploration of the Moon and Mars. On both celestial bodies, lava tubes could serve as sheltered environments for the construction of human settlements. Furthermore, Martian lava tubes may contain extant life and biosignatures. Accessing lava tubes, however, remains a challenge for both robotic and human operations, from a scientific, logistical and safety perspective. For these reasons, the exploration of lava tubes by humans and robots requires preparation in terrestrial analog environments, and is mandatory to successfully study lava tube systems elsewhere in the Solar System. Such studies have been performed on a regular basis during simulated lunar and Martian missions at the Hawaii Space Exploration Analog and Simulation (HI-SEAS) space research station in Hawaii. The International MoonBase Alliance organizes missions at HI-SEAS, during which crews of six analog astronauts perform research and technology testing relevant to the exploration of the Moon and Mars. Since the HI-SEAS habitat is located on lava flows on the volcano Mauna Loa, minimal plants and animals are present. Therefore, the wide variety of volcanic features can be explored for high-fidelity planetary science fieldwork, such as lava tubes, channels, and tumuli. This terrain is also ideal for rover and in situ resource utilization testing because of its great similarity to the basaltic terrains on the Moon and Mars. . HI-SEAS crews explored and collected research samples in the most accessible lava tubes while wearing Extra-vehicular Activity (EVA) analog spacesuits and following strict EVA protocols. HI-SEAS crews then performed biochemical and geophysical analyses for a variety of research projects. These activities are very challenging for the crew, due to the bulky gloves and EVA equipment they have to wear, while performing precise biochemical research that is sensitive to contamination. The crews also have to take into consideration the
Mobile robots are reality these days. Advances in the new technologies, including relatively cheap sensors, new communication and internet technologies together with the increases in the computational speed provide si...
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