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2012 6th IEEE International Conference Intelligent Systems, IS 2012

作者： Nadzinski, Gorjan Vladev, Goran Zheng, Yan Faculty of Electrical Eng. and Information Technologies SS Cyril and Methodius University Karpos 2 BB MK-1000 Skopje Macedonia College of Information Science and Engineering Institute of Control Theory and Navigation Technology Northeastern University Shenyang Liaoning 110006 China

ISBN: (纸本)9781467327824

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 then the overall fuzzy model of nonlinear plant is transformed into a class of uncertain linear systems. Thus the stabilization problem of nonlinear plants was mapped into equivalent robust stabilization problem of uncertain linear systems with mismatched uncertainties. The robust stabilization of such uncertain systems is achieved by applying discrete-time sliding mode control approach. The stable sliding surface is designed via linear matrix inequalities to reduce the influence of mismatched uncertainties while also a sufficient condition for its existence was derived too. The synthesis design of the SMC guarantees system robust stabilization in closed loop. Chattering around the sliding surface in sliding mode control is also considerably reduced by this design. This novel technique was applied to the trailer-truck benchmark example and the essential simulation results are given to demonstrate feasibility and performance effectiveness of the proposed method. © 2012 IEEE.

关键词： Sliding mode control

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iRobot Create Used in Education

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Journal of Mechanics engineering and Automation 2013年第4期3卷 197-202页

作者： Martin Dekan Frantisek Duchon Ladislav Jurisica Anton Vitko Andrej Babinec Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University ofTechnology in Bratislava Bratislava 812 19 Slovakia

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.

关键词： Mobile robot educational platform iRobot Create

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Ladder circuits modeling and analysis in the framework of linear two-dimensional (2D) systems 8

Ladder circuits modeling and analysis in the framework of li...

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8th International Workshop on Multidimensional Systems, nDS 2013

作者： Galkowski, Krzysztof Sulikowski, Bartlomiej Kummert, Anton Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 Zielona Góra65-246 Poland Faculty of Electrical Information and Media Engineering University of Wuppertal Rainer-Gruenter-Strasse 21 WuppertalD-42119 Germany

ISBN: (纸本)9783800735433

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 nodes is applied next to obtain an equivalent 1D dynamical system model and the Linear Matrix Inequality approach is used to investigate stability and stabilization of active ladder circuits. © VDE VERLAG GMBH 2013.

关键词： Timing circuits

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Optimised conditioning technique for a priori anti-windup compensation

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Systems Science 2008年第3期34卷 67-73页

作者： Horla, Dariusz Poznań University of Technology Institute of Control and Information Engineering Faculty of Electrical Engineering ul. Piotrowo 3A 60-965 Poznań Poland

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... 详细信息

关键词： Multivariable systems

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Directional change for rate-constrained systems with anti-windup compensation

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Systems Science 2008年第1期34卷 49-58页

作者： Horla, Dariusz Poznan University of Technology Institute of Control and Information Engineering Faculty of Electrical Engineering ul. Piotrowo 3A 60-965 Poznan Poland

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 ... 详细信息

关键词： Constrained optimization

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Performance Analysis of a QoS System with WFQ Queuing Using Temporal Petri Nets 1

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20th International Conference on Computer information Systems and Industrial Management Applications, CISIM 2021

作者： Strzęciwilk, Dariusz Nafkha, Rafik Zawiślak, Rafal Institute of Information Technology University of Life Sciences Nowoursynowska Street 159 Warsaw02-787 Poland Faculty of Electrical Electronic Computer and Control Engineering Lodz University of Technology Stefanowskiego 18/22 Lódź Poland

ISBN: (数字)9783030843403

ISBN: (纸本)9783030843397

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 network model supporting data transfers related to different traffic classes was designed and studied. Traffic shaping mechanisms based on WFQ (Weighted Fair Queuing) system used in QoS were studied. The impact of the traffic shaping mechanism was studied and the performance of the modelled systems was evaluated. The application of simulation tools in the form of TPN (Temporal Petri Nets) was aimed at verifying the traffic shaping mechanisms and evaluating the performance of the studied WFQ system. Our simulation results show that the number of high-priority flows have a critical impact on average waiting times and queue length. © 2021, Springer Nature Switzerland AG.

关键词： Petri nets

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Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases

Step and Timing Adaptation during Online DCM Trajectory Gene...

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IEEE-RAS International Conference on Humanoid Robots

作者： Tobias Egle Johannes Englsberger Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute TU Wien Vienna Austria Institute of Robotics and Mecha-tronics German Aerospace Center (DLR) Wessling Germany

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.

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Modelling of the blood pressure regulation in rats

Modelling of the blood pressure regulation in rats

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2012 5th International Conference on Biomedical engineering and Informatics, BMEI 2012

作者： Sekaj, Ivan Zicha, Josef Behuliak, Michal Balis, Peter Bernatova, Iveta Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia Institute of Physiology Academy of Sciences of the Czech Republic Prague Czech Republic Institute of Normal and Pathological Physiology NOREG Slovak Academy of Sciences Bratislava Slovakia

ISBN: (纸本)9781467311816

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 considered. Time-responses of blood pressure after administration of selected drugs are identified and linear dynamic models of the cardiovascular system using genetic algorithms are calculated. © 2012 IEEE.

关键词： Blood pressure

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Lessons learned from human lava tube exploration and research during simulated lunar and Martian missions at the HI-SEAS space research station 24

Lessons learned from human lava tube exploration and researc...

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24th IAA Symposium on Human Exploration of the Solar System 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Musilova, Michaela McAdam, Amy Seto, Emily P. Bower, Dina Millan, Maëva Fishman, Chloe International MoonBase Alliance United States Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology STU Bratislava Slovakia Bratislava Slovakia NASA Goddard Space Flight Center United States Honeybee Robotics United States University of Maryland College Park United States Georgetown University United States

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

关键词： Manned space flight

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One approach to the integration of low-cost inertial sensors and Global Positioning System for mobile robots

One approach to the integration of low-cost inertial sensors...

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作者： Sazdovski, Vasko Stankovski, Mile Gugulovska, Tatjana Kolemisevska Deskovski, Stojce Faculty of Machine Intelligence and Robotics University for Information Science and Technologies Building at ARM Partizanska bb 6000 Ohrid Macedonia Institute of ASI Faculty of Electrical Engineering and Information Technologies University of Ss. Cyril and Methodius Karpos II bb 1000 Skopje Macedonia Department of Traffic and Transport Engineering Faculty of Technical Sciences University of St. Kliment Ohridski 1vi Maj bb 7000 Bitola Macedonia

ISBN: (纸本)9783902661937

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 significant advances in the mobile robots autonomy. Precise navigation parameters (position, velocity and attitude) play crucial role for mobile robots to respond autonomously. Supplying wrong or not precise navigation parameters to the Guidance and control System can turn to be catastrophic for mobile robots. In navigation the trend is to use integrated systems. The idea is to integrate more navigation systems and to achieve better navigation accuracy. In this paper a low-cost integrated navigation system was developed where Extended Kalman Filter (EKF) was used for integration of the Global Positioning System (GPS) information and measurements from the single yaw gyro. Extensive practical experiments were carried out to validate the presented approach. The algorithm was tested on a mobile robot platform Itar Pejo and a car. The results show improvements of the integrated navigation system then the GPS and gyro used alone. © 2011 IFAC.

关键词： Global positioning system

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