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Cyclic steady state refinement

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作者： Bocewicz, Grzegorz Wójcik, Robert Banaszak, Zbigniew A. Dept. of Computer Science and Management Koszalin University of Technology Koszalin Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Faculty of Management Dept. of Business Informatics Warsaw University of Technology Warsaw Poland

ISBN: (纸本)9783642199332

The paper presents a new modeling framework enabling to evaluate the cyclic steady state of a given system of concurrently flowing cyclic processes (SCCP) on the base of the assumed topology of transportation routes, dispatching rules employed, resources and operation times as well as an initial processes allocation. The objective is to provide the rules useful in the course of routing and scheduling executed in SCCP where local cyclic processes interact on the base of a mutual exclusion protocol. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Transportation routes

Application of quaternion scale space approach for motion processing

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Advances in Intelligent and Soft Computing 2011年 102卷 141-148页

作者： Jabloński, Bartosz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeze Wyspianskiego 27 Wroclaw 50-370 Poland

ISBN: (纸本)9783642231537

Scale space approach turned out to be a powerful framework for image processing purposes. In this paper we introduce proposal of a scale space concept generalized for datasets of quaternions e.g trajectories representing motion capture data. We introduce equivalents of non-linear and anisotropic simplification operators which exhibit a completely new set of properties. Three groups of applications are considered: trajectory smoothing, meaningful features detection and parameterized signal synthesis. We present a theoretical analysis and the results of numerical experiments. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： computers

Identity of socially interactive robotic twins: Initial results of VHRI study

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Identity of socially interactive robotic twins: Initial resu...

International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Krzysztof Arent Bogdan Kreczmer Łukasz Małek Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wrocław Poland

The paper refers to the issue of robot companion being able to migrate between different embodiments. The main attention is focused on the case when two or more companions can share the same embodiment. It is shown that some behavioural characteristics can be significant in the process of recognition of the companion's identity. The results are based on a video based experimental study. Animations for this study were prepared using a dedicated software.

关键词： Robots Context Inspection Navigation Software architecture Software Laboratories

Generating Chen-Fliess-Sussmann equation via Campbell-Baker-Hausdorff-Dynkin formula

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Generating Chen-Fliess-Sussmann equation via Campbell-Baker-...

International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Ignacy Duleba Jacek Jagodziński Institute of Computer Engng. Control and Robotics Wroclaw Univ. of Technology Wroclaw Poland

Generating and solving the Chen-Fliess-Sussmann (CFS) equation for a given representation of motion is a crucial step in deriving controls to steer nilpotent nonholonomic systems using the Lafferriere-Sussmann method. The equation can be quite complicated, and its derivation differs substantially from one representation to another. Therefore instead to derive CFS for a given hard-to-compute representation we propose to derive it for any easy-to-compute representation and then to transform it to the given representation. For this purpose the Campbell-Baker-Hausdorff-Dynkin formula is applied. This approach is illustrated on generating and solving CFS for forward, backward and canonical representations.

关键词： Equations Mathematical model Algebra Robots Planning Generators control systems

Fast and energy-efficient constant-coefficient FIR filters using residue number system

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Fast and energy-efficient constant-coefficient FIR filters u...

IEEE/ACM International Symposium on Low-Power Electronics and Design

作者： Patronik, Piotr Berezowski, Krzysztof Piestrak, Stanislaw J. Biernat, Janusz Shrivastava, Aviral Institute of Computer Engineering Control and Robotics Wrocaw University of Technology Wrocaw Poland IRISA 6 rue de Kerapont Lannion France Compiler Microarchitecture Lab Arizona State University Tempe AZ 85287 United States

ISBN: (纸本)9781612846590

In this paper, we present constant-coefficient finite impulse response (FIR) filters design using residue number system (RNS) arithmetic. The novelty of our approach rests in an attempt to maximize the accumulated benefit of the application of RNS to the design of constant coefficient filters. To achieve this, we consider the impact of RNS on many layers: from coefficient representation and techniques of sharing of subexpressions in the multiplier block (MB), to its optimized usage in the MB and accumulation pipeline hardware design. As a result, we propose a common subexpression elimination (CSE) based synthesis technique for RNS-based MBs, along with a high-performance RNS-based FIR filter architecture that employs RNS arithmetic principles but implements them mainly using more efficient 2's complement hardware. Several filters with numbers of taps ranging from 25 to 326 and dynamic ranges from 24 to 50 bits have been synthesized using TSMC 90 nm LP kit and Cadence RTL Compiler. Comparison of power, delay, and area of the new filters implemented using the 4- and 5-moduli RNSs against various equivalent 2's complement counterparts show uniform improvement in performance and power efficiency, often accompanied by significant reduction in area/power consumption as compared to 2's complement implementations. We observed up to 22% improvement in peformance (19% reduction in area) within bounded power envelope, or up to 14% reduction in power consumption (12% reduction in area) at same frequency. © 2011 IEEE.

关键词： FIR filters

An effective learning environment

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Advances in Intelligent and Soft Computing 2011年 97卷 285-299页

作者： Woda, Marek Kubacki-Gorwecki, Konrad Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9783642213922

This chapter is dedicated to an effective learning environment implementation, and more precisely the development of algorithms that improve effectiveness of the learning process using the automatic selection of the difficulty of lessons depending on individual student characteristics and selection of the architecture to increase the technical efficiency of the process through the use of appropriate technical means to build e-learning system. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： computer aided instruction

Avoiding probability saturation during adjustment of markov models of ageing equipment

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Advances in Intelligent and Soft Computing 2011年 97卷 205-217页

作者： Sugier, Jaroslaw Wroclaw University of Technology Institute of Computer Engineering Control and Robotics ul. Janiszewskiego 11/17 50-372 Wroclaw Poland

ISBN: (纸本)9783642213922

Markov models are well established technique used widely for modeling equipment deterioration. This work presents an approach where Markov models represent equipment ageing and also incorporate various maintenance activities. Having available some basic model it is possible to adjust its parameters so that it represents some hypothetical new maintenance policy and then to examine impact that this new policy has on various reliability characteristics of the system. The paper deals with a method of model adjustment and specifically investigates its one particular problem: avoiding probability saturation in a model which is tuned towards increased repair frequencies. The text describes the adjustment method in a general case, identifies specific risk of probability saturation that may take place during the iterative procedure and proposes a new extension to the method that overcomes this problem with minimal intervention in the internal structure of the model, in a specific class of cases. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Iterative methods

Human resource influence on dependability of discrete transportation systems

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Advances in Intelligent and Soft Computing 2011年 97卷 271-283页

作者： Walkowiak, Tomasz Mazurkiewicz, Jacek Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9783642213922

The chapter is focused on the human resource influence on dependability of discrete transportation systems (DTS). The human resource means the driver of the vehicle. We add him/her as a new element of the system description. The dependability means the combination of the reliability and functional parameters of the DTS. This way the analysis of the DTS behavior seems to be more sophisticated. The unified containers transported by trucks with the set of time-type assumptions are the essence of the system discussed. The proposed method is based on modeling and simulating of the system behavior. The income of containers is modeled by a stochastic process. Each container has a source and destination address. The central node is the destination address for all containers generated in the ordinary nodes. We also propose the heuristic management approach as well as the functional metric for DTS and we test the example system based on the real data. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Containers

Functional based reliability analysis of web based information systems

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Advances in Intelligent and Soft Computing 2011年 97卷 257-269页

作者： Walkowiak, Tomasz Michalska, Katarzyna Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9783642213922

The chapter presents a method of Web-based information system dependability analysis based on functional and reliability approach. A service availability is predicted by developed by authors a two level simulator (using Monte-Carlo based estimation). Taxonomy of the faults is described. Numerical experiments were performed on a test case scenario that was modeled as a network of interacting tasks and technical infrastructure required for the service realization. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Reliability analysis