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检索条件"机构=Institute for Robotics and Computer Control"

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Feedback control of a balancing robot

Feedback control of a balancing robot

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作者： Kȩdzierski, Jan Tchoń, Krzysztof Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 50-372 Wroclaw Poland

ISBN: (纸本)9783902661555

A major objective of FP7 LIREC project (Living with Robots and Interactive Companions) lies in designing a robotic companion that humans would accept and co-exist with over a longer period of time. A tentative construction of such a companion has been a robot mounted on board of a balancing mobile platform. In this paper we describe a prototype design of the balancing robot, derive a mathematical model of its kinematics and dynamics, and develop a robot controller. The controller synthesis is based on feedback decoupling and linearization of the robot dynamics. Performance of the controller has been tested by computer simulations of example problems of position and orientation tracking.

关键词： Robots

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An intelligent assistant for power plants based on factored MDPs

An intelligent assistant for power plants based on factored ...

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2009 15th International Conference on Intelligent System Applications to Power Systems, ISAP '09

作者： Reyes, Alberto Spaan, Matthijs T. J. Sucar, L. Enrique Instrumentation and Control Department Instituto de Investigaciones Eléctricas Cuernavaca Mexico Institute for Systems and Robotics Lisbon Portugal Computer Science Department INAOE Puebla Mexico

ISBN: (纸本)9781424450985

Making good operation decisions during abnormal power plant conditions represents in many cases the possibility to avoid a unit trip or having economical losses. This paper introduces AsistO, an intelligent assistant for the decision support based on decision theoretic planning techniques. It provides power plant operators with useful recommendations to (i) maintain a plant running under safe conditions, or (ii) deal with process transients when an unexpected event occurs. We present the formalism of Markov decision processes as the core of the intelligent assistant which uses a factored representation of plant states. We also show a very intutive algorithm to approximate decision models based on training data collected through random exploration routines in a simulated environment. We have tested our system in the steam generation system of a combined power plant to deal with load disturbances. © 2009 IEEE.

关键词： Markov processes

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Detecting Botnets in computer Networks Using Multi-agent Technology

Detecting Botnets in Computer Networks Using Multi-agent Tec...

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International Conference on Dependability of computer Systems (DepCos-RELCOMEX)

作者： Miroslaw Szymczyk Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

The paper presents a hybrid model of the bots detector which is a combination of host intrusion detection system and the operating system event log analyzer. Bot can be defined as a computer that have been attacked by a hacker or infected with malicious software and is used for illegal activities. Collections of infected computers form a botnet. The proposed system is used to detect bots based on the evaluation of events occurring in the operating system and network environment. Detection algorithms based on the signatures derived from the analysis of the various types of malicious software that creates bots. The model has been implemented using multi-agent technology.

关键词： computer networks

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Relational Approach Towards Feasibility Performance for Routing Algorithms in Wireless Sensor Network

Relational Approach Towards Feasibility Performance for Rout...

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International Conference on Dependability of computer Systems (DepCos-RELCOMEX)

作者： Jan Nikodem Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

This paper presents an investigation into feasibility performance gains for routing protocols. Routing protocols are crucial for WSN activity because sensors are not capable to realise individually overall system tasks. Because of that, sensors need to have more or less tightly integrated cooperation, based on information exchange, between them. We propose relational approach, based on set theory, which considers three relations: subordination, tolerance and collision. Using these relations we perform initial organization, but there is no necessity to perform any reorganization during a network lifetime. The obtained results show that providing relatively high collision intensity quotient, nodes can avoid selectively malfunctioned nodes. On the other side, decreasing subordination intensity quotient inhibits error dissemination process.

关键词： Wireless sensor networks Routing protocols Energy efficiency computer networks Sensor systems Robustness Costs control engineering computing Robot control control systems

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Preemptive single processor scheduling with distinct due windows and minimization of maximum earliness and tardiness

Preemptive single processor scheduling with distinct due win...

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作者： Janiak, A. Janiak, W.A. Januszkiewicz, R. Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Janiszewskiego 11/17 50-372 Wroclaw Poland Faculty of Computer Science and Management Wroclaw University of Technology Lukasiewicza 5 50-371 Wroclaw Poland

ISBN: (纸本)9783902661555

Problem of scheduling n preemptive jobs on a single processor is studied, in which for each job a distinct due window is given in advance. If a job is completed within its due window, then it incurs no penalty. Otherwise, it incurs a job-independent earliness or tardiness cost. The objective is to find a job schedule such that a maximum of weighted costs associated with earliness and tardiness is minimized. Properties of optimal solutions of this problem are established and an algorithm based on them is presented. It is proved that the analysed problem is solvable in O(n2) time.

关键词： Scheduling algorithms

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Application of Structure-from-Motion 3D Reconstruction in computer-Guided Surgical Training

Application of Structure-from-Motion 3D Reconstruction in Co...

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International Conference and Workshop on Engineering of computer-Based Systems

作者： Andrzej Wytyczak-Partyka Jan Nikodem Ryszard Klempous Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

The following paper presents the effects of work on evaluating application of structure-from-motion 3D reconstruction algorithms to the purpose of computer-guided surgical training. In the paper a system for laparoscopic surgery training is presented. The key part of the system is a novel approach to training, where a 3D model of the operating fields serves as a base of the interaction between the trainee and the system. Outline of the 3D processing pipeline is presented, results are shown and discussed.

关键词： Application software Instruments Cameras Layout Minimally invasive surgery Injuries Hazards Sensor fusion Conferences computer applications

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Calculation of the Pareto Set for Some Civil Engineering Design Problem

Calculation of the Pareto Set for Some Civil Engineering Des...

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International Symposium on Logistics and Industrial Informatics, LINDI

作者： Jerzy W. Greblicki Jerzy F. Kotowski Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

The aim of this paper is to show, using chosen example, the possibility to analyze a set of feasible solutions for a certain dual-criteria, complex decision making problem. The analyzed problem concerns, in particular, the designing of a detached one-family cottage. The criteria include the total cost of building the house and its durability. The area of decision variables contains 22 elements, for which each element can have one of five values corresponding to the available building technology. The effect of the analysis carried out is the determination of the set of optimal solutions in the Pareto sense for the designing task. This set contains only five elements.

关键词： Civil engineering Pareto analysis Costs Buildings Object oriented modeling control engineering computing Design engineering Robot control Decision making Investments

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Analysis of Critical Situations in Discrete Transport Systems

Analysis of Critical Situations in Discrete Transport System...

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International Conference on Dependability of computer Systems (DepCos-RELCOMEX)

作者： Tomasz Walkowiak Jacek Mazurkiewicz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

A paper presents an approach to critical situations analysis related to discrete transport systems (DTS). The critical situation is understood as sudden shortage of some system recourses resulting in the transport system performance degradation. The analysis is realized based on availability calculation of DTS. The system is described by the formal model, which includes reliability and functional parameters of DTS. The availability and average availability of the system - defined in a functional way by delayed tasks realization, is discussed as a function of different essential parameters when the DTS is organized. The proposed analysis is based on the modeling and simulating of the system behavior using Monte Carlo approach. The paper presents some exemplar systems, based on real Polish Post DTS, modeling and results.

关键词： Postal services Availability System performance Analytical models Performance analysis Containers Degradation Time measurement control engineering computing Robot control

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Information Systems Performance Analysis Using Task-Level Simulator

Information Systems Performance Analysis Using Task-Level Si...

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International Conference on Dependability of computer Systems (DepCos-RELCOMEX)

作者： Tomasz Walkowiak Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

The paper presents the approach to modeling and simulation of information systems. The systems are being analyzed from the point of services realized by them. Therefore, the system is modeled as a network of interacting tasks and technical infrastructure required for the service realization. Paper, presents the formal model of a system, accompanied with model of a task realization. Moreover, a description of developed simulator, a case study with exemplar results and simulator performance analysis is given.

关键词： Information systems Performance analysis Analytical models Computational modeling computer simulation Information analysis Discrete event simulation computer networks Logic control engineering computing

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Fuzzy immune approach to biomedical data processing

Fuzzy immune approach to biomedical data processing

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IEEE International Conference on Systems, Man and Cybernetics

作者： Olgierd Unold The Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

Classification is an important data mining task in biomedicine. For easy comprehensibility, rules are preferrable to another functions in the analysis of biomedical data. The aim of this work is to use a new fuzzy immune rule-based classification system for biomedical data. The performance of the proposed approach, in terms of classification accuracy and area under the ROC curve, was compared with traditional classifier schemes: C4.5, Naive Bayes, K*, and Meta END.

关键词： Immune system Bioinformatics Fuzzy systems Fuzzy sets Data mining Fuzzy logic Genetic algorithms Cybernetics USA Councils Fuzzy control

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