Abstract 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 tentativ...
Abstract 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.
Abstract From a general form of the Jacobian right inverse for nonholonomic mobile robots we derive a specific Jacobian inverse kinematics algorithm. By design, this algorithm does not involve the mobility matrix, wha...
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Abstract From a general form of the Jacobian right inverse for nonholonomic mobile robots we derive a specific Jacobian inverse kinematics algorithm. By design, this algorithm does not involve the mobility matrix, what makes it computationally less demanding than the most often used Jacobian pseudoinverse algorithm. The algorithm has been applied to the unicycle-type mobile robot. It has been shown that the algorithm performs efficiently unless the unicycle moves along a straight line trajectory. Performance of the new algorithm has been illustrated by computer simulations of the unicycle whose controls are synthesized in accordance with either the finite element or the finite difference method.
Abstract In some models of tasks used in the scheduling theory an additional continuously divisible resource is needed to process the task. One of such models, the dynamic one, is considered in the paper. Such model o...
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Abstract In some models of tasks used in the scheduling theory an additional continuously divisible resource is needed to process the task. One of such models, the dynamic one, is considered in the paper. Such model often appears in the real-life situations. Up to date, it was successfully used in many different fields, e.g. scheduling of tasks in the multiple computer systems, the forging process in the steel plants and refuelling of the fleet of boats in a given critical time. In most applications this model is also concave. For such case two phases are distinguished in the methodology of the solution construction. In the fist phase tasks are distributed among the processors and in the second one the resource is (optimally) allotted to the tasks. The second phase is computationally very expensive. Moreover, the methods of the optimal resource allocation proposed so far, although theoretically impeccable, are difficult and in some cases even impossible to apply. Thus in the paper, based on a recent theoretical results we propose a new method of the resource allocation: efficient and easily applicable. This method is compared in the computational experiment to other methods.
A mathematical model, which extends the Bayesian problem of pattern recognition by fusion of external context variables and patterns is proposed and investigated. Then, its empirical version is discussed and a learnin...
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Two semiparametric algorithms to recover a nonlinear characteristic in a Hammerstein system are proposed. Both are obtained by incorporating a parametric component into the kernel nonparametric algorithm. For small nu...
Two semiparametric algorithms to recover a nonlinear characteristic in a Hammerstein system are proposed. Both are obtained by incorporating a parametric component into the kernel nonparametric algorithm. For small number of observations, their identification errors are smaller than that of the purely nonparametric algorithm. The same idea is also proposed for identification of linear dynamic component. Parametric instrumental variables estimate is elastically substituted by the nonparametric correlation-based method, when the number of observations tends to infinity.
The application of systems with reference model self-adjustment and control signal saturation in a task of second-order dynamic object with uncertain or varied parameters is considered in this paper. The features of s...
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The application of systems with reference model self-adjustment and control signal saturation in a task of second-order dynamic object with uncertain or varied parameters is considered in this paper. The features of system behaviour at different values of the control object and model coefficients are analyzed. The condition of a self-adjustment process stability are formulated containing the system and model parameters only. The best quality criteria of a control processes are determined. The method of a system error and time constant reduction by the increase of self-adjustment signal amplitude is offered.
Abstract In a motion planning of nilpotent nonholonomic systems with the use of the Lafferierre-Sussmann's algorithm it is important to select a representation of motion. In this paper it was established how many ...
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Abstract In a motion planning of nilpotent nonholonomic systems with the use of the Lafferierre-Sussmann's algorithm it is important to select a representation of motion. In this paper it was established how many P. Hall representations of motion exist. Two methods to determine the number were presented and proved. The number was computed for varied order of nilpotency and the number of generators spanning the system. It appears that many P. Hall representations share the same canonical representation what means that the same point in the state space can be obtained with many trajectories.
This paper examines a new method for sequential detection of a sudden and unobservable change in a sequence of independent observations with completely unspecified distribution functions. A nonparametric detection rul...
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This paper examines a new method for sequential detection of a sudden and unobservable change in a sequence of independent observations with completely unspecified distribution functions. A nonparametric detection rule is proposed which relies on the concept of a moving vertically trimmed box called V-Box Chart. Its implementation requires merely to count the number of data points which fall into the box attached to the last available observation. No a priori knowledge of data distributions is required and proper tuning of the box size provides a quick detection technique. This is supported by establishing statistical properties of the method which explain the role of the tuning parameters used in the V-Box Chart. These theoretical results are verified by simulation studies which indicate that the VBox Chart may provide quick detection with zero delay for jumps of moderate sizes. Its averaged run length to detection is more favorable than the one for classical methods.
Abstract The paper presents an approach to processing of measurement data obtained from ultrasonic system. The approach makes possible to simplify computing of object location. The important advantage of the proposed ...
Abstract The paper presents an approach to processing of measurement data obtained from ultrasonic system. The approach makes possible to simplify computing of object location. The important advantage of the proposed method is that it eliminates operations on float point numbers. Thus an algorithm based on this approach can be implemented using a simple microcontroller.
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