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2011 International Conference on Mechanical engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent impedance of the circular piezoelectric energy harvester. Furthermore, the complex conjugate matching load is used to extract the maximum output power of the energy harvester. The power output from complex conjugate matching load is compared with the power output from the resistive matching load and a constant resistance, separately. The results suggest that the complex conjugate matching can result in a significant increase of the output power for all frequencies. The effective bandwidth of the piezoelectric energy harvester is extended significantly. © (2012) Trans Tech Publications, Switzerland.

关键词： Finite element method

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ESICM LIVES 2016: part one Milan, Italy. 1-5 October 2016 Abstracts

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INTENSIVE CARE MEDICINE EXPERIMENTAL 2016年第SUPPL 1期4卷 1-1页

作者： [Anonymous] Academic Medical Center University of Amsterdam Amsterdam Netherlands UMCU Utrecht Netherlands Autonomous University of Barcelona Barcelona Spain Hospital São Francisco Xavier Lisbon Portugal CHU Henri Mondor Medical ICU Créteil France Université de Paris Est-Créteil Groupe de Recherche Clinique CARMAS Créteil France Hôpital Tenon APHP Medical and Surgical ICU Paris France Université Paris Diderot Sorbonne Paris Cité UMR 1153 Paris France Interdepartmental Division of Critical Care University of Toronto Toronto Canada University Health Network University of Toronto Critical Care Medicine Toronto Canada University of Milan - Bicocca Health Sciences School of Medicine and Surgery Monza Italy St Michael’s Hospital University of Toronto Anesthesia Toronto Canada CHU d’Angers Medical ICU Angers France Interdepartmental Division of Critical Care University of Toronto Saint Michael’s Hospital and Keenan Research Centre Toronto Canada University of Birmingham Institute for Inflammation and Ageing Birmingham UK University of Sheffield Mathematics and Statistics Help Centre Sheffield UK Heart of England NHS Foundation Trust Intensive Care Medicine Birmingham UK Department of Surgery University Hospitals Birmingham NHS Trust Birmingham UK University Hospitals Birmingham NHS Trust Anaesthesia and Critical Care Medicine Birmingham UK Queen’s University of Belfast Wellcome-Wolfson Institute for Experimental Medicine Belfast UK Royal Victoria Hospital Intensive Care Medicine Belfast UK University of Warwick Warwick Clinical Trials Unit Coventry UK University of Bari ‘Aldo Moro’ Bari Italy Hospital Israelita Albert Einstein São Paulo Brazil Mayo Clinic Jacksonville USA Mahidol University Faculty of Tropical Medicine Bangkok Thailand University Medical Center Utrecht Intensive Care Utrecht Netherlands University Medical Center Utrecht Julius Center for Health Sciences and Primary Care Utrecht Netherlands Academic Medical Center University of Amste

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Design of a Novel Flexible 4-moduli RNS and Reverse Converter

Design of a Novel Flexible 4-moduli RNS and Reverse Converte...

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IET Irish Signals and Systems Conference

作者： Marcin Wesolowski Piotr Patronik Krzysztof Berezowski Janusz Biernat The Institute of Computer Engineering Control and Robotics Wroclaw University of Technology

ISBN: (纸本)9781629935867

In this paper we propose a new 4-moduli Residue Number System (RNS) {2~k, 2~n - 1, 2~(n-1) - 1, 2~(n+1) - 1} and its respective reverse converter. The new moduli set is characterized by a very efficient way of utilizing the underlying representation's capacity coming from its two aspects. First, by not including conjugate moduli our set covers the dynamic range of the representation much better than the systems that do include conjugate moduli. Second, independent controlling parameters of the even and odd moduli allow for fine-grained adjustment of the dynamic range to the needs of specific application with a single bit resolution. Our converter capitalizes on the mixed-radix conversion technique augmented to obtain a compact architecture and to reduce critical path delay by careful decomposition of the computations into cricital and non-critical chunks. The synthesis experiment conducted on a 16-tap programmable FIR filter example using STMicro 65nm low-power library shows up to 11.5% improvement in power dissipation against competitive flexible moduli set.

关键词： computer arithmetic Residue number systems VLSI circuits

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Motion planning of the double-link trident snake robot

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IFAC Proceedings Volumes 2012年第22期45卷 337-342页

作者： Krzysztof Tchoń Janusz Jakubiak Institute of Computer Engineering Control and Robotics Wrocław University of Technology 50-372 Wrocław Poland

This paper addresses the motion planning problem of the trident snake robot consisting of a triangular body equipped with 2-link branches with actuated joints. The kinematics of the robot are represented by a driftless control system referred to as body controlled. This system converts to joint controlled after applying a feedback transformation. A two step motion planning strategy has been proposed to provide the joint control of the robot. First, a constrained motion planning problem is solved for the body control, preventing the feedback from getting singular, second the joint control is achieved by combining the body control with the feedback. It has been shown that the former step can be accomplished using the imbalanced Jacobian motion planning algorithm. The motion planning strategy is illustrated by computer simulations.

关键词： Non-holonomic system motion planning singularities Jacobian algorithm

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Multistage pattern recognition of signals represented in wavelet bases with reject option

Multistage pattern recognition of signals represented in wav...

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

作者： Urszula Libal Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

We propose a multistage pattern recognition algorithm with a reject option. On every stage, the presented algorithm chooses a class of signal or rejects the signal, i.e. refuses to make a decision. If a class is assigned to the signal on some stage, then the algorithm stops. In the opposite case of a signal rejection, the decision of assigning to a class is made on the next stage. The multiresolution signal representation in wavelet bases allows to take a more accurate signal representation on every following stage. Our approach saves the computation time, when the algorithm selects a class on an early stage basing on a coarse wavelet representation. If the inaccurate representation is insufficient to point out one of classes (e.g. when the a posteriori probability of every class is lower than a fixed bound, in case of Bayesian classifier), the reject option protects from choosing a wrong class. We show that a risk of misclassification for the Bayesian decision rule with a reject option is lower or equal to a risk of the one-stage optimal Bayesian rule.

关键词： Bayesian methods Approximation methods Signal resolution Vectors Pattern recognition Signal representations Approximation algorithms

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The path following control of a unicycle based on the chained form of a kinematic model derived with respect to the Serret-Frenet frame

The path following control of a unicycle based on the chaine...

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

作者： Joanna Płaskonka Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In the paper the path following problem for a wheeled mobile robot of (2,0) type is considered. The Serret-Frenet frame is used to describe the robot relative to the desired path. The way how to transform obtained equations describing kinematic model derived with respect to the Serret-Frenet frame into the chained form is introduced. The kinematic control algorithm which is a combination of Astolfi algorithm - used for systems in the chained form - and Samson algorithm - dedicated to the unicycle - is proposed and compared to the Morin-Samson algorithm. Simulation results are shown to verify the effectiveness of the proposed method.

关键词： Mobile robots Kinematics Mathematical model Equations Robot kinematics Proposals

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Application of B-splines in modelling anatomic shapes from CT scans

Application of B-splines in modelling anatomic shapes from C...

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IEEE International Conference on Intelligent engineering Systems (INES)

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

The paper shows several methods employed in a semi-automatic pipeline for 3D surface reconstruction of anatomic shapes from Computed Tomography scans. Main benefits of the approach are very little human involvement and high processing speed, while maintaining high reconstruction accuracy. Several filtering methods are described that make contour segmentation easier. Further improvements of the algorithm are proposed.

关键词： Splines (mathematics) Computed tomography Approximation methods Surface reconstruction Surface treatment Lungs Shape

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Synthesis of Multithreshold Threshold Gates

Synthesis of Multithreshold Threshold Gates

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IEEE computer Society Annual Symposium on VLSI

作者： Maciej Nikodem Marek A. Bawiec Janusz Biernat Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

This paper presents novel synthesis algorithm capable of generating Multithreshold Threshold Gate (MTTG) structure for arbitrary Boolean function. Algorithm draws from dedicated efficient threshold decomposition procedure that represents Boolean function as a min/max composition of threshold functions. Since the proposed threshold decomposition procedure outputs minimal number of thresholds therefore the resulting gate is compact - for k-threshold n-input Boolean function at most (k+1)(n+1) NDR elements in a (k+1)-level gate structure, and (k+1)n transistors are required.

关键词： Boolean functions Logic gates Complexity theory Transistors Periodic structures Integrated circuit modeling Computational modeling

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An efficient algorithm for finding minimal cycle time in cyclic job shop scheduling problem

An efficient algorithm for finding minimal cycle time in cyc...

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IEEE International Conference on Intelligent engineering Systems (INES)

作者： Czeslaw Smutnicki Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

We consider the cyclic production system providing on output the mixture of various products. Each product is produced by certain chain of operations, i. e. the unique sequence followed from the technological order. Each operations is performed on the dedicated machine. This sequence of operations is called the job. The aim is to find the cyclic schedule ensuring minimal cycle length. The problem belongs to deterministic scheduling theory, appears with the name cyclic job shop scheduling problem, is strongly NP-hard, and has been analyzed very rarely in the literature. Methodology of designing efficient optimization procedures for hard scheduling problem refers commonly to the component subproblem, namely the problem of finding cycle time or minimal cycle time for fixed job sequence. Numerical properties of this method have crucial influence on the quality of the final optimization algorithm. In this paper we propose several algorithms to solve the problem of finding cycle time for fixed job sequence. Then, we discuss and examine theoretical as well as numerical properties of these algorithms. Obtained results are illustrated by wide results of computational tests.

关键词： Schedules Job shop scheduling Optimization Convergence Algorithm design and analysis Mathematical model

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Motion planning of nonholonomic systems using highly oscillatory series

Motion planning of nonholonomic systems using highly oscilla...

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

作者： Michal Opalka Ignacy Duleba Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In this paper a nonholonomic motion planning task was solved using an algorithm proposed by Sussmann and Liu [8] and based on controls in the form of highly oscillatory series (HOS). Outputs of the algorithm were evaluated with respect to energy expenditure on controls and speed of its convergence. Based on characteristic features of the task, two modifications of the algorithm were proposed. Simulations were carried out on the unicycle model and an exemplary nilpotent nonholonomic system. Finally, the relevance of the algorithm to possible applications was discussed.

关键词： Trajectory Vectors Convergence Planning Frequency control Robots Optimization

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