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.
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.
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.
We propose a meta heuristic based on an evolutionary approach for a capacitated vehicle routing problem. The modifications concern a selection process and two new heuristics for crossover operators. The numerical resu...
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We propose a meta heuristic based on an evolutionary approach for a capacitated vehicle routing problem. The modifications concern a selection process and two new heuristics for crossover operators. The numerical results demonstrate the effectiveness of an adaptive selection evolutionary algorithm on the benchmark test problems. The main advantage is the possibility of arranging the proposed selection process and crossover operators in the space of feasible solutions. The presented results are very promising for solving bigger problems.
Abstract The problems of scheduling of tasks described with dynamic models appear in the real-world situations, where management of the processes described with differential equations is needed. Possible applications ...
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Abstract The problems of scheduling of tasks described with dynamic models appear in the real-world situations, where management of the processes described with differential equations is needed. Possible applications contains e.g: refuelling of the feet of the boats in the given critical time, scheduling of tasks in the multiple computer systems and the forging process in the steel plants. The solution for such problems consists of two parts: continuous one (the allocation of the continuously divisible resource) and the discrete one (sequence of task subsets). The research has been done mostly for the former part so far, where the latter one was neglected. In the paper we recollect properties of the discrete part of the solution space and we prove some new properties. These new properties can be used to construct more efficient algorithms for the scheduling problems with the dynamic models of tasks.
This paper is devoted to scheduling problems with the learning effect, which is understood as a process of acquiring experience that increases the efficiency of a processor. To bring closer the considered phenomenon, ...
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This paper is devoted to scheduling problems with the learning effect, which is understood as a process of acquiring experience that increases the efficiency of a processor. To bring closer the considered phenomenon, a short survey on results concerning scheduling problems with the learning effect is provided. In particular, the existing models of the experience are presented along with a discussion on different shapes of the learning curve. Some complexity results of scheduling problems with the learning effect are also presented. We also show that scheduling problems with the learning effect model such problems as a minimization of a total transmission cost of packets in a computer network that uses a reinforcement learning routing algorithm. We also derive properties that allow us to construct scheduling algorithms, which can be applied in the computer network to increase its effectiveness by the utilization of its learning ability.
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