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作者： Mazur, Alicja Kulawik, Marcin Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 50-372 Roclaw Poland

ISBN: (纸本)9783902661166

In the paper a solution to adaptive trajectory tracking problem for doubly nonholonomic mobile manipulators has been presented. The proposed control algorithms take into considerations the kinematics as well as the dynamics of the whole nonholonomic system. Kinematic controller consists of two parts: Jiang & Nijmeijer controller for a nonholonomic manipulator and Samson controller for a mobile platform. Dynamic controllers preserve asymptotic trajectory tracking for the case of full knowledge of dynamic parameters and even with parametric uncertainty in dynamics. Theoretical considerations have been illustrated with simulations. Copyright © 2006 IFAC.

关键词： controllers

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ERROR CORRECTION PROCEDURES FOR A HARDWARE IMPLEMENTATION OF THE ADVANCED ENCRYPTION STANDARD

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IFAC Proceedings Volumes 2006年第17期39卷 307-312页

作者： Janusz BIERNAT Mariusz CZAPSKI Maciej NIKODEM The Institute of Computer Engineering Control and Robotics Wrocław University of Technology

The Advanced Encryption Standard algorithm itself does not guarantee error free operation or detection of arising errors. Contemporary research has shown that even single bit errors strongly affect the output of the algorithm. Moreover an attacker may maliciously induct errors during the run of the AES in order to perform cryptanalysis and recover the encryption secret key. In this paper we propose an extension of error detection code for AES, known from an open literature. The implementation of our idea leads to the improvement of error detection ability and reduces of the probability of successful fault analysis below 2 -7 .

关键词： AES fault detection fault tolerance parity code

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Towards the therapeutic spherical robot: Design, programming and control

Towards the therapeutic spherical robot: Design, programming...

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作者： Arent, Krzysztof Kabala, Marek Wnuk, Marek Institute of Computer Engineering Control and Robotics Wroctaw University of Technology Ul. Z. Janiszewskiego 11/17 50-372 Wroclaw Poland

ISBN: (纸本)9783902661166

The paper contributes to an emerging field in social robotics, namely application of robots in autism therapy. It has been proposed a dedicated spherical robot, Sharic, which will assist a therapist in treatment of autistic children. The robot-an interactive toy-is open to direct, physical interaction with a child. The behaviour of the robot can be programmed by a therapist appropriately for child needs in a wide range. Fuzzy logic based programming technique in conjunction with suitably designed therapistrobot interface guarantee that use of the robot does not require a robotican assistance. Copyright © 2006 IFAC.

关键词： Fuzzy logic

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Conception of Composing Learning Content into Learning Tree to Ensure Reliability of Learning Material

Conception of Composing Learning Content into Learning Tree ...

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

作者： Marek Woda Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

The aim of this paper is to introduce a conception of the easy, robust and reliable computer aided composition teaching material into one learning tree, which constitute the basis for an e-education system. . It is also presented a simplified schema of lessons positioning in the Z-plane of the learning tree. Author also focuses on the diversification of difficulty levels corresponding to the particular e-lesson version to be suitable for a certain type of student

关键词： Materials reliability Electronic learning computer science education Educational programs Composite materials Guidelines Educational institutions Government Home computing control engineering computing

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Self-Dual Modules in Design of Dependable Digital Devices

Self-Dual Modules in Design of Dependable Digital Devices

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

作者： Janusz Biernat The Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

The class of self-dual logic circuits is analyzed. It is shown, that self-duality is the feature of a numerous arithmetic circuits, like elementary 1-bit adder, standard binary and 2's complement adders and a clas... 详细信息

关键词： Redundancy Fault detection Circuit faults Hardware Electrical fault detection Adders Arithmetic Logic Costs control engineering computing

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Design of an autonomous control for parallel-connected uninterruptible power supplies

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IEEJ Transactions on Industry Applications 2006年第4期126卷 444-452+11页

作者： Sato, Eduardo Kazuhide Kawamura, Atsuo Division of Advanced Physics Electrical and Computer Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama 240-8501 Japan IEICE Japan IEEE Japan Department of Electrical and Computer Engineering Yokohama National University Yokohama Japan Robotics Society of Japan Japan Institute of Electronics Information and Communication Engineers Japan Society of Instrument and Control Engineering Japan Yokohama National University Japan

This paper proposes an autonomous control for parallel-connected uninterruptible power supply (UPS) systems based on electrical power system interrelations. The controllable variables are the output voltage phase angle and magnitude. Relation between active current and output voltage phase angle is derived from a synchronous machine model. Electrical power systems suggest that voltage regulation and reactive current can be proportionally related to yield another control equation. The resulted control scheme is very simple and only requires an output current measurement to provide a voltage reference signal locally in synchronism with other UPSs without communication signal exchange. A small-signal model represents the entire system and constitutes proof of its stability. Feasibility is confirmed by an experimental setup with three UPSs connected in parallel with different output power ratings. In the experiments, voltage limiters (1%) are employed and three cases are verified. Under all conditions, the results show excellent performance in terms of stability, and active and reactive load sharing.

关键词： Uninterruptible power systems

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Fuzzy approach to economic analysis of dispatcher driven discrete transport systems

Fuzzy approach to economic analysis of dispatcher driven dis...

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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

The economic analysis of dispatcher driven transport system which takes into account functional and reliability parameters is quite serious problem in real world. Our previous works showed that the calculation of cost function requires to set up a large number of economic parameters. It is rather hard to state the exact value of many of them. Especially hard is now to predict a price of gasoline. Therefore, we propose to use a fuzzy representation of gasoline costs as well as fuzzy representation of some reliability parameters. The Monte Carlo approach is used for system functional simulation. No restriction on the system structure and on a kind of distribution is the main advantage of the method. The paper presents some exemplar system modeling. The presented economic analysis of dispatcher driven transport system is practically essential for defining an organization of vehicle maintenance and transport system logistics

关键词： Fuzzy systems Vehicles Economic forecasting Discrete event simulation Analytical models Computational modeling Petroleum Costs Maintenance Fuzzy control

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computer modeling and simulation of discrete transport system with dispatcher for reliability and economic analysis

Computer modeling and simulation of discrete transport syste...

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

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

A method of reliability and economic analysis related to discrete transport systems with dispatcher is presented. The proposed analysis is based on modeling and simulating of the system behavior. The position of dispatcher is to mimic a function of real transport logistic. The Monte Carlo simulation is used for proper reliability and economic parameters calculation. No restriction on the system structure and on a kind of distribution is the main advantage of the method. The paper presents some exemplar system modeling. The author stress the problem of influence of the reliability parameters for final system economic measures (i.e. costs). The presented problem is practically essential for defining an organization of vehicle maintenance and transport system logistics

关键词： Computational modeling Analytical models computer simulation Vehicles Logistics Costs Maintenance Telecommunication network reliability control engineering computing Reliability engineering

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Fault Tolerant Topological Design for computer Networks

Fault Tolerant Topological Design for Computer Networks

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

作者： Ewa Szlachcic Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

The fault-tolerant topological design for a computer network leads one to characterize the way in which the nodes are linked to each other with the known connectivity parameter and to the capacity of links, which represent the means of transmission parameters between the vertices. The design problem is to find a suitable fault tolerant network topology at a minimum communication cost under the constraint of an average packet time delay. An approach based on evolutionary algorithm (EA) is developed for the network topological design problem. The special construction of a chromosome according to fault tolerant network configuration was designed and the modification of fitness function is proposed. Simulations are studied to support the effectiveness of the proposed algorithm

关键词： Fault tolerance computer networks computer network reliability Network topology Costs Evolutionary computation Constraint optimization Availability control engineering computing Design engineering

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CHEAP PATHS FOR NONHOLONOMIC MOTION PLANNING

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IFAC Proceedings Volumes 2006年第15期39卷 574-579页

作者： Ignacy Duleba Pawel Ludwików Institute of Computer Engineering Control and Robotics Janiszewskiego 11/17 50-372 Wroclaw Wrocław University of Technology Poland

In this paper an algorithm of computing a locally optimal nonholonomic path is presented. The algorithm exploits local dynamic programming method applied iteratively. Tests of the algorithm were carried out on the mod... 详细信息

关键词： nonholonomic motion planning algorithm dynamic programming optimization

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