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 appe...
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ISBN:
(纸本)9783902661555
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.
Abstract This paper is concerned with the adjoint Jacobian motion planning algorithm for the Chaplygin sleigh. We introduce general idea about the algorithm and prove completeness of this algorithm for the Chaplygin s...
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Abstract This paper is concerned with the adjoint Jacobian motion planning algorithm for the Chaplygin sleigh. We introduce general idea about the algorithm and prove completeness of this algorithm for the Chaplygin sleigh. Finally we present the simulation result illustrating performance of this algorithm.
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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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 r...
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ISBN:
(纸本)9783902661555
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.
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 i...
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ISBN:
(纸本)9783902661555
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.
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 constru...
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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.
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 ...
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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...
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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.
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 task...
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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.
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. Otherw...
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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.
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