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Algorithms for a task controller for autonomous tractors and implements are considered. These algorithms are for the optimal work time allocation and path planning for the inter-field (scattered fields) precision agriculture activities. When the delay or the breakdown of the autonomous tractor & implement happens during its inter-field agricultural mission the necessary corrective actions must...
The paper addresses the problem of controlling the position of a cable suspended mass from a remote location with communication network used for information exchange. Since in industrial applications it is a common practice to apply digital controllers, in particular in networked environment, the design is performed with explicit consideration of finite sampling rate. Discrete sliding-mode control...
The estimation of non-measurable state variables as well as the reliable identification of unknown system parameters are important prerequisites for the design and implementation of controllers for nonlinear dynamic systems. However, these tasks are often impeded by the nonlinearity of dynamic system models as soon as observer techniques are sought for, which can be used for large operating ranges...
The conventional ships have one main aft thruster, and a rudder actuated by the steering machine (SM), which generates yaw moments to control the yaw angle. SM is a nonlinear system with absolute stability. Considering only yaw angle and mono-variable autopilots, SM can be simplified, taking into account only two limitations: the maximum rudder angle and rudder rate. But for smart autopilots, the...
There are a lot of methods for identification of the Strejc model parameters. The well known graphical method based on the step response can lead to a large error when the step response is disturbed by a random noise. The integral methods of identification, proposed in the paper, allows a reduction of the influence of the disturbances. The special attention was paid to the analysis of the impact of...
This paper combines the reactive collision avoidance methods with image-based visual servoing control for mobile robot navigation in an indoor environment. The proposed strategy allows the mobile robot to reach a desired position, described by a natural visual target, among unknown obstacles. While the robot avoids the obstacles, the camera could lose its target, which makes visual servoing fail....
Recovering an infinite dimensional parameter from incomplete and noisy observations is a fundamental task in many branches of mathematical and engineering science. Reasonable solution approaches require the use of regularization techniques, which incorporate a-priori knowledge about the desired unknown. For that purpose a frequently used property is the (block) sparsity of the coefficients with respect...
This paper presents the modelling of the 3D motion of a piezo-actuated tunneling tip in an STM-like (Scanning Tunneling Microscope) micromechanical system, with the aim of summarizing challenging control problems in such a nanoscale device and developing a control strategy accordingly. Those control problems are settled with a purpose of surface reconstruction. To do so, various adverse phenomena...
A digital controller for satellite medium power DC/DC converters is presented. The power converter composes of a digital compensator implemented in the FPGA, peripherals that interference the digital part with the analog ones and a power stage. The presented controller can be used in two topologies: buck and half-bridge. The mathematical models of the power stages, quantizers and the controller are...
The paper presents a new approach, based on an algebraic-logical meta-models (ALMM), to solving NP — hard manufacturing problems. There is considered the flow-shop manufacturing problem with time limits, the quality control, removing of manufacturing defects on an additional repair machine and retreatment of task in technological route. Proposed solution consist in switching of original algebraic-logical...
The most common technique for satellite attitude control assumes the use of rotating mechanical parts on-board. Traditionally such a system consists of one to four Reaction Wheels or Control Moment Gyroscopes. Control of the satellite orientation can be done by acceleration of the proper wheel around its axis of rotation. The attitude of the satellite changes according to the conservation of angular...
Presented are results of simulations of B-dot detumbling for satellites with different types of non-symmetrical mass distributions. Results are next compared with the theoretical derivation of the problem made for the case of spherically symmetrical bodies.
Assignment of tasks to robots in multi-robot system has been under intensive investigation over last years. The method which does not use any explicit communication, but applies a simple model of signal emission and propagation in the environment is presented in this paper. The environment model included obstacles that are to be avoided by the robots. Usability and interesting features of the method...
This paper presents selected issues connected with the design and implementation of the 6-DOF parallel manipulator driven by permanent magnet brushless DC motors. The consideration of platform kinematics structure, computer design and simulation of mechanical framework as well as building and utilization of the reduced-scale physical are presented. The development, implementation and testing of the...
There is method for real time frequency analysis of the electromyogram is described in article. This method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method consists of realtime frequency estimation with preliminary using of band-pass filter. The method is easy to program and does not require any additional resources. The article gives an example...
In this paper, a comparison of three alternative estimation approaches for a vehicle combustion heating system is presented: 1) a Luenberger observer, 2) a reduced-order observer, and 3) a discrete-time Kalman filter. The estimated temperatures (representing state variables) and unknown disturbance heat flows are employed within a model-predictive on-off control structure. The observer design as well...
Robots have capabilities emulating senses as they can now see, hear and touch, but the sense of smell is just starting to be implemented in mobile applications. The principal task of a smell capable robot is the odor source localization. Nevertheless, to obtain the best algorithmic results, the perception of the environment is crucial. One of the difficulties when developing chemical sensors is that...
In this paper, the translational accuracy performance of two algorithms that allow the pose of an Unmanned Aerial Vehicle (UAV) to be estimated is reported, based on preliminary data. The two algorithms are the 2D Homography and the 3D Iterative Closest Point (ICP) algorithm. Performance is measured against real image data taken with a digital Nikon D70 camera, with lens set at 3 different focal lengths...
This paper presents the results of 3 tons skid steer 6×6 wheel robot drive system field tests. The aim of the investigation was verification of assumed data for drivetrain design and forces identification in the drivetrain system during maneuvering and crossing obstacles. Robot has hydraulics drive system with motors in the wheels and hydraulic suspension system. The needed drive torque on wheels...
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