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Wyświetlanie 1-15 z 54
Tytuł:
Implementation of factitious force method for control of 5R manipulator with skid-steering platform REX
Autorzy:
Mazur, A.
Cholewiński, M.
Powiązania:
https://bibliotekanauki.pl/articles/202350.pdf
Data publikacji:
2016
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
underactuated system
nonholonomic constraint
kinematics
dynamics
kinematyka
dynamika
ograniczenia nieholonomiczne
Opis:
In the paper implementation of the factitious force concept for a controlling complex mobile manipulator has been presented. As the nonholonomic constraint only lack of longitudinal slippage of wheels has been chosen - in skid-steering platforms lateral slippage is necessary to change orientation of such a platform. From a control theory point of view such a system is dynamically underactuated. As a solution to a underactuation problem a method of factitious force has been proposed. This method assumes extension on the dynamics level, in the form of an additional control inputs uv, which values are equal to zero equivalently. For a mobile manipulator, consisting of platform REX and 5R robotic onboard arm, a cascaded control law has been proposed. A simulation study was conducted for a mathematical model of a considered object with real values of physical parameters, i.e. lengths, masses, inertia moments etc. obtained from the 3D model. Results obtained in simulations have shown a proper action of the control system and convergence of tracking errors, occurring in a platform and in joints of a manipulator, to zero.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 71-80
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
All fiber THz spectrometer for plastics industry
Autorzy:
Wilk, R.
Powiązania:
https://bibliotekanauki.pl/articles/200188.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
fiber THz spectrometer
plastic industry
Opis:
In this paper we present an all-fiber THz spectrometer based on novel OSCAT technique. We investigate its application to non-destructive testing in the polymer industry. A set of polypropylene samples with different contents of TiO2 as a filler is examined using THz waves.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2011, 59, 3; 283-285
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Boussinesq equation for flow in an aquifer with time dependent porosity
Autorzy:
Wojnar, R.
Powiązania:
https://bibliotekanauki.pl/articles/199883.pdf
Data publikacji:
2010
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
seepage
porosity
horizontal flow
Opis:
A problem of the Boussinesq type for flow of incompressible fluid through a medium with the porosity being a given function of time is studied. At first, from the continuity equation the Dupuit relation for the fluid velocity in the considered medium is found. Next the Boussinesq equation is derived for the medium. This equation, if written for quantity H = h/ and not for the hydraulic head h, has a form of the classical Boussinesq equation, with the coefficient not constant but dependent on time, however. An example of the solution of the modified Boussinesq equation is also given.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2010, 58, 1; 165-170
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Approximated fast estimator for the shape parameter of generalized Gaussian distribution for a small sample size
Autorzy:
Krupiński, R.
Powiązania:
https://bibliotekanauki.pl/articles/201165.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
estimation
generalized Gaussian distribution
standardized moment
approximated fast estimator
estymacja
oszacowanie
rozkład Gaussa
moment standaryzowany
Opis:
Most estimators of the shape parameter of generalized Gaussian distribution (GGD) assume asymptotic case when there is available infinite number of observations, but in the real case, there is only available a set of limited size. The most popular estimator for the shape parameter, i.e., the maximum likelihood (ML) method, has a larger variance with a decreasing sample size. A very high value of variance for a very small sample size makes this estimation method very inaccurate. A new fast approximated method based on the standardized moment to overcome this limitation is introduced in the article. The relative mean square error (RMSE) was plotted for the range 0.3-3 of the shape parameter for comparison with other methods. The method does not require any root finding, any long look-up table or multi step approach, therefore it is suitable for real-time data processing.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 2; 405-411
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Guidance impulse algorithms for air bomb control
Autorzy:
Głębocki, R.
Powiązania:
https://bibliotekanauki.pl/articles/201697.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
control
flying objects
control algorithms
air bombs
automatic flight control systems
Opis:
In this paper, some results of research concerning the development of guidance of bombs were presented. The paper presents conceptions of an impulse (gasodynamic) control system, the measurement unit based on IMU/GPS signals and control algorithms based on predicted trajectories. The presented results of simulation research are based on the numerical model of the bomb and real signals from measurement devices.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 4; 825-833
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Stability analysis for discrete-time fractional-order LTI state-space systems. Part II: New stability criterion for FD-based systems
Autorzy:
Stanisławski, R.
Latawiec, K. J.
Powiązania:
https://bibliotekanauki.pl/articles/200325.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
Grünwald-Letnikov fractional difference
discrete-time fractional order system
stability criterion
non-minimum phase system
closed loop stability
Opis:
This paper presents a series of new results on the asymptotic stability of discrete-time fractional difference (FD) state space systems and their finite-memory approximations called finite FD (FFD) and normalized FFD (NFFD) systems. In Part I of the paper, new necessary and sufficient stability conditions have been given in a unified form for FD, FFD and NFFD-based systems. Part II offers a new, simple, ultimate stability criterion for FD-based systems. This gives rise to the introduction of new definitions of the so-called f-poles and f-zeros for FD-based systems, which are used in the closed-loop stability analysis for FD-based systems and, approximately, for FFD/NFFD-based ones.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 2; 363-370
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Stability analysis for discrete-time fractional-order LTI state-space systems. Part I: New necessary and sufficient conditions for the asymptotic stability
Autorzy:
Stanisławski, R.
Latawiec, K. J.
Powiązania:
https://bibliotekanauki.pl/articles/200600.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
Grünwald-Letnikov fractional difference
discrete-time fractional order system
stability conditions
Cauchy’s argument principle
Opis:
This paper presents a series of new results on the asymptotic stability of discrete-time fractional difference (FD) state space systems and their finite-memory approximations called finite FD (FFD) and normalized FFD (NFFD) systems. In Part I, new, general, necessary and sufficient stability conditions are introduced in a unified form for FD/FFD/NFFD-based systems. In Part II, an original, simple, analytical stability criterion is offered for FD-based systems, and the result is used to develop simple, efficient, numerical procedures for testing the asymptotic stability for FFD-based and, in particular, NFFD-based systems. Consequently, the so-called f-poles and f-zeros are introduced for FD-based system and their closed-loop stability implications are discussed.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 2; 353-361
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Development of variable rate sprayer for oil palm plantation
Autorzy:
Ishak, W.
Hudzari, R.
Ridzuan, M.
Powiązania:
https://bibliotekanauki.pl/articles/200163.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
smart sprayer
variable rate
camera vision
weedicide
oil palm
Opis:
This project describes the design and development of a camera vision with color detection for the variable rate technology (VRT) automated sprayer. In this project, the smart sprayer system was already developed and mounted on the ATV. The automated sprayer system was developed by combination of the electromechanical system, PC parallel port relay board, the controller and visual basic programming software. This smart sprayer system is guided with the camera to detect the presence of weeds. Detection of weeds is based on the green color value from RGB value. The amount or percentage (%) of weeds detected determines the rate of spraying that is controlled by an electric motor and the relay board. In this project, the spray nozzles were modified to be fully open, fully closed and half open. The closing and opening of valves were controlled by the electromechanical system that receives the instruction from the camera vision. Experiments carried out shows that the nozzle is closed when the percentage of weeds detected is less than 2%. It is half open at 3% to 50% and fully open at more than 51%. The application rate of spraying can be determined from the result of the spraying operation.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2011, 59, 3; 299-302
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modelling and optimal control system design for quadrotor platform – an extended approach
Autorzy:
Zawiski, R.
Błachuta, M.
Powiązania:
https://bibliotekanauki.pl/articles/201252.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
mathematical modelling
optimal control
quadrotor platform
autonomous flight
Opis:
This article presents the development of a mathematical model of a quadrotor platform and the design of a dedicated control system based on an optimal approach. It describes consecutive steps in development of equations forming the model and including all its physical aspects without commonly used simplifications. Aerodynamic phenomena, such as Vortex Ring State or blade flapping are accounted for during the modelling process. The influence of rotors’ gyroscopic effect is exposed. The structure of a control system is described with an application of the optimal LQ regulator and an intuitive way of creating various flight trajectories. Simulation tests of the control system performance are conducted. Comparisons with models available in the literature are made. Based on above, conclusions are drawn about the level of insight necessary in creation of control-oriented and useable model of a quadrotor platform. New possibilities of designing and verifying models of quadrotor platforms are also discussed.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 3; 535-550
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Formal model of time point-based sequential data for OLAP-like analysis
Autorzy:
Bębel, B.
Morzy, T.
Królikowski, Z.
Wrembel, R.
Powiązania:
https://bibliotekanauki.pl/articles/200403.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
OLAP
sequential data
formal model
Opis:
Numerous nowadays applications generate huge sets of data, whose natural feature is order, e.g,. sensor installations, RFID devices, workflow systems, Website monitors, health care applications. By analyzing the data and their order dependencies one can acquire new knowledge. However, nowadays commercial BI technologies and research prototypes allow to analyze mostly set oriented data, neglecting their order (sequential) dependencies. Few approaches to analyzing data of sequential nature have been proposed so far and all of them lack a comprehensive data model being able to represent and analyze sequential dependencies. In this paper, we propose a formal model for time point-based sequential data. The main elements of this model include an event and a sequence of events. Measures are associated with events and sequences. Measures are analyzed in the context set up by dimensions in an OLAP-like manner by means of the set of operations. The operations in our model are categorized as: operations on sequences, on dimensions, general operations, and analytical functions.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 2; 331-340
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Inkjet 3D printing – towards new micromachining tool for MEMS fabrication
Autorzy:
Walczak, R,
Powiązania:
https://bibliotekanauki.pl/articles/200235.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
inkjet 3D printing
MEMS
micromachining
lab-on-a-chip
mikroobróbka
druk atramentowy
Opis:
Three-dimensional (3D) printing has the potential to transform science and technology by creating bespoke, low-cost appliances that previously required dedicated facilities in order to be made. An attractive and promising research field comes in the form of using 3D printing to create MEMS, including microfluidic structures. In this paper, a discussion on applicability of inkjet 3D printing (i3Dp) for MEMS fabrication is presented on the base of works carried out by a team led by the author.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2018, 66, 2; 179-186
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Sensitivity analysis of sandwich beams and plates accounting for variable support conditions
Autorzy:
Studziński, R.
Pozorski, Z.
Garstecki, A.
Powiązania:
https://bibliotekanauki.pl/articles/201924.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
sandwich panels
sensitivity analysis
optimal design
support conditions
Opis:
The paper addresses the problems of the sensitivity analysis and optimal design of multi-span sandwich panels with a soft core and flat thin steel facings. The response functional is formulated in a general form allowing wide practical applications. Sensitivity gradients of this functional with respect to dimensional, material and support parameters are derived using adjoint variable method. These operators account for the jump of the slope of a Timoshenko beam or a Reissner plate at the position of concentrated active load or reaction, thus extending the sensitivity operators known in literature. The jump of slope is the effect of shear deformation of the core. Special attention is focussed on sensitivity and optimisation allowing for variable support position and stiffness, because local phenomena observed in supporting area of sandwich plates often initiate failure mechanisms. Introducing optimally located elastic supports allows to reduce the unfavourable influence of temperature on the state of stress. Several examples illustrate the application of derived sensitivity operators and demonstrate their exactness.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 1; 201-210
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fusing the electromagnetic articulograph, high-speed video cameras and a 16-channel microphone array for speech analysis
Autorzy:
Mik, Ł.
Lorenc, A.
Król, D.
Wielgat, R.
Święciński, R.
Jędryka, R.
Powiązania:
https://bibliotekanauki.pl/articles/200263.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
electromagnetic articulography
microphone array
vision system
speech analysis
artykulograf elektromagnetyczny
system wizyjny
analiza mowy
Opis:
Electromagnetic articulography (EMA) is one of the instrumental phonetic research methods used for recording and assessing articulatory movements. Usually, articulographic data are analysed together with standard audio recordings. This paper, however, demonstrates how coupling the articulograph with devices providing other types of information may be used in more advanced speech research. A novel measurement system is presented that consists of the AG 500 electromagnetic articulograph, a 16-channel microphone array with a dedicated audio recorder and a video module consisting of 3 high-speed cameras. It is argued that synchronization of all these devices allows for comparative analyses of results obtained with the three components. To complement the description of the system, the article presents innovative data analysis techniques developed by the authors as well as preliminary results of the system’s accuracy.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2018, 66, 3; 257-266
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
FPGA and ASIC implementation of the algorithm for traffic monitoring in urban areas
Autorzy:
Szczepański, S.
Wójcikowski, M.
Pankiewicz, B.
Kłosowski, M.
Żaglewski, R.
Powiązania:
https://bibliotekanauki.pl/articles/202318.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
FPGA
ASIC
sensor network
Opis:
This paper describes the idea and the implementation of the image detection algorithm, that can be used in integrated sensor networks for environment and traffic monitoring in urban areas. The algorithm is dedicated to the extraction of moving vehicles from real-time camera images for the evaluation of traffic parameters, such as the number of vehicles, their direction of movement and their approximate speed. The authors, apart from the careful selection of particular steps of the algorithm towards hardware implementation, also proposed novel improvements, resulting in increasing the robustness and the efficiency. A single, stationary, monochrome camera is used, simple shadow and highlight elimination is performed. The occlusions are not taken into account, due to placing the camera at a location high above the road. The algorithm is designed and implemented in pipelined hardware, therefore high frame-rate efficiency has been achieved. The algorithm has been implemented and tested in FPGA and ASIC.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2011, 59, 2; 137-140
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Visualization support for the analysis of properties of interestingness measures
Autorzy:
Susmaga, R.
Szczęch, I.
Powiązania:
https://bibliotekanauki.pl/articles/201466.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
visualization
interestingness measures
confirmation measures
properties of confirmation measures
wizualizacja
pomiary
właściwości pomiarów
Opis:
The paper considers a particular group of rule interestingness measures, called Bayesian confirmation measures, which have become the subject of numerous, but often exclusively theoretical studies. To assist and enhance their analysis in real-life situations, where time constraints may impede conducting such time consuming procedures, a visual technique has been introduced and described in this paper. It starts with an exhaustive and non-redundant set of contingency tables, which consists of all possible tables having the same number of observations. These data, originally 4-dimensional, may, owing to an inherent constraint, be effectively represented as a 3-dimensional tetrahedron, while an additional, scalar function of the data (e.g. a confirmation measure) may be rendered using colour. Dedicated analyses of particular colour patterns on this tetrahedron allow to promptly perceive particular properties of the visualized measures. To illustrate the introduced technique, a set of 12 popular confirmation measures has been selected and visualized. Additionally, a set of 9 popular properties has been chosen and the visual interpretations of the measures in terms of the properties have been presented.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 1; 315-327
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 54

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