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Tytuł:
Two Observer-Based Tracking Algorithms for a Unicycle Mobile Robot
Autorzy:
Jakubiak, J.
Lefeber, E.
Tchoń, K.
Nijmeijer, H.
Powiązania:
https://bibliotekanauki.pl/articles/908499.pdf
Data publikacji:
2002
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
robotyka
observer
trajectory tracking
mobile robot
Opis:
A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2002, 12, 4; 513-522
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On an algorithm for the problem of tracking a trajectory of a parabolic equation
Autorzy:
Blizorukova, M.
Maksimov, V.
Powiązania:
https://bibliotekanauki.pl/articles/329879.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
parabolic equation
tracking problem
unknown disturbance
równanie paraboliczne
śledzenie problemu
zakłócenie nieznane
Opis:
In this paper, we consider the problem of tracking a solution of a reference parabolic equation by a solution of another equation. A stable algorithm based on the extremal shift method is proposed for this problem. The algorithm is designed to work on a sufficiently large time interval where both equations operate.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2017, 27, 3; 457-465
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance
Autorzy:
Ruiz, U.
Marroquin, J. L.
Murrieta-Cid, R.
Powiązania:
https://bibliotekanauki.pl/articles/330973.pdf
Data publikacji:
2014
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
pursuit evasion
tracking
capturing
differential drive robot
śledzenie obiektu
wychwytywanie
napęd robota
Opis:
In this paper, we address the pursuit-evasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot (DDR), in an Euclidean plane without obstacles. We assume that both players have bounded speeds, and that the DDR is faster than the evader, but due to its nonholonomic constraints it cannot change its motion direction instantaneously. Only a purely kinematic problem is considered, and any effect due to dynamic constraints (e.g., acceleration bounds) is neglected. We provide a criterion for partitioning the configuration space of the problem into two regions, so that in one of them the DDR is able to control the system, in the sense that, by applying a specific strategy (also provided), the DDR can achieve any inter-agent distance (within an error bound), regardless of the actions taken by the OA. Particular applications of these results include the capture of the OA by the DDR and maintaining surveillance of the OA at a bounded variable distance.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2014, 24, 2; 371-385
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fuzzy logic gain scheduling for non-linear servo tracking
Autorzy:
Brdyś, M. A.
Littler, J. J.
Powiązania:
https://bibliotekanauki.pl/articles/908000.pdf
Data publikacji:
2002
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
elektrotechnika
tracking
servo control
gain scheduling
fuzzy logic
stiction friction
hard non-linearities
Opis:
This paper proposes the use of gain scheduling as a method of controlling a servo system with hard non-linear elements. The servo controls two elements of a tracker mounted on a ship at sea. There is stiction at the zero velocity point and non-linear friction against the motion of each tracker axis. A dual feedback loop control structure is employed. Fuzzy logic is used to provide smoothly varying non-linear scheduling functions to map the velocity of the servo relevant to the deck of the ship onto the rate loop controller parameters. Consideration is given to the use of a derivative signal as a secondary input to the fuzzy inference system. Results are presented which demonstrate that this method of controlling the servo system gives a dramatic improvement over the traditional linear control methodology for low velocity tracking performance. A linear PID controller is used in the outer loop and its design is also given some consideration.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2002, 12, 2; 209-219
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Servo tracking of targets at sea
Autorzy:
Ahmed, A.
Brdyś, M. A.
Powiązania:
https://bibliotekanauki.pl/articles/908404.pdf
Data publikacji:
2006
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
śledzenie celu
urządzenie śledzące
filtr Kalmana
adaptacyjny układ sterowania
target tracking
tracker
Kalman filter
adaptive control
Opis:
This paper details a proposal for the position control system of a two-axis ship-mounted tracker. Aspects of the non-linear dynamics governing Line-Of-Sight (LOS) errors between the tracker and the target are presented. It is shown that the regulation of LOS errors can be achieved by introducing a feed-forward term based on the target’s velocity. This velocity is not measurable, and an estimator is required. Given that the tracking problem is non-linear, the classical separation principle does not hold, and cascading the estimator and regulator together may not lead to an optimal position control system. The ‘LQAdaptive’ system proposed here aims therefore to improve conformity to the separation principle. Simulation trials show that tracking is improved under the LQAdaptive system in comparison to a simple estimator-regulator structure.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2006, 16, 2; 197-207
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Efficient RGB-D data processing for feature-based self-localization of mobile robots
Autorzy:
Kraft, M.
Nowicki, M.
Penne, R.
Schmidt, A.
Skrzypczyński, P.
Powiązania:
https://bibliotekanauki.pl/articles/330295.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
visual odometry
simultaneous localization
simultaneous mapping
RGB-D
tracking
point features
odometria wizyjna
lokalizacja jednoczesna
śledzenie
Opis:
The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results as to the general architecture, the important novel elements introduced here are aimed at improving the precision and robustness of the motion estimate computed from the matching point features of two RGB-D frames. Moreover, we demonstrate that the visual odometry system can serve as the front-end for a pose-based simultaneous localization and mapping solution. The proposed solutions are tested on publicly available data sets to ensure that the results are scientifically verifiable. The experimental results demonstrate gains due to the improved feature extraction and management mechanisms, whereas the performance of the whole navigation system compares favorably to results known from the literature.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 63-79
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A simultaneous localization and tracking method for a worm tracking system
Autorzy:
Kowalski, M.
Kaczmarek, P.
Kabaciński, R.
Matuszczak, M.
Tranbowicz, K.
Sobkowiak, R.
Powiązania:
https://bibliotekanauki.pl/articles/330526.pdf
Data publikacji:
2014
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
Caenorhabditis elegans behavior
worm tracking
computer vision
image processing
feature extraction
wizja komputerowa
przetwarzanie obrazu
ekstrakcja cech
Opis:
The idea of worm tracking refers to the path analysis of Caenorhabditis elegans nematodes and is an important tool in neurobiology which helps to describe their behavior. Knowledge about nematode behavior can be applied as a model to study the physiological addiction process or other nervous system processes in animals and humans. Tracking is performed by using a special manipulator positioning a microscope with a camera over a dish with an observed individual. In the paper, the accuracy of a nematode’s trajectory reconstruction is investigated. Special attention is paid to analyzing errors that occurred during the microscope displacements. Two sources of errors in the trajectory reconstruction are shown. One is due to the difficulty in accurately measuring the microscope shift, the other is due to a nematode displacement during the microscope movement. A new method that increases path reconstruction accuracy based only on the registered sequence of images is proposed. The method Simultaneously Localizes And Tracks (SLAT) the nematodes, and is robust to the positioning system displacement errors. The proposed method predicts the nematode position by using NonParametric Regression (NPR). In addition, two other methods of the SLAT problem are implemented to evaluate the NPR method. The first consists in ignoring the nematode displacement during microscope movement, and the second is based on a Kalman filter. The results suggest that the SLAT method based on nonparametric regression gives the most promising results and decreases the error of trajectory reconstruction by 25% compared with reconstruction based on data from the positioning system.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2014, 24, 3; 599-609
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Decentralized static output tracking control of interconnected and disturbed Takagi–Sugeno systems
Autorzy:
Jabri, Dalel
Guelton, Kevin
Belkhiat, Djamel E.C.
Manamanni, Noureddine
Powiązania:
https://bibliotekanauki.pl/articles/331181.pdf
Data publikacji:
2020
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
interconnected Takagi–Sugeno system
decentralized static outputs tracking controller
H∞ criterion
LMIs
model Takagi-Sugeno
kontroler śledzenia
Opis:
This article describes a new procedure for the design of decentralized output-feedback tracking controllers for a class of interconnected Takagi–Sugeno (TS) fuzzy systems with external bounded disturbances and measurement noise. The main idea consists in transforming the decentralized tracking control problem, by using the descriptor redundancy formulation, to a robust decentralized stabilization one. The non-parallel distributed compensation (non-PDC) controllers proposed here are synthesized to satisfy robust H∞ tracking performance with disturbance attenuation. The decentralized controllers design conditions are given in terms of LMIs via extended quadratic Lyapunov functions. Finally, simulations are presented: two numerical examples are dedicated to compare the conservatism of the proposed approach regarding the previous results available in the literature; then, the effectiveness of the decentralized controller design methodology is illustrated with a closed-loop simulation of two inverted pendulums connected by a spring.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2020, 30, 2; 225-238
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system
Autorzy:
Michałek, M.
Dutkiewicz, P.
Kiełczewski, M.
Pazderski, D.
Powiązania:
https://bibliotekanauki.pl/articles/929982.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
robot mobilny
śledzenie trajektorii
pole wektorowe
differentially driven mobile robot
skid-slip compensation
trajectory tracking
vector fields
Opis:
The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2009, 19, 4; 547-559
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Hand gesture recognition based on free-form contours and probabilistic inference
Autorzy:
Kasprzak, W.
Wilkowski, A.
Czapnik, K.
Powiązania:
https://bibliotekanauki.pl/articles/331308.pdf
Data publikacji:
2012
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
śledzenie dłoni
analiza sekwencji obrazów
wnioskowanie stochastyczne
active contours
hand pose detection
hand tracking
image sequence analysis
stochastic inference
Opis:
A computer vision system is described that captures color image sequences, detects and recognizes static hand poses (i.e., 'letters') and interprets pose sequences in terms of gestures (i.e., 'words'). The hand object is detected with a double-active contour-based method. A tracking of the hand pose in a short sequence allows detecting 'modified poses', like diacritic letters in national alphabets. The static hand pose set corresponds to hand signs of a thumb alphabet. Finally, by tracking hand poses in a longer image sequence, the pose sequence is interpreted in terms of gestures. Dynamic Bayesian models and their inference methods (particle filter and Viterbi search) are applied at this stage, allowing a bi-driven control of the entire system.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2012, 22, 2; 437-448
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Tracking Control Algorithms for a Laboratory Aerodynamical System
Autorzy:
Gorczyca, P.
Hajduk, K.
Powiązania:
https://bibliotekanauki.pl/articles/907962.pdf
Data publikacji:
2004
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
system nieliniowy
sterowanie w czasie rzeczywistym
sterowanie nadążne
kontroler suboptymalny
nonlinear systems
real-time control
tracking control
suboptimal controller
Opis:
The tracking control problem of a strongly nonlinear MIMO system is presented. The system shares some features with a helicopter, such as important interactions between the vertical and horizontal motions. The dedicated I/O board allows for control, measurements and communication with a PC. The RTWT toolbox in the MATLAB environment is used to perform real-time experiments. The control task is to track a predefined reference trajectory. A mathematical model of the system, containing experimental characteristics, is used to design the controllers: a multidimensional PD, a suboptimal controller in the sense of a quadratic performance index and a variable gain controller.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 469-475
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Experimental and Numerical Analysis of Photovoltaics System Improvements in Urban Area
Eksperymentalna i numeryczna analiza usprawnień systemu fotowoltaicznego w terenie miejskim
Autorzy:
Żołądek, M.
Sornek, K.
Papis, K.
Figaj, R.
Filipowicz, M.
Powiązania:
https://bibliotekanauki.pl/articles/396710.pdf
Data publikacji:
2018
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
renewable energy sources
solar energy
sun-tracking devices
TRNSYS
dynamic simulation
odnawialne źródła energii
energia słoneczna
systemy nadążne
symulacja dynamiczna
Opis:
Nowadays, photovoltaic systems installed in urban areas have to be an essential part of distributed generation systems, and lead to improve energy efficiency of buildings. The paper describes the operation aspects of the 7,5 kWp photovoltaic installation located on the roof of the didactic building of AGH University of Science and Technology. The significant part of the roof Is occupied by HVAC installation, so the periodic shading is occurring. It makes, that a level of energy generated in the PV system is lower than expected. The first part of the test was focused on the validating model of the installation and determine its impact on the CO2 emissions. Then, modifications in the arrangement of the panels were considered (redirecting of additional light stream). Moreover, an economic and environmental analysis of proposed improvements were conducted.
Obecnie instalacje fotowoltaiczne zainstalowane na obszarach miejskich muszą stanowić istotną część rozproszonych systemów wytwarzania energii i prowadzić do poprawy efektywności energetycznej budynków. Najpopularniejszym sposobem montażu paneli fotowoltaicznych na dachach budynku jest zamontowanie ich pod optymalnym kątem względem słońca. Niestety w wielu miejskich przypadkach niemożliwe jest umieszczenie fotowoltaiki na najlepszej dostępnej pozycji ze względu na efekt cieniowania lub specjalne warunki budowlane. W artykule opisano aspekty eksploatacyjne instalacji fotowoltaicznej o mocy 7,5 kWp zlokalizowanej na dachu budynku dydaktycznego Akademii Górniczo-Hutniczej. Znaczna część dachu jest zajęta przez instalację HVAC, więc występuje okresowe zacienienie. To sprawia, że poziom energii generowanej w systemie PV jest niższy niż oczekiwano. Przedstawiono analizę możliwości zwiększenia wydajności instalacji za pomocą narzędzia Transient System Simulation (TRNSYS). Pierwsza część badania koncentrowała się na walidacji modelu instalacji i określeniu jej wpływu na emisję CO2. Następnie rozważono modyfikacje układu paneli (przekierowanie dodatkowego strumienia świetlnego). Ponadto przeprowadzono analizę ekonomiczną i środowiskową proponowanych ulepszeń.
Źródło:
Civil and Environmental Engineering Reports; 2018, No. 28(4); 13-24
2080-5187
2450-8594
Pojawia się w:
Civil and Environmental Engineering Reports
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A variable structure observer for the control of robot manipulators
Autorzy:
Abdessameud, A.
Khelfi, M. F.
Powiązania:
https://bibliotekanauki.pl/articles/908406.pdf
Data publikacji:
2006
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
obserwator
manipulator robotyczny
stateczność wykładnicza
system naprowadzający
variable structure observers
switching-type observers
rigid robot manipulators
exponential stability
tracking control
Opis:
This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2006, 16, 2; 189-196
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Kinematically optimal robust control of redundant manipulators
Autorzy:
Galicki, M.
Powiązania:
https://bibliotekanauki.pl/articles/266099.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
redundant robotic manipulator
task space trajectory tracking
robust optimal finite-time control
Lyapunov stability
manipulator
przestrzeń robocza manipulatora
Stabilność Lapunowa
Opis:
This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.
Źródło:
International Journal of Applied Mechanics and Engineering; 2017, 22, 4; 839-865
1734-4492
2353-9003
Pojawia się w:
International Journal of Applied Mechanics and Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An object-oriented approach to simulating human gait motion based on motion tracking
Autorzy:
Tändl, M.
Stark, T.
Erol, N. E.
Löer, F.
Kecskeméthy, A.
Powiązania:
https://bibliotekanauki.pl/articles/930125.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
analiza ruchu
system mięśniowo-szkieletowy
symulacja wieloczłonowa
promieniowanie rentgenowskie
gait/motion analysis
muskuloskeletal system
multibody simulation
MRI
X-ray
motion tracking
Opis:
Accurate bone motion reconstruction from marker tracking is still an open and challenging issue in biomechanics. Presented in this paper is a novel approach to gait motion reconstruction based on kinematical loops and functional skeleton features extracted from segmented Magnetic Resonance Imaging (MRI) data. The method uses an alternative path for concatenating relative motion starting at the feet and closing at the hip joints. From the evaluation of discrepancies between predicted and geometrically identified functional data, such as hip joint centers, a cost function is generated with which the prediction model can be optimized. The method is based on the object-oriented multibody library [...], which has already been successfully applied to the development of industrial virtual design environments. The approach has been implemented in a general gait visualization environment termed Mobile Body.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2009, 19, 3; 469-483
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
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