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    Wyświetlanie 1-8 z 8
    Tytuł:
    Tactile sensing for ground classification
    Autorzy:
    Walas, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/385065.pdf
    Data publikacji:
    2013
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    walking robot
    torque-force sensor
    compliant ground
    classification
    Opis:
    This paper describes the ground classification procedure for a six-legged walking robot. The terrain is classified according to the information gathered with the 6-DOF torque-force sensors. The statistical description of the obtained signals allow to obtain compact representation of the contact type for each 6-DOF component. Namely, the 4-element vector [variance, skewness, kurtosis, fifth moment] was used. Subsequently Discriminant Analysis was applied separately for classification of each component of the 6-DOF vector. The signal which gives the best classifica tion rate was established. The obtained result provides the information for the design of the new contact sensors for the robot feet.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 2; 18-23
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Foot design for a hexapod walking robot
    Projekt stopy sześcionożnego robota kroczącego
    Autorzy:
    Walas, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/276606.pdf
    Data publikacji:
    2013
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    robot kroczący
    robot sześcionożny
    stopa
    projektowanie
    walking robot
    hexapod
    foot
    design
    Opis:
    This article describes the process of development of the robotic foot for the six-legged walking robot Messor. In order to allow the robot to negotiate uneven surfaces and to walk on a compliant ground, the foot includes the sensing device which provides information on contact forces between the foot and the ground. At first, the foot with single-axis force measurement unit is described. Next, design of the triaxial sensing device is shown. Knowledge gathered during development of the single-axis device was transferred to build a new foot with extended capabilities. In the article description of the manufactured real devices is given.
    Niniejszy artykuł opisuje proces rozwoju stopy dla sześcionożnego robota kroczącego Messor. Stopa ma wbudowane urządzenie do pomiaru sił kontaktu między stopą a podłożem. Dane te są wymagane do kroczenia po nierównym i podatnym gruncie. W artykule pokazane zostało jednoosiowe urządzenie pomiarowe. Następnie opisano czujnik trójosiowy bazujący na projekcie czujnika jednoosiowego. Artykuł prezentuje proces projektowania i opis rzeczywistego urządzenia.
    Źródło:
    Pomiary Automatyka Robotyka; 2013, 17, 2; 283-287
    1427-9126
    Pojawia się w:
    Pomiary Automatyka Robotyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Supporting locomotive functions of a six-legged walking robot
    Autorzy:
    Walas, K.
    Belter, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/907788.pdf
    Data publikacji:
    2011
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    robotyka
    robot kroczący
    stateczność statyczna
    robotics
    walking robots
    foothold placement
    static stability
    Opis:
    This paper presents a method for building a foothold selection module as well as methods for the stability check for a multi-legged walking robot. The foothold selection decision maker is shaped automatically, without expert knowledge. The robot learns how to select appropriate footholds by walking on rough terrain or by testing ground primitives. The gathered knowledge is then used to find a relation between slippages and the obtained local shape of the terrain, which is further employed to assess potential footholds. A new approach to function approximation is proposed. It uses the leastsquares fitting method, the Kolmogorov theorem and population-based optimization algorithms. A strategy for re-learning is proposed. The role of the decision support unit in the control system of the robot is presented. The importance of the stability check procedure is shown. A method of finding the stability region is described. Further improvements in the stability check procedure due to taking into account kinematic correction are reported. A description of the system for calculating static stability on-line is given. Methods for measuring stance forces are described. The measurement of stance forces facilitates the extended stability check procedure. The correctness of the method is proved by results obtained in a real environment on a real robot.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2011, 21, 2; 363-377
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Messor - Verstatile wal king robot for serach and rescue missions
    Autorzy:
    Walas, K.
    Belter, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/384762.pdf
    Data publikacji:
    2011
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    walking robot
    six-legged
    field robots
    Opis:
    Nowadays there are more people living in the cities than in the countryside.With the growing number of multistorey buildings, which are built very fast, the number of possible collapses is rising. Rescue missions in ruins of such constructions pose a possible threat to the life of the rescuers. To avoid involving people in such missions mobile robots are used. The use of a six-legged robot in Urban Search and Rescue missions is proposed due to its static stability while walking on rough terrain. In this paper six-legged walking robot Messor is described. Its mechanical structure was designed in such a way, that negotiating obstacles met in urban space is possible. In order to perform such tasks as walking over rough terrain or climbing stairs the robot is equipped with significant number of on-board sensors. The control algorithms, which take advantage of mechanical structure were developed. At the beginning a mechanical structure of the robot is described. Next, the design of the robot control system architecture is considered. Then the robot sensory system is presented and afterward the application software is characterized.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 2; 28-34
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Control and environment sensing system for a six-legged robot
    Autorzy:
    Walas, K.
    Belter, D.
    Kasiński, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/384263.pdf
    Data publikacji:
    2008
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    multi-legged robot
    sensors
    control system
    Opis:
    The architecture of the six legged robot is described in this paper. Robot kinematics for single leg and for the multi-legged platform is presented. For the control of the robot equipped with a number of sensors a three-layer control system has been designed. It consists of a host computer (in the first, teleoperation layer), of a single master microprocessor on the robot board (second layer) and of six microprocessors each of them for one leg (third layer). The communication between the first and the second layer is performed in duplex mode through the RS232 link via the Bluetooth channel, and between the second and the third control layer through the SPI bus. The robot sensing system consists of rotary potentiometers in each joint, of the leg as well as of a dual-axis accelerometer and gyroscope for platform orientation control. On board camera for remote vision is available.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2008, 2, 3; 26-32
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Effect of Tungsten and Molybdenum on the Crystallization, Microstructure and Properties of Silumin 226
    Autorzy:
    Szymczak, T.
    Gumienny, G.
    Pacyniak, T.
    Walas, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/381984.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    theoretical basis
    casting process
    pressure casting
    multicomponent silumin
    TDA method
    podstawy teoretyczne
    proces odlewania
    odlewanie ciśnieniowe
    silumin wieloskładnikowy
    metoda ATD
    Opis:
    The work presents the results of the examinations of silumin 226 as well as a silumin produced on its basis containing a W and Mo addition introduced in the amount of 0.1; 0.2; 0.3 and 0.4% of both elements simultaneously. Investigations of the crystallization process of the silumins by the TDA method were conducted. Also, a microscopic analysis of their microstructure was performed and their basic mechanical properties were determined. Microstructure tests were made on casts produced in an TDA sampler as well as by the pressure method. The investigations exhibited a change in the course of crystallization of the silumin containing 0.3 and 0.4% W and Mo with respect to silumin 226 and the silumin with the addition of 0.1 and 0.2%. The presence of additional phases which did not occur in the case of lower addition contents was established in the silumin containing 0.3-0.4% W and Mo, regardless of the applied casting technology. The tests showed the possibility of increasing the tensile strength Rm, the proof stress Rp0,2 and the unit elongation A of the silumin as a result of a simultaneous introduction of the W and Mo addition. The highest values of Rm, Rp0,2 and A were obtained in the silumins with the additions of these elements within the range of 0.1-0.2% each.
    Źródło:
    Archives of Foundry Engineering; 2015, 15, 3; 61-66
    1897-3310
    2299-2944
    Pojawia się w:
    Archives of Foundry Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Niche modelling suggests low feasibility of assisted gene flow for a Neogene relict tree, Castanea sativa Mill.
    Autorzy:
    Beridze, B.
    Sękiewicz, K.
    Walas, Ł.
    Danelia, I.
    Farzaliyev, V.
    Kvartskhava, .
    Szmyt, J.
    Dering, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/29430766.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Instytut Dendrologii PAN
    Źródło:
    Dendrobiology; 2023, 90; 58-75
    1641-1307
    Pojawia się w:
    Dendrobiology
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-8 z 8

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