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    Wyświetlanie 1-8 z 8
    Tytuł:
    Sub-optimal motion planning of one-chained, two-input nonholonomic systems
    Autorzy:
    Duleba, Ignacy
    Karcz-Duleba, Iwona
    Powiązania:
    https://bibliotekanauki.pl/articles/27311446.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Czasopisma i Monografie PAN
    Tematy:
    nonholonomic systems
    optimization
    algorithm
    Lie-algebraic methods
    chained-form
    forma łańcuchowa
    optymalizacja
    algorytm
    system nieholonomiczny
    metoda Lie algebraiczna
    Opis:
    In this paper three algorithms of motion planning for two-input, one-chained nonholonomic systems are presented. The classical Murray-Sastry algorithm is compared with two original algorithms aimed at optimizing energy of controls. Based on the generalized Campbell- Baker-Hausdorff-Dynkin formula applied to the systems, some observations are made concerning the optimal relationship between amplitudes and phases of harmonic controls. The observations help to optimize a selection of controls and to design new algorithms for planning a sub- optimal trajectory between given boundary configurations. It was also shown that for those particular systems the generalized C-B-H-D formula is valid not only locally (as in a typical case) but also globally. Simulations performed on the five-dimensional chain system facilitate distinguishing the proposed algorithms from the Murray-Sastry algorithm and to illustrate their features. Systems in a chained form are important from a practical point of view as they are canonical for a class of systems transformable into this form. The most prominent among them are mobile robots with or without trailers.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 3; art. no. e145684
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Single-Frame Attitude Determination Methods for Nanosatellites
    Autorzy:
    Cilden Guler, D.
    Conguroglu, E. S.
    Hajiyev, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/221643.pdf
    Data publikacji:
    2017
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    attitude determination
    single-frame methods
    algebraic method
    covariance analysis
    vector observation
    Opis:
    Single-frame methods of determining the attitude of a nanosatellite are compared in this study. The methods selected for comparison are: Single Value Decomposition (SVD), q method, Quaternion ESTimator (QUEST), Fast Optimal Attitude Matrix (FOAM) − all solving optimally the Wahba’s problem, and the algebraic method using only two vector measurements. For proper comparison, two sensors are chosen for the vector observations on-board: magnetometer and Sun sensors. Covariance results obtained as a result of using those methods have a critical importance for a non-traditional attitude estimation approach; therefore, the variance calculations are also presented. The examined methods are compared with respect to their root mean square (RMS) error and variance results. Also, some recommendations are given.
    Źródło:
    Metrology and Measurement Systems; 2017, 24, 2; 313-324
    0860-8229
    Pojawia się w:
    Metrology and Measurement Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Performance analysis of regularization algorithms used for image reconstruction in computed tomography
    Autorzy:
    Wysoczański, D.
    Mroczka, J.
    Polak, A. G.
    Powiązania:
    https://bibliotekanauki.pl/articles/201356.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    computed tomography
    image reconstruction
    algebraic approach
    regularization methods
    Opis:
    Computed tomography is one of the most significant diagnostic techniques in medicine. This work is focused on hard-field imaging, where signals take a form of straight rays and the reconstructed image can be presented as a matrix with unknown pixels. Algebraic methods for direct computation of the image have not been used in practice because of the scale of the problem and numerical errors appearing in the solution. The aim of this work was to analyse the performance of direct algebraic algorithms for tomographic image reconstruction including regularisation mechanism such as: generalised regularisation, Tikhonov regularisation, Twomey regularisation and ridge regression (RR), as well as comparing the results with the filtered backprojection (FBP) as the reference method. The performed analyses demonstrated that the regularised algebraic methods are more accurate than the commonly used FBP, and RR appeared the most precise among them. Additionally it was shown that the invariant system matrix (inverted during calculations) can be easily determined by solving the forward problem. Finally, potential directions of further research have been pointed out.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 2; 467-474
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    On bound for the solution of the unified algebraic Riccati equation
    Autorzy:
    Czornik, Adam
    Powiązania:
    https://bibliotekanauki.pl/articles/747525.pdf
    Data publikacji:
    1997
    Wydawca:
    Polskie Towarzystwo Matematyczne
    Tematy:
    Algebraic methods
    Matrix equations and identities
    Single equations
    Opis:
    .
    In recent, years, several bounds of eigenvalues, norms and determinants for solutions of the continuous and discrete Riccati equations have been separately investigated. In this paper, an upper bound for the solution of the unified algebraic Riccati equations is presented. In the limit case, the result is reduced to a new upper bound for t he solution of discrete and continuous Riccati equation.
    Źródło:
    Mathematica Applicanda; 1997, 26, 40
    1730-2668
    2299-4009
    Pojawia się w:
    Mathematica Applicanda
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Impact of control representations on efficiency of local nonholonomic motion planning
    Autorzy:
    Duleba, I.
    Powiązania:
    https://bibliotekanauki.pl/articles/202269.pdf
    Data publikacji:
    2011
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    motion planning
    nonholonomic systems
    Lie-algebraic methods
    controllability
    optimization
    Opis:
    In this paper various control representations selected from a family of harmonic controls were examined for the task of locally optimal motion planning of nonholonomic systems. To avoid dependence of results either on a particular system or a current point in a state space, considerations were carried out in a sub-space of a formal Lie algebra associated with a family of controlled systems. Analytical and simulation results are presented for two inputs and three dimensional state space and some hints for higher dimensional state spaces were given. Results of the paper are important for designers of motion planning algorithms not only to preserve controllability of the systems but also to optimize their motion.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2011, 59, 2; 213-218
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Convergence analysis of piecewise continuous collocation methods for higher index integral algebraic equations of the Hessenberg type
    Autorzy:
    Shiri, B.
    Shahmorad, S.
    Hojjati, G.
    Powiązania:
    https://bibliotekanauki.pl/articles/330726.pdf
    Data publikacji:
    2013
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    piecewise continuous collocations methods
    Volterra integral equations
    integral algebraic equations
    równania całkowe Volterry
    równanie algebraiczne
    Opis:
    In this paper, we deal with a system of integral algebraic equations of the Hessenberg type. Using a new index definition, the existence and uniqueness of a solution to this system are studied. The well-known piecewise continuous collocation methods are used to solve this system numerically, and the convergence properties of the perturbed piecewise continuous collocation methods are investigated to obtain the order of convergence for the given numerical methods. Finally, some numerical experiments are provided to support the theoretical results.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2013, 23, 2; 341-355
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An algebraic model of the subsystem for the computer generation of elimination operation
    Autorzy:
    Ovsyak, V.
    Ovsyak, O.
    Kozelko, M.
    Petrushka, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/114477.pdf
    Data publikacji:
    2018
    Wydawca:
    Stowarzyszenie Inżynierów i Techników Mechaników Polskich
    Tematy:
    algorithm of algebra
    algebraic methods
    algebraic model of operation
    elimination operation
    graph of subsystem
    diagram of sequences
    Opis:
    A brief analysis of the known methods of non-algebraic and algebraic descriptions of algorithms has been presented. The features of the elimination operation being a term of the algorithm algebra have been shown. An algebraic model of the computer generation of the elimination operation has been synthesized by means of the algorithm algebra. The model has been implemented with the help of software on the platform Microsoft Visual Studio.NET. The models of subsystem as a graph and a diagram of sequences have been designed as well.
    Źródło:
    Measurement Automation Monitoring; 2018, 64, 3; 48-52
    2450-2855
    Pojawia się w:
    Measurement Automation Monitoring
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Algebraic approach for model decomposition: Application to fault detection and isolation in discrete-event systems
    Autorzy:
    Berdjag, D.
    Cocquempot, V.
    Christophe, C.
    Shumsky, A.
    Zhirabok, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/907823.pdf
    Data publikacji:
    2011
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    metoda rozkładu
    odsprzęganie
    system dyskretny
    algebraic approaches
    decomposition methods
    decoupling
    discrete event systems
    Opis:
    This paper presents a constrained decomposition methodology with output injection to obtain decoupled partial models. Measured process outputs and decoupled partial model outputs are used to generate structured residuals for Fault Detection and Isolation (FDI). An algebraic framework is chosen to describe the decomposition method. The constraints of the decomposition ensure that the resulting partial model is decoupled from a given subset of inputs. Set theoretical notions are used to describe the decomposition methodology in the general case. The methodology is then detailed for discrete-event model decomposition using pair algebra concepts, and an extension of the output injection technique is used to relax the conservatism of the decomposition.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2011, 21, 1; 109-125
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-8 z 8

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