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    Wyświetlanie 1-66 z 66
    Tytuł:
    Interception of a free-rotating satellite: an autonomous rendezvous scenario
    Autorzy:
    Seweryn, K.
    Banaszkiewicz, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/307630.pdf
    Data publikacji:
    2007
    Wydawca:
    Instytut Łączności - Państwowy Instytut Badawczy
    Tematy:
    satellite rendezvous
    autonomous control systems
    docking maneuvers
    Opis:
    The spacecraft's lifetime is often limited by reliability and redundancy of its components. Furthermore, serious restrictions on duration of spacecraft operations are posed by finite amount of fuel or cooling agent. It is also clear that once a satellite is launched, it is extremely difficult to replace/modify its hardware on the orbit. Future spacecraft missions, especially huge planetary orbiters, will require servicing support from autonomous unmanned satellites. In this paper we introduce and analyze a new scenario for interception of a free rotating satellite ion a Keplerian orbit. The scenario is divided into several stages to be executed by the servicing satellite: attitude determination of the target object; own motion planning; determination of the optimal target position and orientation before docking; controlled approach, i.e., decreasing of a range between satellites; orbiting of the servicing satellite around the target satellite; docking, i.e., radial degreasing of the intersatellite range till the satellites contact, while keeping constant the relative orienta- tion between them. The control algorithm for the servicing satellite motion during its maneuvers is described. Finally, a few examples of satellite motion simulations according to the proposed scenario are presented.
    Źródło:
    Journal of Telecommunications and Information Technology; 2007, 1; 59-62
    1509-4553
    1899-8852
    Pojawia się w:
    Journal of Telecommunications and Information Technology
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Agent-based disposition in event logistics
    Autorzy:
    Harjes, F.
    Scholz-Reiter, B.
    Powiązania:
    https://bibliotekanauki.pl/articles/409112.pdf
    Data publikacji:
    2013
    Wydawca:
    Politechnika Poznańska. Wydawnictwo Politechniki Poznańskiej
    Tematy:
    event logistics
    autonomous control
    resource allocation order disposition
    Opis:
    The scheduling of orders and disposition of related rental articles in event logistics constitutes a complex and dynamic logistic problem. Varying venues, close temporal relations bet-ween consecutive events and additional effects, such as rush orders, thefts, damaged articles or misloadings, complicate the planning processes. Therefore, established planning and control sy-stems often reach their limits. The principle of autonomous control offers the potential to cope with these problems. This paper presents preliminary results from a research project that addresses the de-velopment of an autonomously controlled disposition system in event logistics based on soft-ware agents. At this, the focus lies on the design of the target process and the modelling of the corres-ponding logistic objects as autonomous agents within the system. A use case illustrates the proceeding.
    Źródło:
    Research in Logistics & Production; 2013, 3, 2; 137-150
    2083-4942
    2083-4950
    Pojawia się w:
    Research in Logistics & Production
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Integration aspects of autonomous control in event logistics
    Autorzy:
    Harjes, F.
    Scholz-Reiter, B.
    Powiązania:
    https://bibliotekanauki.pl/articles/409514.pdf
    Data publikacji:
    2014
    Wydawca:
    Politechnika Poznańska. Wydawnictwo Politechniki Poznańskiej
    Tematy:
    event logistics
    autonomous control
    system integration
    Order Disposition
    Opis:
    The disposition of rental articles constitutes a complex logistic problem. In general, those articles circulate in closed logistic systems and their order-oriented transport between different hubs within the network defines a variety of the Traveling-Salesman-Problem (TSP). As the complexity of this problem class grows with the number of parameters involved, resolving the TSP is a challenging task in daily business. This is especially the case in the field of event logistics, a business area, which extends the common problems related to rental articles with a dynamically changing logistic system. This paper addresses the application of methods from the field of autonomous control for the disposition of rental articles in event logistics with a special focus on the integration aspects. As information transparency is an indispensable requirement for the application of autonomous control, the provision of the corresponding hardware for identification, positioning and communication purposes is the first emphasis. The second is the design and integration of the related agent-based disposition software within the typical software landscape of a company. A small enterprise from the relevant business field serves as an example for the integration proceeding.
    Źródło:
    Research in Logistics & Production; 2014, 4, 1; 5-20
    2083-4942
    2083-4950
    Pojawia się w:
    Research in Logistics & Production
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Research on biomimetic underwater vehicles undertaken at Institute of Electrical Engineering and Automatics
    Badania nad biomimetycznymi pojazdami podwodnymi realizowane w Instytucie Elektrotechniki i Automatyki Okrętowej
    Autorzy:
    Szymak, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/222682.pdf
    Data publikacji:
    2016
    Wydawca:
    Akademia Marynarki Wojennej. Wydział Dowodzenia i Operacji Morskich
    Tematy:
    biomimetic underwater vehicle
    undulating propulsion
    autonomous control
    biomimetyczny pojazd podwodny
    napęd falowy
    sterowanie autonomiczne
    Opis:
    In the recent years, a dynamical development of an underwater robotics has been noticed. The robotics is developed in several different directions by many foreign and a few national R&D centers. The development is focused on both an improvement of construction and features of the underwater vehicles (a hardware development) and an increase of underwater vehicle autonomy providing to a swarm control (a software development). In the paper, new research area focused on biomimetic underwater robots undertaken at the Institute of Electrical Engineering and Automatics in the recent years is presented. The area concern both hardware and software development of the underwater vehicles. In the paper, the research on biomimetic underwater vehicles developed within national and international projects is described. At the end of the paper, a summary containing foreseen research is included.
    W ostatnich latach obserwuje się dynamiczny rozwój robotyki podwodnej. Rozwija się ona w kilku kierunkach w ramach badań prowadzonych przez wiele zagranicznych i krajowych ośrodków naukowo-badawczych. Rozwój robotyki podwodnej skupia się zarówno na udoskonalaniu konstrukcji i właściwości pojazdów podwodnych (rozwój sprzętowy), jak się na zwiększaniu autonomii pojazdów podwodnych w kierunku sterowania ławicą (rozwój programowy). W artykule zaprezentowano nowe badania nad biomimetycznymi pojazdami podwodnymi realizowane w Instytucie Elektrotechniki i Automatyki Okrętowej w ciągu ostatnich kilku lat. Badania te skupiają się zarówno na sprzętowym, jak i programowym rozwoju robotyki podwodnej. Opisano badania prowadzone w zakresie biomimetycznych pojazdów podwodnych zrealizowane w ramach projektów krajowego i międzynarodowego. W zakończeniu artykułu zawarto podsumowanie zawierające prognozowane badania.
    Źródło:
    Zeszyty Naukowe Akademii Marynarki Wojennej; 2016, R. 57 nr 3 (206), 3 (206); 107-119
    0860-889X
    Pojawia się w:
    Zeszyty Naukowe Akademii Marynarki Wojennej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Real flight demonstration of pitch and roll control for UAV canyon flights
    Autorzy:
    Kownacki, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/387581.pdf
    Data publikacji:
    2013
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    obstacle avoidance
    autonomous control
    unmanned air vehicle
    reactive control
    urban canyon
    omijanie przeszkód
    sterowanie autonomiczne
    bezpilotowy statek latający
    Opis:
    The paper presents results of an experiment prepared to validate the autonomous control of obstacle avoidance designed for a micro UAV to fly in urban canyons. The idea of the obstacle avoidance assumes usage of two miniature laser rangefinders responsi-ble for obstacle detection and range measurement. Measured ranges from obstacles placed on both sides of UAV can be used to simulta-neous control of desired roll and pitch angles. Such combination of controls allows achieving high agility of UAV, because during a maneu-ver of obstacle avoidance UAV can make a turn and climb at the same time. In the experiment, controls of roll and pitch angles were veri-fied separately to ensure high reliability of results and clearance of UAV behavior in the real flight. Because of lack of appropriate objects, which can be used as obstacles, laser rangefinders were directed vertically to the ground instead of the original horizontal configuration. So sensors determine ranges from the ground during a descent flight of UAV, and if their values are lower than defined threshold, it could be interpreted as obstacle detection. The experiment results present UAV behavior adequate to designed controls of roll and pitch angle. The vehicle turns in the opposite direction to the sensing axis of laser rangefinder detecting an obstacle and starts climbing when both sensors detect obstacles at the same range below the threshold.
    Źródło:
    Acta Mechanica et Automatica; 2013, 7, 3; 148-154
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Report on research with biomimetic autonomous underwater vehicle — navigation and autonomous operation
    Raport z badań nad biomimetycznym autonomicznym pojazdem podwodnym — nawigacja i autonomiczny system sterowania
    Autorzy:
    Praczyk, T.
    Szymak, P.
    Naus, K.
    Pietrukaniec, L.
    Hożyń, S.
    Powiązania:
    https://bibliotekanauki.pl/articles/221907.pdf
    Data publikacji:
    2018
    Wydawca:
    Akademia Marynarki Wojennej. Wydział Dowodzenia i Operacji Morskich
    Tematy:
    autonomous underwater vehicle (AUV)
    biomimetic autonomous underwater vehicle (BAUV)
    course and depth control
    autonomous control
    autonomiczny pojazd podwodny
    biomimetyczny autonomiczny pojazd podwodny
    regulacja kursu i głębokości
    sterowanie autonomiczne
    Opis:
    The paper presents the second part of the final report on all the experiments with biomimetic autonomous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments on the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on navigation and autonomous operation.
    W artykule przedstawiono część drugą końcowego raportu z prac zrealizowanych w ramach projektu „Autonomiczne pojazdy podwodne z cichym napędem falowym” współfinansowanego przez Narodowe Centrum Badań rozwoju w latach 2013–2017.
    Źródło:
    Zeszyty Naukowe Akademii Marynarki Wojennej; 2018, R. 59 nr 2 (213), 2 (213); 53-67
    0860-889X
    Pojawia się w:
    Zeszyty Naukowe Akademii Marynarki Wojennej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Report on research with biomimetic autonomous underwater vehicle low level control
    Raport z badań nad biomimetycznym autonomicznym pojazdem podwodnym sterowanie niskopoziomowe
    Autorzy:
    Praczyk, T.
    Szymak, P.
    Naus, K.
    Pietrukaniec, L.
    Hożyń, S.
    Powiązania:
    https://bibliotekanauki.pl/articles/223418.pdf
    Data publikacji:
    2018
    Wydawca:
    Akademia Marynarki Wojennej. Wydział Dowodzenia i Operacji Morskich
    Tematy:
    autonomous underwater vehicle (AUV)
    biomimetic autonomous underwater vehicle (BAUV)
    course and depth control
    autonomous control
    autonomiczny pojazd podwodny
    biomimetyczny autonomiczny pojazd podwodny
    regulacja kursu i głębokości
    sterowanie autonomiczne
    Opis:
    The paper presents the first part of the final report on all the experiments with biomimetic autonomous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments in the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on low-level control.
    W artykule przedstawiono część pierwszą końcowego raportu z prac zrealizowanych w ramach projektu „Autonomiczne pojazdy podwodne z cichym napędem falowym” współfinansowanego przez Narodowe Centrum Badań rozwoju w latach 2013–2017.
    Źródło:
    Zeszyty Naukowe Akademii Marynarki Wojennej; 2018, R. 59 nr 1 (212), 1 (212); 105-123
    0860-889X
    Pojawia się w:
    Zeszyty Naukowe Akademii Marynarki Wojennej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A COLREGs-compliant decision support tool to prevent collisions at sea
    Autorzy:
    Martelli, M.
    Žuškin, S.
    Zaccone, R.
    Rudan, I.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201449.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    analysis of ship collision
    collision avoidance
    collision avoidance decision making
    collision avoidance system
    anti-collision maneuvering
    autonomous control unit
    autonomous ship
    autonomous navigation system
    Opis:
    Groundings and collisions still represent the highest percentage of marine accidents despite the current attention on Maritime Education and Training and the improvement of sensor capability. Most of the time, a collision is caused by a human error with consequences ranging from moderate to severe, with a substantial impact on both environment and life safeguarded at sea. In this paper, a brief statistical data regarding human element as a root cause of marine incidents together with collision regulations misunderstanding is presented as a background chapter. Furthermore, the present work discusses a decision support system architecture to suggest an appropriate action when the risk of a potential collision is detected. The proposed architecture system is based on various modules integrated with proper sensor input data regarding the surrounding navigation area. As a result, the tool can support the Officers of Watch in the decision-making process providing an early suggestion in compliance with the COLlision REGulations. The proposed system is intended to be used onboard independently from the degree of automation of the ship, and it is based on AIS, which is mandatory, making it widely applicable. The proper use of the system can considerably reduce the number of collisions, as demonstrated by the obtained results.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 347--353
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Koncepcja sterowania rojem bezzałogowych obiektów latających
    concept of flight control of unmanned aerial vehicles swarm
    Autorzy:
    Kownacki, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/158138.pdf
    Data publikacji:
    2012
    Wydawca:
    Stowarzyszenie Inżynierów i Techników Mechaników Polskich
    Tematy:
    bezzałogowe obiekty latające
    lot roju
    sterowanie behawioralne
    omijanie przeszkód
    autonomiczne sterowanie
    unmanned aerial vehicles
    swarm flight
    behavioral control
    obstacle avoidance
    autonomous control
    Opis:
    W pracy jest przedstawiona koncepcja lotu roju bezzałogowych obiektów latających, oparta na lokalnych regułach sterowania, które można rozpatrywać, jako instynkty zachowania wykorzystujące informacje o położeniu i prędkości pozostałych uczestników lotu. Dla przykładu w momencie, gdy dwa obiekty latające zbliżą się do siebie zbyt blisko, wówczas lokalne systemy sterowania będą modyfikowały kurs i kąt pochylenia tak by obiekty oddaliły się od siebie. Jeśli jeden obiekt latający oddali się zbyt daleko od roju, wówczas kurs i kąt pochylenia tak będą kontrolowane, aby obiekt kierował się w stronę środka ciężkości roju. W sytuacji, gdy zostanie zlokalizowana przeszkoda bezzałogowy obiekt latający będzie się starał zachować bezpieczną odległość od niej. Natomiast sterowanie rojem realizowane jest poprzez wyodrębnienie lidera, który jest kontrolowany przez operatora stacji naziemnej. Sterowanie liderem jest nadrzędną warstwą, która przez przepływ informacji w obrębie roju jest odwzorowywana przez lokalną warstwę sterowania. Praca przedstawia badania symulacyjne lotu trzech bezzałogowych obiektów latających oparte na opracowanej koncepcji. Potwierdzają one, że proponowana koncepcja jest skuteczna i realizowalna.
    The flight of unmanned aerial vehicles (UAV) swarm is a complex problem which interconnects different control levels, from local autonomous control law of a single vehicle to rules of swarm control including collision avoidance and obstacle detection. The paper presents a concept of a control system of unmanned aerial vehicles swarm. The concept is based on local control rules which can be treated as behavior instincts dependent on information received from state of other vehicles. For example when two vehicles from the swarm are flying too close to each other, their desired headings and pitches will be modified to increase the distance between those vehicles. If a vehicle is flying too far away from the swarm, its desired heading and pitch will be also modified to keep the vehicle in the specified range from the swarm gravity center. In situation of obstacle detection a vehicle will try to keep safe distance from it. The swarm control is realized by choosing a swarm leader which can be commanded by an operator via the ground control station. The leader control is precedent control level, which interacts with local control rules through information exchange between vehicles. The paper presents simulation results of swarm flights of three unmanned vehicles based on the proposed concept. They prove the fact that the concept is effective and can be introduced into real UAVs.
    Źródło:
    Pomiary Automatyka Kontrola; 2012, R. 58, nr 8, 8; 704-711
    0032-4140
    Pojawia się w:
    Pomiary Automatyka Kontrola
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Intelligent Prediction of Ship Maneuvering
    Autorzy:
    Łącki, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/116074.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    future of navigation
    ship maneuvering
    intelligent prediction
    prediction of ship maneuvering
    neuroevolution
    navigational parameters
    intelligent ship
    autonomous control unit
    Opis:
    In this paper the author presents an idea of the intelligent ship maneuvering prediction system with the usage of neuroevolution. This may be also be seen as the ship handling system that simulates a learning process of an autonomous control unit, created with artificial neural network. The control unit observes input signals and calculates the values of required parameters of the vessel maneuvering in confined waters. In neuroevolution such units are treated as individuals in population of artificial neural networks, which through environmental sensing and evolutionary algorithms learn to perform given task efficiently. The main task of the system is to learn continuously and predict the values of a navigational parameters of the vessel after certain amount of time, regarding an influence of its environment. The result of a prediction may occur as a warning to navigator to aware him about incoming threat.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2016, 10, 3; 511-516
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Universal Autonomous Control and Management Sytem for multipurpose unmanned surface vessel
    Autorzy:
    Stateczny, Andrzej
    Burdziakowski, Paweł
    Powiązania:
    https://bibliotekanauki.pl/articles/258764.pdf
    Data publikacji:
    2019
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    unmanned surface vessel
    autonomous
    management
    control
    system
    Opis:
    The paper presents design, structure and architecture of the Universal Autonomous Control and Management System (UACAMS) for multipurpose unmanned surface vessel. The system was designed, installed and implemented on the multipurpose platform - unmanned surface vessel named HydroDron. The platform is designed to execute hydrographic survey missions with multi-variant configuration of the survey system (payload? ) including multi-beam echo sounder, sonar, LiDAR, automotive radar, photographic and spectral camera systems. The UACAMS designed to provide flexibility that enables to operate on the different kind of surface platform and different type of functional payload. The full system configuration provides all four level of autonomy starting from remotely controlled to full autonomous mission. Each level can be implemented and run depending on user specific requirements. The paper explains the differences between autonomous and automatic mission and shows how the autonomy is implemented into the presented system. The full hardware structural design as well as the software architecture are described. In order to confirm initial assumptions the applied system was tested during four- week sea trials and tuned for a selected vessel to confirm assumptions. In the project, also the original shore control station was designed, produced and tested for the vessel, including specific user controls and radio communication system. Conclusions sum up all crucial points of the design and system implementation process.
    Źródło:
    Polish Maritime Research; 2019, 1; 30-39
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Comparative study of stabilization controls of a forklift vehicle
    Autorzy:
    Widyotriatmo, Augie
    Powiązania:
    https://bibliotekanauki.pl/articles/970586.pdf
    Data publikacji:
    2019
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    autonomous vehicle
    stabilization control
    time varying based control
    discontinuous control
    navigation variables based control
    Opis:
    This paper presents the control designs for an autonomous forklift vehicle that drive the vehicle from an initial configuration to a final one. Three stabilization controls, which are chained-form time-varying control, sigma-transformed discontinuous control, and navigation-variables-based discontinuous control, for a forklift vehicle are compared by simulations. The sigma-transformed and navigation-variables-based discontinuous controls provide fast convergence motions from an initial to a final configuration, while the time-varying-based control provides oscillatory motion and slow convergence. The sigma-transformed discontinuous control has a set of discontinuous points in which, from a practical point of view, the control signals can blow up if a vehicle enters the set. The navigation-variables-based control, which also has a discontinuous point at the final configuration, does not produce blown up control signals since its boundedness nature. Discussion on the implementation of control algorithm is elucidated for the three stabilization controls for the forklift vehicle.
    Źródło:
    Acta Mechanica et Automatica; 2019, 13, 3; 181-188
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Study of the problem and the idea of operation of four-wheel-steering cars
    Autorzy:
    Faryński, Jakub Jan
    Żardecki, Dariusz Piotr
    Dębowski, Andrzej
    Powiązania:
    https://bibliotekanauki.pl/articles/2056096.pdf
    Data publikacji:
    2021
    Wydawca:
    Sieć Badawcza Łukasiewicz. Przemysłowy Instytut Motoryzacji
    Tematy:
    autonomous vehicle
    control
    development
    four wheel steering cars
    Opis:
    The article takes the form of a review paper and focuses on the control problems of four wheel steering vehicles. The main issues related to the control of four wheel steering (4WS) vehicles, the historical development, the current state and the approach to the construction of 4WS vehicles have been discussed. The whole of theoretical issues related to the control of the car direction (including elements related to mathematical modelling and simulation studies of the vehicle motion, issues of synthesis and analysis of the 4WS control algorithms) were presented systemically. The presented collection of literature is based on a rather extensive review relating to 4WS cars and on considerations shaping the concept of development of the topic of control algorithms in 4WS cars. A preliminary concept of control in autonomous cars is also presented and will be explain what type of road manoeuvres it is going to analyse. The authors have also shown an example of the computational apparatus used.
    Źródło:
    Archiwum Motoryzacji; 2021, 94, 4; 39--59
    1234-754X
    2084-476X
    Pojawia się w:
    Archiwum Motoryzacji
    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:
    Optimal design of membership functions of a fuzzy logic controller for an autonomous wheeled mobile robot using ant colony optimization
    Autorzy:
    Martínez, P.
    Castillo, O.
    Alanis, A.
    Garcia, M.
    Soria, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/384537.pdf
    Data publikacji:
    2010
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    fuzzy control
    ant colony optimization
    autonomous mobile robots
    Opis:
    In this paper we describe the application of a Simple ACO (S-ACO) as a method of optimization for membership functions' parameters of a fuzzy logic controller (FLC) in order to find the optimal intelligent controller for an Autonomous Wheeled Mobile Robot. Simulation results show that ACO outperforms a GA in the optimization of FLCs for an autonomous mobile robot.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 1; 43-48
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Research on the ACC Autonomous Car
    Autorzy:
    Pozna, C.
    Troester, F.
    Powiązania:
    https://bibliotekanauki.pl/articles/384467.pdf
    Data publikacji:
    2007
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    autonomous car
    driving robot
    control system architecture
    trajectory tracking
    Opis:
    The aim of this paper is to present a general view about the autonomous driving researches made in the University of Applied Science Heilbronn, Germany. More exactly we will present aspects about our autonomous car design and construction. We will point out the original elements of our achievements: the driving robot construction and the control system structure design. This will be also the occasion to focus on the tactical level of the mentioned control system in order to present results on the trajectory tracking strategies.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2007, 1, 1; 32-40
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Adaptive control of autonomous underwater vehicle based on fuzzy neural network
    Autorzy:
    Qin, Z.
    Gu, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/384507.pdf
    Data publikacji:
    2010
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    autonomous underwater vehicle
    fuzzy neural network
    adaptive control
    stability
    Opis:
    This paper presents an adaptive control method based on fuzzy neural network for Autonomous Underwater Vehicle (AUV). The Fuzzy Neural Network (FNN) could build the inverse model of AUV through on-line learning algorithm, which is free of fuzzy neural network structure knowledge and prior fuzzy inference rules. The adaptive controller for AUV based on FNN is proposed, and then the stability of the resulting AUV closed-loop control system is analyzed by Lyaponov stability theory. The validity of the proposed control method has been verified through computer simulation experiments.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 1; 104-111
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 1. Wprowadzenie teoretyczne
    Method of Designing Autonomous Mobile Robot Control Systems. Part 1: Theoretical Introduction
    Autorzy:
    Zieliński, C.
    Kornuta, T.
    Trojanek, P.
    Winiarski, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/276993.pdf
    Data publikacji:
    2011
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    układ sterowania robota
    roboty autonomiczne
    robot control systems
    autonomous robots
    Opis:
    Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Część pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast część druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.
    This two-part paper presents a general method of designing both the structure as well as the method of operation of autonomous robot control systems. The first part of the paper describes the notation and the general aspects of the design method. The second part presents an example of the utilization of the proposed method of designing robot controllers.
    Źródło:
    Pomiary Automatyka Robotyka; 2011, 15, 9; 84-87
    1427-9126
    Pojawia się w:
    Pomiary Automatyka Robotyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Dydaktyczny model pojazdu autonomicznego sterowanego znacznikami
    Didactic model of autonomous vehicle controlled with markers
    Autorzy:
    Koziej, A.
    Kułakowski, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/253504.pdf
    Data publikacji:
    2016
    Wydawca:
    Instytut Naukowo-Wydawniczy TTS
    Tematy:
    model pojazdu autonomicznego
    sterowanie znacznikami
    autonomous vehicle model
    control markers
    Opis:
    W artykule omówiony został problem konstruowania i oprogramowania dydaktycznego modelu pojazdu autonomicznego sterowanego przy pomocy znaczników. Zaprezentowano konstrukcję pojazdu. Opisano architekturę oprogramowania sterującego i rozpoznającego znaczniki, oraz problem planowania ruchu pojazdu. Przeprowadzono testy ruchowe pojazdu oraz szybkości przetwarzania informacji sterujących.
    The paper presents the problem of constructing and programming an autonomous vehicle model controlled with markers. The construction of the vehicle has been presented. There has been described architecture of control and recognition marker software as well as the problem of planning the vehicle motion. There have been carried out tests of vehicle mobility and speed of control information processing.
    Źródło:
    TTS Technika Transportu Szynowego; 2016, 12; 375-380
    1232-3829
    2543-5728
    Pojawia się w:
    TTS Technika Transportu Szynowego
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Improvement of the autodriver algorithm for autonomous vehicles using roll dynamics
    Autorzy:
    Nok To, Ching
    Milani, Sina
    Marzbani, Hormoz
    Jazar, Reza N.
    Powiązania:
    https://bibliotekanauki.pl/articles/1838344.pdf
    Data publikacji:
    2021
    Wydawca:
    Sieć Badawcza Łukasiewicz. Przemysłowy Instytut Motoryzacji
    Tematy:
    autonomous vehicle
    path following control
    road curvature
    vehicle roll dynamics
    Opis:
    The autodriver algorithm was introduced as a path-following algorithm for autonomous vehicles, which uses road geometry data and planar vehicle dynamics. In this paper, the autodriver algorithm is improved according to practical implications, and a more realistic vehicle model (roll mode) is used, which considers roll degree of freedom in addition to a planar motion. A Ghost-Car path-following approach is introduced to define the desired location of the car at every instance. Key steady-state characteristics of turning vehicles, namely the curvature, yaw rate, and side-slip responses, are discussed and used to construct a feed-forward component of a path-following controller based on the autodriver algorithm. Feedback control loops are designed and applied to minimise transient errors between the road and vehicle positions. Finally, simulations are performed to analyse the pathfollowing performance of the proposed scheme. The results show promising performance of the controller both in terms of error minimisation and passenger comfort.
    Źródło:
    Archiwum Motoryzacji; 2021, 91, 1; 5-23
    1234-754X
    2084-476X
    Pojawia się w:
    Archiwum Motoryzacji
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 2. Przykład zastosowania
    Method of Designing Autonomous Mobile Robot Control Systems. Part 2: An Example
    Autorzy:
    Trojanek, P.
    Zieliński, C.
    Kornuta, T.
    Winiarski, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/274693.pdf
    Data publikacji:
    2011
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    układ sterowania robota
    roboty autonomiczne
    robot control systems
    autonomous robots
    Opis:
    Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Część pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast część druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.
    This two-part paper presents a general method of designing both the structure as well as the method of operation of autonomous robot control systems. The first part of the paper describes the notation and the general aspects of the design method. The second part presents an example of the utilization of the proposed method of designing robot controllers.
    Źródło:
    Pomiary Automatyka Robotyka; 2011, 15, 10; 84-90
    1427-9126
    Pojawia się w:
    Pomiary Automatyka Robotyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Autonomous ships concept and mathematical models application in their steering process control
    Autorzy:
    Melnyk, O.
    Onishchenko, O.
    Onyshchenko, S.
    Voloshyn, A.
    Kalinichenko, Y.
    Rossomakha, O.
    Naleva, G.
    Powiązania:
    https://bibliotekanauki.pl/articles/2211982.pdf
    Data publikacji:
    2022
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    autonomous ship
    steering process control
    mathematical model
    autonomous ship concept
    accident-free navigation
    automatic steering system
    ship automatic movement
    ship automatic movement control system
    Opis:
    Advances in computer systems and innovative technologies along with their implementation into the shipping industry not only enabled efficient data exchange between the ship and the shore, but also created a single integrated information network linking all participants of the process and all elements of the maritime sector. Development of the concept of autonomous ships and automated control facilities for their functionality became the next stage in the evolution of innovations. The process of software adaptation, additional electronic steering systems, optical and digital means of monitoring as well as satellite communication facilities for autonomous ships are among the tasks which require search and development of the solutions. Provision of reliable and safe functioning of such ships in the autonomous mode requires development of models and methods for ensuring their accident-free navigation both in relation to the process of ships divergence and improvement of automatic steering systems of movement and course steadiness. In the given work, the analysis of realization of the crewless navigation and possibility of ship automatic movement control systems advancement on the basis of application of mathematical model for the purpose of enhancement of process of the autonomous ship steadiness on the set course is proposed.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2022, 16, 3; 553--559
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust trajectory tracking control for autonomous vehicle subject to velocity-varying and uncertain lateral disturbance
    Autorzy:
    Wang, Yuqiong
    Gao, Song
    Wang, Yuhai
    Wang, Pengwei
    Zhou, Yingchao
    Xu, Yi
    Powiązania:
    https://bibliotekanauki.pl/articles/1833621.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous vehicle
    path tracking
    velocity tracking
    active disturbance rejection control
    robustness
    Opis:
    Autonomous vehicles are the most advanced intelligent vehicles and will play an important role in reducing traffic accidents, saving energy and reducing emission. Motion control for trajectory tracking is one of the core issues in the field of autonomous vehicle research. According to the characteristics of strong nonlinearity, uncertainty and changing longitudinal velocity for autonomous vehicles at high speed steering condition, the robust trajectory tracking control is studied. Firstly, the vehicle system models are established and the novel target longitudinal velocity planning is carried out. This velocity planning method can not only ensure that the autonomous vehicle operates in a strong nonlinear coupling state in bend, but also easy to be constructed. Then, taking the lateral location deviation minimizing to zero as the lateral control objective, a robust active disturbance rejection control path tracking controller is designed along with an extended state observer which can deal with the varying velocity and uncertain lateral disturbance effectively. Additionally, the feed for ward-feedback control method is adopted to control the total tire torque, which is distributed according to the steering characteristics of the vehicle for additional yaw moment to enhance vehicle handing stability. Finally, the robustness of the proposed controller is evaluated under velocity-varying condition and sudden lateral disturbance. The single-lane change maneuver and double-lane change maneuver under vary longitudinal velocity and different road adhesions are both simulated. The simulation results based on Matlab/Simulink show that the proposed controller can accurately observe the external disturbances and have good performance in trajectory tracking and handing stability. The maximum lateral error reduces by 0.18 meters compared with a vehicle that controlled by a feedback-feedforward path tracking controller in the single-lane change maneuver. The lateral deviation is still very small even in the double lane change case of abrupt curvature. It should be noted that our proposed control algorithm is simple and robust, thus provide great potential for engineering application.
    Źródło:
    Archives of Transport; 2021, 57, 1; 7-23
    0866-9546
    2300-8830
    Pojawia się w:
    Archives of Transport
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Designing Vision Based Autonomous Docile-X Mobile Robot for Real-time Application to Soccer Behaviors
    Autorzy:
    Dutta, V.
    Kesswani, N.
    Powiązania:
    https://bibliotekanauki.pl/articles/385119.pdf
    Data publikacji:
    2014
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    autonomous soccer robot
    control structure
    image processing
    decision behaviors
    Kalman filter
    Opis:
    This paper aims at developing a real-time, robust, and reliable behaviors for an omnidirectional soccer robot, can be used in crowded dynamically-changing environments. The soccer robot system consists of highly coordinated operations and movements so as to fulfill specific objectives, even under unfavorable situations. The associated issues are position control, velocity control and sensing information in addition to the need for imitating the human-like decision. The proposed method considers not only the kinematics of the robot but also its dynamics. Moreover, a control structure is designed and several behaviors for a soccer robot are proposed. Image processing, recognition and target following algorithm are illustrated through experiments.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2014, 8, 4; 40-50
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Synthesis and evaluation of the smart electric powered wheelchair route stabilization concept – a simulation study
    Autorzy:
    Skrzypczyk, K.
    Gałuszka, A.
    Antas, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/964024.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous robots
    robot navigation
    sensory system
    electric power wheelchair
    motion control
    Opis:
    The paper addresses the problem of algorithm synthesis for controlling the motion of an electric powered wheelchair. The aim of the algorithm is to stabilize the wheelchair following a linear path and avoiding obstacles if occurred on its way. The main restriction imposed on the project is the application of simple low-cost sensors. That implies the system to cope with a number of inaccuracies and uncertainties related to the measurements. The goal of this work is to evaluate the possibility of the wheelchair project with a navigation system which aids a disable person to move in a complex and dynamic areas. Exemplary simulations are presented in order to discuss the results obtained.
    Źródło:
    Archives of Control Sciences; 2015, 25, 2; 263-273
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Towards autonomous shipping: benefits and challenges in the field of information technology and telecommunication
    Autorzy:
    Yanchin, I.
    Petrov, O.
    Powiązania:
    https://bibliotekanauki.pl/articles/1841595.pdf
    Data publikacji:
    2020
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    information technology
    telecommunication
    autonomous shipping
    maritime information technology
    communication system
    onboard control system
    human-controlled ships
    autonomous ship technology
    Opis:
    This paper is dedicated to an overview of components of an onboard control system of an autonomous ship. This system controls and operates the ship. Therefore, this system needs to be able to analyze the ship’s state, predict its future development and analyze the consequences of its own decisions. The paper focuses on software aspects of the onboard control system, not the hardware. The paper provides an overview of technologies that can be used to implement the components of such a system responsible for planning new routes, handling the ship during the voyage, ensuring its seaworthiness and safety during the voyage, monitoring an autonomous ship from an onshore control centre, ensuring the robustness of the onboard control system, and collective operations of multiple autonomous ships. The paper describes benefits the maritime industry would gain from deploying some of the technologies developed for autonomous ships on ordinary, human-controlled ships. The paper also describes some challenges, especially in the field of automatic decision and reasoning, arising from the emergence of autonomous and smart ships. The main contribution of the paper is that it summarizes existing research in different areas of autonomous ship technology.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2020, 14, 3; 611-619
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An autonomous braking control system for a 2017 Yamaha Grizzly 700
    Autorzy:
    Wheatley, Greg
    Rubel, Robiul Islam
    Powiązania:
    https://bibliotekanauki.pl/articles/2176949.pdf
    Data publikacji:
    2022
    Wydawca:
    Politechnika Śląska. Wydawnictwo Politechniki Śląskiej
    Tematy:
    weed control
    hand control
    chemical control
    autonomous braking system
    FEA
    zwalczanie chwastów
    zwalczanie ręczne
    zwalczanie chemiczne
    autonomiczny system hamowania
    Opis:
    Weed control is an important issue for environmental protection all around the world. Traditional hand weed control is laborious whereas chemical control is costly and a threat to the atmosphere. A chemical patch weed control system is an optimized system but lacks cheap technical equipment. This research outlines a design process and test of a braking system that can be applied during the designing of an autonomous braking system for a 2017 Yamaha Grizzly 700. The system is intended to be used as an autonomous weed chemical spraying. A bolt-on approach that did not require any manipulation of the stock, an internal braking system was followed to reduce the complexity and installation time of multiple systems. Three different types of autonomous braking system solutions were initially investigated, with the linear actuator solution being decided on through the assistance of a weighted decision matrix. The system was designed around a 30 kg hand force; however, a spare actuator of approximately 20 kg of force was repurposed and used instead. Finite element analysis concluded that all major components within the proposed system were suitable for a lifetime of at least 1,000,000 cycles with a mild steel yield stress failure criterion of 370 MPa. A stationary test for the system was conducted to determine the success of the system, which pushed the brake lever approximately 25% of its disengaged the expectation and could be used to apply the ATV’s brakes autonomously while retracting the gear interlocking mechanism enough to change gears.
    Źródło:
    Zeszyty Naukowe. Transport / Politechnika Śląska; 2022, 115; 211--226
    0209-3324
    2450-1549
    Pojawia się w:
    Zeszyty Naukowe. Transport / Politechnika Śląska
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Autonomiczny bezzałogowy pojazd nawodny "Edredon"
    Autonomous unmanned surfac urface vehicle "Ededron"
    Autorzy:
    Kitowski, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/366527.pdf
    Data publikacji:
    2012
    Wydawca:
    Polskie Towarzystwo Medycyny i Techniki Hiperbarycznej
    Tematy:
    pojazdy bezzałogowe
    systemy sterowania
    pojazdy autonomiczne
    unmanned vehicles
    control systems
    autonomous vehicles
    Opis:
    W latach 2009 - 2011 w ramach projektu rozwojowego pt.: "Bezzałogowa wielowariantowa platforma pływająca dla zabezpieczenia działań morskich służb państwowych" zbudowany został pierwszy w Polsce bezzałogowy pojazd nawodny (ang. USV - Unmanned Surface Vehicle). Jego konstrukcję oparto o kadłub sztywny łodzi hybrydowej (RIB - Rigid Inflatable Boat) wykonany z tkaniny gumowej ORCA. Liderem projektu była Akademia Marynarki Wojennej a konsorcjantami firma SPORTIS S.A. oraz Politechnika Gdańska. Kolejnym projektem rozwojowym bazującym na pracach wspomnianego wyżej projektu jest realizowany w latach 2010 - 2012 projekt rozwojowy pt.: "Zintegrowany system planowania perymetrycznej ochrony i monitoringu morskich portów i obiektów krytycznych oparty o autonomiczne bezzałogowe jednostki pływające". Liderem tego projektu jest Polsko-Japońska Wyższa Szkoła Technik Komputerowych, a konsorcjantami Akademia Marynarki Wojennej i przedsiębiorstwo Sprint S.A. Zadaniem projektu jest zapewnienie pełnej autonomiczności pojazdu oraz rozszerzenie obszaru realizowanych zadań.
    In the years 2009-2011 a research project entitled: "Unmanned swimming platforms for the protection of national sea services" resulted in the construction of the first Polish Unmanned Surface Vehicle (USV). Its structure is based on the rigid hull of a hybrid boat (RIB - Rigid Inflatable Boat) made from fibreglass and rubberized fabric ORCA. The project leader was the Naval Academy from Gdynia in cooperation with Gdansk University of Technology and the enterprise SPORTIS S.A. Another research project based on the works of the above undertaking is a development project realized in the years 2010 - 2012, entitled: "Integrated system of planning the parametric protection and the monitoring of sea harbours and critical objects, based on autonomous unmanned maritime vehicles". The leader of this project is the Polish-Japanese Institute of Information Technology and its co- executors are the Polish Naval Academy and the enterprise SPRINT S.A. The task of this project is to ensure full autonomy of the vehicle and extend the area of on-going tasks.
    Źródło:
    Polish Hyperbaric Research; 2012, 3(40); 7-22
    1734-7009
    2084-0535
    Pojawia się w:
    Polish Hyperbaric Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A universal architectural pattern and specification method for robot control system design
    Autorzy:
    Kornuta, T.
    Zieliński, C.
    Winiarski, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/200532.pdf
    Data publikacji:
    2020
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous agents
    control architectures and programming
    service robots
    range sensing
    recognition
    grasping
    Opis:
    The paper presents a universal architectural pattern and an associated specification method that can be applied in the design of robot control systems. The approach a describes the system in terms of embodied agents and proposes a multi-step decomposition enabling precise definition of their inner structure and operation. An embodied agent is decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to the design of a control system of a robot executing one of the most important tasks for a service robot, i.e. picking up, by a position-force controlled robot, an object located using an RGB-D image acquired from a Kinect. Moreover in order to substantiate the universality of the presented approach we present how classical, known from the literature, robotic architectures can be expressed as systems composed of one or more embodied agents.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2020, 68, 1; 3-29
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Reinforcement Learning in Discrete and Continuous Domains Applied to Ship Trajectory Generation
    Autorzy:
    Rak, A.
    Gierusz, W.
    Powiązania:
    https://bibliotekanauki.pl/articles/259073.pdf
    Data publikacji:
    2012
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    ship motion control
    trajectory generation
    autonomous navigation
    reinforcement learning
    least-squares policy iteration
    Opis:
    This paper presents the application of the reinforcement learning algorithms to the task of autonomous determination of the ship trajectory during thein-harbour and harbour approaching manoeuvres. Authors used Markov decision processes formalism to build up the background of algorithm presentation. Two versions of RL algorithms were tested in the simulations: discrete (Q-learning) and continuous form (Least-Squares Policy Iteration). The results show that in both cases ship trajectory can be found. However discrete Q-learning algorithm suffered from many limitations (mainly curse of dimensionality) and practically is not applicable to the examined task. On the other hand, LSPI gave promising results. To be fully operational, proposed solution should be extended by taking into account ship heading and velocity and coupling with advanced multi-variable controller.
    Źródło:
    Polish Maritime Research; 2012, S 1; 31-36
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Is full-autonomy the way to go towards maximizing the ocean potentials?
    Autorzy:
    Zghyer, R.
    Ostnes, R.
    Halse, K. H.
    Powiązania:
    https://bibliotekanauki.pl/articles/116079.pdf
    Data publikacji:
    2019
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    autonomous vessel
    hydrodynamics
    guidance
    navigation and control (GNC)
    human factor
    remote control
    full-authonomy
    levels of automation (LOA)
    automation
    Opis:
    Growth prospects for ocean economy are promising because ocean industries are addressing challenges such as food security, energy security and climate change. However, safety and efficiency are the general challenges of ocean operations. Increased automation is believed to solve these problems. This paper discusses the impact of automation on safety and efficiency. A literature review of ‘Human factors’ mainly from the aviation and maritime industries is presented to untangle the human-machine relationship characteristics when increased automation is introduced to operators. A literature review of Hydrodynamics, Guidance, Navigation and Control (GNC) technologies is presented to introduce the state-of-art and associated limitations. It is concluded that, if the industry’s drive is safety and efficiency, then full-autonomy is, at present, not the way to go. Remote control, instead, could facilitate a feasible future, while focused research and development are in need.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 1; 33-42
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Optimal size and location of dispatchable distributed generators in an autonomous microgrid using Honey Badger algorithm
    Autorzy:
    Nguyen, Tham X.
    Lis, Robert
    Powiązania:
    https://bibliotekanauki.pl/articles/27309951.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Czasopisma i Monografie PAN
    Tematy:
    autonomous microgrid
    dispatchable distributed generator
    droop control
    modified backward-forward sweep
    voltage stability index
    Opis:
    The paper presents a honey badger algorithm (HB) based on a modified backward- forward sweep power flow method to determine the optimal placement of droop-controlled dispatchable distributed generations (DDG) corresponding to their sizes in an autonomous microgrid (AMG). The objectives are to minimise active power loss while considering the reduction of reactive power loss and total bus voltage deviation, and the maximisation of the voltage stability index. The proposed HB algorithm has been tested on a modified IEEE 33-bus AMG under four scenarios of the load profile at 40%, 60%, 80%, and 100% of the rated load. The analysis of the results indicates that Scenario 4, where the HB algorithm is used to optimise droop gains, the positioning of DDGs, and their reference voltage magnitudes within a permissible range, is more effective in mitigating transmission line losses than the other scenarios. Specifically, the active and reactive power losses in Scenario 4 with the HB algorithm are only 0.184% and 0.271% of the total investigated load demands, respectively. Compared to the base scenario (rated load), Scenario 4 using the HB algorithm also reduces active and reactive power losses by 41.86% and 31.54%, respectively. Furthermore, the proposed HB algorithm outperforms the differential evolution algorithm when comparing power losses for scenarios at the total investigated load and the rated load. The results obtained demonstrate that the proposed algorithm is effective in reducing power losses for the problem of optimal placement and size of DDGs in the AMG.
    Źródło:
    Archives of Electrical Engineering; 2023, 72, 4; 871--893
    1427-4221
    2300-2506
    Pojawia się w:
    Archives of Electrical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robot typu Micromouse - wykonanie, sterowanie i optymalizacja
    Micromouse robot - construction, control and optimization
    Autorzy:
    Ficht, G.
    Piotrowski, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/156110.pdf
    Data publikacji:
    2014
    Wydawca:
    Stowarzyszenie Inżynierów i Techników Mechaników Polskich
    Tematy:
    robot autonomiczny
    robotyka
    optymalizacja
    projektowanie
    system sterowania
    autonomous robot
    robotics
    optimization
    designing
    control system
    Opis:
    Projektowanie robotów wymaga interdyscyplinarnej wiedzy obejmującej obszary mechaniki, elektroniki, metrologii, automatyki i informatyki. W artykule przedstawiono poszczególne etapy wykonania robota typu Micromouse. Jest to specyficzne urządzenie, którego zadaniem jest zbadanie labiryntu, dotarcie do jego środka, powrót do początkowej pozycji, a następnie ponowny przejazd przy wykorzystaniu optymalnej trasy. W artykule sformułowano założenia i wykonano projekt techniczny robota. Opracowano algorytm sterowania oraz przedstawiono algorytm rozrostu ziarna, służący do optymalizacji drogi przejścia przez labirynt. Przeprowadzono badania testowe zaprojektowanego robota.
    In recent years, it was possible to see a rapid development of robotics. Robots are used in various branches of industries and everyday life. Robot designing requires interdisciplinary knowledge from areas such as mechanics, electronics, metrology, automation and informatics. The paper presents various stages of constructing a Micromouse robot. It is a specific device, whose task is to explore the maze, reach it’s the center, return to the starting position and then repeat the process by using the optimum route. In the paper, the assumptions have been formulated and the technical design of the robot has been accomplished. Next, control algorithm has been proposed and implemented. The algorithm of grain growth, was used to optimize the crossing of the maze. At the end, studies test the robot are presented.
    Źródło:
    Pomiary Automatyka Kontrola; 2014, R. 60, nr 12, 12; 1235-1240
    0032-4140
    Pojawia się w:
    Pomiary Automatyka Kontrola
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Experimental evaluation of perception and actuation architectures for the articulated vehicle automatic control
    Autorzy:
    Armada, M.
    Montes, H.
    Salinas, C.
    Sarria, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/275618.pdf
    Data publikacji:
    2010
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    intelligent transport systems
    Bus Rapid Transit
    autonomous transport systems
    vehicle control
    perception
    human machine interface
    Opis:
    Nowadays, with highly developed instrumentation, sensing and actuation technologies it is possible to foresee an important advance in the field of autonomous and semi-autonomous transportation systems. Among the most promising transport infrastructures the articulated bus is an interesting, low cost and friendly option. In this paper an experimental set-up for research on automatic control of articulated bus is presented. Comprised by a mobile platform (the articulated bus) fully instrumented and a ground test area of asphalt roads inside CSIC premises, this experimental facility allows full testing of automatic driving systems. Paper presents obtained experimental results linked to real time testing of proposed control-perception architectures and a human-machine-interface developed to ease progress in control system evaluation.
    Źródło:
    Pomiary Automatyka Robotyka; 2010, 14, 2; 67-72
    1427-9126
    Pojawia się w:
    Pomiary Automatyka Robotyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Praca autonomiczna mikrosystemów elektroenergetycznych niskiego napięcia
    Autonomous operation of low voltage microsystems
    Autorzy:
    Wasiak, I.
    Pawełek, R.
    Kelm, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/952776.pdf
    Data publikacji:
    2013
    Wydawca:
    Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
    Tematy:
    mikrosystemy elektroenergetyczne
    praca wyspowa
    sterowanie pracą mikrosystemów
    microgrids
    microgrid autonomous operation
    microgrids control
    energy storage
    Opis:
    W artykule przedstawiono możliwości pracy autonomicznej mikrosystemów niskiego napięcia. Omówiono strategie sterowania źródłami energii, przyłączonymi do sieci za pomocą przekształtników, przy pracy w połączeniu z siecią zasilająca oraz przy pracy wyspowej. Przedstawiono wyniki badań testowych pracy wyspowej mikrosystemu skonfigurowanego w Laboratorium Generacji Rozproszonej Instytutu Elektroenergetyki Politechniki Łódzkiej.
    The article describes the possibilities of LV microsystems operation in the island mode. Control strategies are discussed of energy sources connected to the grid by means of invertors, either for system connected to the main grid or during the island mode operation. Presented results of research were conducted at the DER laboratory at the Lodz University of Technology. The study was performed for two variants of reference voltage source: the battery storage and microturbine respectively.
    Źródło:
    Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2013, 33; 87-90
    1425-5766
    2353-1290
    Pojawia się w:
    Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Zastosowanie komputerowych systemów wizyjnych w sterowaniu autonomicznymi robotami rolnymi
    The application of computer vision systems in the guidance of autonomous agricultural robots
    Autorzy:
    Grzechowiak, Ryszard
    Powiązania:
    https://bibliotekanauki.pl/articles/884335.pdf
    Data publikacji:
    2019-04-30
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Maszyn Rolniczych
    Tematy:
    roboty rolnicze
    autonomiczne maszyny rolnicze
    sterowanie
    systemy wizyjne
    computer vision systems
    autonomous agricultural machines
    control
    Opis:
    W artykule przedstawiono wybrane problemy związane z prawidłowym wyborem elementów systemów widzenia maszynowego. Przedstawiono czujniki i systemy optyczne stosowane do obserwacji otoczenia maszyn rolniczych i uzyskiwania obrazów (zdjęć) o wystarczającej jakości oraz lokalizację i rozmieszczenie elementów systemu na maszynie rolniczej. Opisano także rolę widzenia maszynowego w kierowaniu autonomicznymi maszynami rolniczymi korzystającymi z systemów GPS.
    The article presents selected problems related to the proper selection of machine vision system components. Optical sensors and systems for observing the surroundings of agricultural machines and obtaining images (photos) of appropriate quality, as well as the location and layout of system components on an agricultural machine are presented. The role of machine vision in directing autonomous agricultural machines by means of GPS systems is also described.
    Źródło:
    Technika Rolnicza Ogrodnicza Leśna; 2019, 2; 24-28
    1732-1719
    2719-4221
    Pojawia się w:
    Technika Rolnicza Ogrodnicza Leśna
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Sterowanie autonomicznym pojazdem podwodnym o nazwie PAST z wykorzystaniem śledzenia trajektorii
    Trajectory Tracking Control of Autonomous Underwater Vehicle Called PAST
    Autorzy:
    Szymak, Piotr
    Kot, Rafał
    Powiązania:
    https://bibliotekanauki.pl/articles/2134960.pdf
    Data publikacji:
    2022
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    trajectory tracking
    high-level control
    autonomous underwater vehicle
    śledzenie trajektorii
    sterowanie wysokopoziomowe
    autonomiczny pojazd podwodny
    Opis:
    The increasing development of Autonomous Underwater Vehicles (AUVs) with varying levels of autonomy can be seen globally. The paper is devoted to the new AUV called PAST being developed and built within the Polish development project entitled „Development of the underwater autonomous transport system” (no. POIR.01.01.01-00-0893/20). Mainly, the paper focuses on high-level control of PAST AUV devoted to controlling along the desired trajectory. It demands a set of tuned controllers of advanced velocity, course, depth, and trim. The trajectory tracking algorithm should be implemented and verified for different trajectories set in practice. At the beginning of the article, an introduction to the research is inserted. Then, the following scientific issues are presented: the mathematical model of AUV motion, high-level control structure, and the trajectory tracking algorithm. Next, the results of numerical research in the Matlab environment are presented. In the end, the conclusions for future research are formulated.
    Na całym świecie można zaobserwować rosnący rozwój autonomicznych pojazdów podwodnych (AUV) o różnych poziomach autonomii. Artykuł poświęcony jest opracowywaniu i budowie nowego AUV o nazwie PAST w ramach polskiego projektu rozwojowego pt. „Rozwój podwodnego autonomicznego systemu transportowego” (nr POIR.01.01.01-00-0893/20). Artykuł koncentruje się głównie na wysokopoziomowym sterowaniu pojazdem PAST przeznaczonym do podążania wzdłuż pożądanej trajektorii. Wymaga to zaawansowanego zestawu dostrojonych kontrolerów prędkości, kursu, głębokości i trymu. Algorytm śledzenia trajektorii powinien być zaimplementowany i zweryfikowany dla różnych trajektorii wyznaczanych w praktyce. Na początku artykułu zamieszczone zostało wprowadzenie do badań. Następnie przedstawiono następujące zagadnienia naukowe: model matematyczny ruchu AUV, wysokopoziomową strukturę sterowania oraz algorytm śledzenia trajektorii. Następnie przedstawiono wyniki badań numerycznych w środowisku MATLAB. Na koniec formułowane są wnioski dla przyszłych badań.
    Źródło:
    Pomiary Automatyka Robotyka; 2022, 26, 3; 17--22
    1427-9126
    Pojawia się w:
    Pomiary Automatyka Robotyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Risk Assessment for an Unmanned Merchant Ship
    Autorzy:
    Rødseth, Ø.J.
    Burmeister, H.-C.
    Powiązania:
    https://bibliotekanauki.pl/articles/117079.pdf
    Data publikacji:
    2015
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    risk assessment
    Unmanned Merchant Ship
    Formal Safety Analysis
    Formal Safety Assessment (FSA)
    Autonomous Underwater Vehicle (AUV)
    Autonomous Ship Controller (ASC)
    Risk Control
    Unified Modelling Language (UML)
    Opis:
    The MUNIN project is doing a feasibility study on an unmanned bulk carrier on an intercontinental voyage. To develop the technical and operational concepts, MUNIN has used a risk-based design method, based on the Formal Safety Analysis method which is also recommended by the International Mari-time Organization. Scenario analysis has been used to identify risks and to simplify operational scope. Systematic hazard identification has been used to find critical safety and security risks and how to address these. Technology and operational concept testing is using a hypothesis-based test method, where the hypotheses have been created as a result of the risk assessment. Finally, the cost-benefit assessment will also use results from the risk assessment. This paper describes the risk assessment method, some of the most important results and also describes how the results have been or will be used in the different parts of the project.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2015, 9, 3; 357-364
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Disturbance observer-assisted hybrid control for autonomous manipulation in a robotic backhoe
    Autorzy:
    CS, Meera
    Gupta, Mukul Kumar
    Santhakumar, Mohan
    Powiązania:
    https://bibliotekanauki.pl/articles/139958.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    disturbance observer
    robotic backhoe
    autonomous excavation
    hybrid control
    obserwator zakłóceń
    koparka zrobotyzowana
    koparka autonomiczna
    kontrola hybrydowa
    Opis:
    Automation of earth moving machineries is a widely studied problem. This paper focusses on one of the main challenges in automation of the earth moving industry, estimation of loading torque acting on the machinery. Loading torque acting on the excavation machinery is a very significant aspect in terms of both machine and operator safety. In this study, a disturbance observer-assisted control system for the estimation of loading torque acting on a robotic backhoe during excavation process is presented. The proposed observer does not use any acceleration measurements, rather, is proposed as a function of joint velocity. Numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme in tracking the reaction torques for a given dig cycle. Co-simulation experiments demonstrate robust performance and accurate tracking of the proposed control in both disturbance torque and position tracking. Further, the performance and sensitivity of the proposed control are also analyzed through the help of performance error quantifiers, the root-mean-square (RMS) values of the position and disturbance tracking errors.
    Źródło:
    Archive of Mechanical Engineering; 2019, LXVI, 2; 153-169
    0004-0738
    Pojawia się w:
    Archive of Mechanical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Koncepcja dwukomorowego kolektora autonomicznego aparatu udojowego
    The concept of a two-chamber autonomous claw of the milking unit
    Autorzy:
    Juszka, H.
    Lis, S.
    Tomasik, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/288974.pdf
    Data publikacji:
    2011
    Wydawca:
    Polskie Towarzystwo Inżynierii Rolniczej
    Tematy:
    dój maszynowy
    krowa
    autonomiczny aparat udojowy
    sterowanie
    kolektor
    mechanical milking
    cow
    autonomous milking unit
    control
    claw
    Opis:
    Przedstawiono opis koncepcji dwukomorowego kolektora dla autonomicznego aparatu udojowego dla krów. Szczegóły konstrukcyjne zilustrowano na dwóch schematach. Przeprowadzono analizę warunków działania tego rozwiązania.
    Description of the concept of a two-chamber claw for the autonomous milking unit for cows. Two schemes illustrate the construction details. The analysis of performance conditions of this unit was carried out.
    Źródło:
    Inżynieria Rolnicza; 2011, R. 15, nr 8, 8; 161-165
    1429-7264
    Pojawia się w:
    Inżynieria Rolnicza
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A ship manoeuvring desktop simulator for developing and validating automatic control algorithms
    Autorzy:
    He, H.
    Lataire, E.
    Zwijnsvoorde, T. V.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201421.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    automatic control
    optimal tracking algorithms
    manoeuvring simulator
    anti-collision maneuvering
    autonomous ship controller
    model predictive control
    waypoint path controller
    authonomy of ships
    Opis:
    This paper presents a user‐friendly simulator developed based on Windows Forms and deployed as a test bed for validating automatic control algorithms. The effectiveness of some of the integrated track controllers has been tested with free running experiments carried out in the Towing Tank for Manoeuvres in Shallow Water in Ostend, Belgium. The controllers enable a ship to follow predefined random paths with high accuracy. Ship‐to‐ship interaction is considered in some cases. Simulator environments provide useful tools for extending the number of validation scenarios, supplementing the work performed in the towing tank. The simulator is presented with a graphical user interface, aiming at providing a good user experience, numerous test scenarios and an extensively‐validated library of automatic control algorithms. With the usage of the simulator, further evaluation of developed control algorithms by implementing extensive test runs with different ships and waterways could be made. Case studies are shown to illustrate the functionality of the simulator.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 3; 607--616
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Autonomous Operation of Low Voltage Microgrids
    Praca autonomiczna mikrosystemów elektroenergetycznych niskiego napięcia
    Autorzy:
    Wasiak, I.
    Pawełek, R.
    Kelm, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/397162.pdf
    Data publikacji:
    2014
    Wydawca:
    ENERGA
    Tematy:
    mikrosystemy elektroenergetyczne
    praca wyspowa
    sterowanie pracą mikrosystemów
    zasobniki energii
    microgrids
    microgrid autonomous operation
    microgrids control
    energy storage
    Opis:
    The article describes the possibilities of LV microgrids operation in the island mode. Control strategies of energy sources connected to the grid by means of invertors are discussed, either for a microgrid connected to the supplying network or during the island mode operation. The presented results of research were conducted at the Laboratory of Distributed Generation at Lodz University of Technology. The study was performed for two variants of reference voltage source: the battery storage and microturbine respectively.
    W artykule autorzy przedstawili możliwości pracy autonomicznej mikrosystemów niskiego napięcia. Omówiono strategie sterowania źródłami energii, przyłączonymi do sieci za pomocą przekształtników, podczas pracy w połączeniu z siecią zasilającą oraz podczas pracy wyspowej. Zaprezentowano wyniki badań przeprowadzonych w mikrosystemie skonfigurowanym w Laboratorium Generacji Rozproszonej Instytutu Elektroenergetyki Politechniki Łódzkiej. Badania wykonano w dwóch wariantach: w pierwszym źródłem napięcia referencyjnego była mikroturbina, w drugim elektrochemiczny zasobnik energii.
    Źródło:
    Acta Energetica; 2014, 4; 156-170
    2300-3022
    Pojawia się w:
    Acta Energetica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Modelling of an actuator in the vacuum control system of an autonomous milking machine
    Modelowanie zespołu wykonawczego w układzie sterowania podciśnieniem autonomicznego aparatu udojowego dla krów
    Autorzy:
    Lis, S.
    Juszka, H.
    Mendyk, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/93933.pdf
    Data publikacji:
    2016
    Wydawca:
    Polskie Towarzystwo Inżynierii Rolniczej
    Tematy:
    machine milking
    autonomous milking machine
    control
    simulation model
    krowa
    dój maszynowy
    autonomiczny aparat udojowy
    sterowanie
    model symulacyjny
    Opis:
    Design intents for an actuator of the suction pressure control system in an autonomous milking machine were presented. For determination of its dynamic properties step characteristic was taken. The considered object was described with transmittance and thermodynamic models. Models were identified and their parameters were adjusted. Computer simulation was carried out in MATLAB®-Simulink. Analysis of research results proved that the thermodynamic model allows more detailed reflection of dynamic characteristic of the real object. Its degree of imperfections is 0.99%. For the transmittance model a degree of imperfection with the value of 2.02% was obtained.
    Przedstawiono założenia projektowe dla zespołu wykonawczego układu sterowania podciśnieniem ssącym w autonomicznym aparacie udojowym. Dla określenia jego właściwości dynamicznych na stanowisku badawczym zdjęto charakterystykę skokową. Rozpatrywany obiekt opisano modelami: transmitancyjnym i termodynamicznym. Modele zidentyfikowano i dostrojono ich parametry. Przeprowadzono symulację komputerową w programie MATLAB®-Simulink. Analiza wyników badań wskazała, iż model termodynamiczny pozwala na dokładniejsze odwzorowanie charakterystyki dynamicznej obiektu rzeczywistego. Jego stopień niedoskonałości εi wynosi 0,99%. Dla modelu transmitancyjnego otrzymano stopień niedoskonałości εi o wartości 2,01%.
    Źródło:
    Agricultural Engineering; 2016, 20, 3; 95-104
    2083-1587
    Pojawia się w:
    Agricultural Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Innowacyjny autonomiczny pojazd podwodny do badania stanu środowiska w warunkach trudnych
    Innovative autonomous underwater vehicle for research the environment in harsh condition
    Autorzy:
    Chodnicki, M.
    Jażdzewski, M.
    Kulwicki, Ł
    Ławreszuk, D.
    Panasiuk-Chodnicka, A. A.
    Powiązania:
    https://bibliotekanauki.pl/articles/137196.pdf
    Data publikacji:
    2014
    Wydawca:
    Uczelnia Jana Wyżykowskiego
    Tematy:
    autonomiczny pojazd podwodny
    nawigacja
    sterowanie
    Zatoka Admiralicji
    Antarktyka
    autonomous underwater vehicle
    navigation
    control system
    Admiralty Bay
    Antarctica
    Opis:
    Na podstawie rzeczywistej, aktualnej wiedzy w temacie rozwoju robotów podwodnych został zaprojektowany nowy pojazd wyposażony w innowacyjne rozwiązania. Autonomiczny robot podwodny dedykowany jest do pracy w trudnych warunkach środowiskowych, wymagających odporności na wysokie ciśnienie, niskie temperatury i silne prądy, które są typowe dla regionów polarnych. W pracy opisano charakterystykę docelowego rejonu, w którym ma być używany robot podwodny, tj. Zatokę Admiralicji w rejonie Archipelagu Szetlandów Południowych. Istotnym aspektem pracy był także dobór odpowiedniego systemu sterowania, który będzie zdolny przeprowadzić pojazd przez trudne i wymagające warunki stawiane przez środowisko zewnętrzne. Kolejnym elementem projektu jest ocena istniejących systemów nawigacji. Ostatnią częścią jest opracowanie kształtu robota, odpowiedniego do warunków otoczenia z uwzględnieniem możliwości zamontowania dodatkowych urządzeń mechanicznych, elektrycznych i pomiarowych, odpowiedzialnych za wykonywanie powierzonych zadań podczas misji robota.
    The use of Autonomic Underwater Vehicles (AUV) continuously recording the basic environmental parameters in marine polar regions are extremely difficult. This study provides a summary and a description of the existing solutions for the AUV, their use, construction, actuators and transmitters. Based on the actual knowledge a new vehicle equipped with innovative solutions and components was designed. The underwater robot is dedicated to be working in harsh environmental conditions requiring resistance to high pressure, low temperatures and strong currents, which are typical for the polar regions. The first stage of the design process consist of selection miniature sensors, vision systems to collect information about the environment. The next step was to develop a method for processing and storing data from the measurements. There has been elaborated a special communication and data transfer for this system. An important aspect of this design is a proprietary control system, which includes selecting an appropriate drive with the control program Marek Chodnicki, Marek Jażdzewski, Łukasz Kulwicki, Dawid Ławreszuk, Anna A. Panasiuk-Chodnicka 8 according to the external conditions. Another part of the research was the review of the existing navigation systems and subsequently implementation to the designed vehicle. Then, the power system with automatic charging was elaborated, which is possible to use natural energy sources. The last part was to design the shape of the mobile robot, taking into account the environmental conditions and the possibility of mechanical and electronic devices to be installed.
    Źródło:
    Zeszyty Naukowe Dolnośląskiej Wyższej Szkoły Przedsiębiorczości i Techniki. Studia z Nauk Technicznych; 2014, 3; 7-16
    2299-3355
    Pojawia się w:
    Zeszyty Naukowe Dolnośląskiej Wyższej Szkoły Przedsiębiorczości i Techniki. Studia z Nauk Technicznych
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Koncepcja integracji rozproszonego systemu sterowania produkcją AIM z podsystemem transportu międzyoperacyjnego zbudowanym z autonomicznych robotów mobilnych
    A concept of integration of AIM distributed manufacturing control system with automated guided vehicle subsystem
    Autorzy:
    Zając, J.
    Chwajoł, G.
    Powiązania:
    https://bibliotekanauki.pl/articles/276957.pdf
    Data publikacji:
    2011
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    systemy sterowania produkcją
    podsystemy transportu międzyoperacyjnego
    autonomiczne roboty mobilne
    manufacturing control systems
    transportation subsystem
    autonomous mobile robots
    Opis:
    W pracy przedstawiono koncepcję budowy i funkcjonowania podsystemu transportu międzyoperacyjnego złożonego z autonomicznych robotów mobilnych, a także zaprezentowano ideę jego integracji z rozproszonym systemem sterowania produkcją AIM. Przedstawiono zarys działań wymaganych do osiągnięcia wyżej wymienionego celu oraz dokonano krótkiej charakterystyki proponowanych algorytmów i technologii.
    The paper presents a proposal of an automated guided vehicle transportation subsystem used for work-in-process movement in a production system. It also introduces a concept of its integration with the AIM multiagent manufacturing control system. Required steps to reach this purpose as well as short descriptions of proposed algorithms and technologies are presented.
    Źródło:
    Pomiary Automatyka Robotyka; 2011, 15, 2; 392-401
    1427-9126
    Pojawia się w:
    Pomiary Automatyka Robotyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Model predictive ship trajectory tracking system based on line of sight method
    Autorzy:
    Miller, Anna
    Powiązania:
    https://bibliotekanauki.pl/articles/27311431.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Czasopisma i Monografie PAN
    Tematy:
    model predictive control
    MPC
    ship control
    autonomous ship
    trajectory tracking
    line of sight
    LOS
    kontrola statku
    statek autonomiczny
    śledzenie trajektorii
    linia wzroku
    kontrola predykcyjna modelu
    Opis:
    Maritime Autonomous Surface Ships (MASS) perfectly fit into the future vision of merchant fleet. MASS autonomous navigation system combines automatic trajectory tracking and supervisor safe trajectory generation subsystems. Automatic trajectory tracking method, using line-of-sight (LOS) reference course generation algorithm, is combined with model predictive control (MPC). Algorithm for MASS trajectory tracking, including cooperation with the dynamic system of safe trajectory generation is described. It allows for better ship control with steady state cross-track error limitation to the ship hull breadth and limited overshoot after turns. In real MASS ships path is defined as set of straight line segments, so transition between trajectory sections when passing waypoint is unavoidable. In the proposed control algorithm LOS trajectory reference course is mapped to the rotational speed reference value, which is dynamically constrained in MPC controller due to dynamically changing reference trajectory in real MASS system. Also maneuver path advance dependent on the path tangential angle difference, to ensure trajectory tracking for turns from 0 to 90 degrees, without overshoot is used. All results were obtained with the use of training ship in real–time conditions.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 5; art. no. e145763
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Strategia sterowania mikrosystemem elektroenergetycznym niskiego napięcia zapewniająca jego elastyczną pracę w trybie połączenia z siecią zasilającą i w trybie wyspowym, przy wykorzystaniu zasobnika energii
    A control strategy for flexible operation of lv microgrid in both grid- connected and islanded mode based on energy storage utilization
    Autorzy:
    Małaczek, Michał
    Wasiak, Irena
    Powiązania:
    https://bibliotekanauki.pl/articles/267429.pdf
    Data publikacji:
    2019
    Wydawca:
    Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
    Tematy:
    mikrosystemy elektroenergetyczne
    sterowanie hierarchiczne
    praca wyspowa
    jakość zasilania
    microgrid autonomous operation
    microgrid hierarchical control
    energy storage
    power quality
    Opis:
    W artykule zaprezentowano strategię sterowania, która umożliwia pracę mikrosystemu elektroenergetycznego (MSE) niskiego napięcia w dwóch trybach: w połączeniu z siecią zasilającą oraz w trybie wyspowym. Rozpatrywany MSE zawiera sterowalne i niesterowalne źródła energii, zasobnik energii (ZE) oraz odbiory. Strategia sterowania jest hierarchiczna i bazuje na rozszerzeniu funkcjonalności zasobnika energii oraz implementacji centralnego regulatora (CR) zarządzającego pracą urządzeń sterowanych. Przedstawiono koncepcję sterowania ze szczególnym uwzględnieniem działania regulatora centralnego. Zaprezentowano model symulacyjny zbudowany w środowisku PSCAD/EMTDC do analizy proponowanego systemu sterowania i oceny pracy MSE. Przedstawiono i omówiono wyniki symulacji, które obrazują poprawność i efektywność zaproponowanej strategii sterowania.
    In the paper, a hierarchical control strategy is presented allowing a low voltage microgrid (MG) to operate in both gridconnected and islanded mode. The considered MG consist of photovoltaic panels (PV), gas microturbine (MT), loads and energy storage (ES). The concept is based on enhancing the functionality of an ESS which is used for energy management in normal operating conditions of the network and a central controller for supervising the network operation in grid-connected and islanded modes. It has been assumed that the ESS serves as grid-forming unit, i.e. maintains the reference voltage and is responsible for short-term power balancing during islanded operation. Performance of the proposed strategy is presented as a reaction of the network on voltage dips, however the idea is applicable to any power quality (PQ) disturbance of unacceptable level occurring in the utility grid. For the considered network a simulation model has been developed using PSCAD/EMTDC platform. Simulation results are presented in the paper which illustrate the operation of the control system and show the microgrid behavior after transition from grid-connected to islanded operation and back.
    Źródło:
    Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2019, 62; 77-80
    1425-5766
    2353-1290
    Pojawia się w:
    Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Decentralized multi-agent formation control with pole-region placement via cone-complementarity linearization
    Autorzy:
    González, Antonio
    Sala, Antonio
    Armesto, Leopoldo
    Powiązania:
    https://bibliotekanauki.pl/articles/2172117.pdf
    Data publikacji:
    2022
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    multiagent autonomous system
    formation control
    linear matrix inequalities
    cone complementarity linearization
    system wieloagentowy
    sterowanie formacją
    liniowe nierówności macierzowe
    Opis:
    An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position measurements with respect to a set of neighbors in a graph describing the sensing topology. No communication between the agents is assumed; however, a shared one-way communication channel with a pilot is needed for steering tasks. Each agent has a separate copy of the same controller. A virtual structure approach is presented for the formation steering as a whole; actual formation control is established via cone-complementarity linearization algorithms for the appropriate matrix inequalities. In contrast to other research where only stable consensus is pursued, the proposed method allows us to specify settling-time, damping and bandwidth limitations via pole regions. In addition, a full methodology for the decoupled handling of steering and formation control is provided. Simulation results in the example section illustrate the approach.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2022, 32, 3; 415--428
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Three-dimensional path-following control of an autonomous underwater vehicle based on deep reinforcement learning
    Autorzy:
    Liang, Zhenyu
    Qu, Xingru
    Zhang, Zhao
    Chen, Cong
    Powiązania:
    https://bibliotekanauki.pl/articles/32898215.pdf
    Data publikacji:
    2022
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    autonomous underwater vehicle (AUV)
    three-dimensional path following
    deep reinforcement learning-based control
    lineof-sight guidance
    controller chattering
    Opis:
    In this article, a deep reinforcement learning based three-dimensional path following control approach is proposed for an underactuated autonomous underwater vehicle (AUV). To be specific, kinematic control laws are employed by using the three-dimensional line-of-sight guidance and dynamic control laws are employed by using the twin delayed deep deterministic policy gradient algorithm (TD3), contributing to the surge velocity, pitch angle and heading angle control of an underactuated AUV. In order to solve the chattering of controllers, the action filter and the punishment function are built respectively, which can make control signals stable. Simulations are carried out to evaluate the performance of the proposed control approach. And results show that the AUV can complete the control mission successfully.
    Źródło:
    Polish Maritime Research; 2022, 4; 36-44
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trends and challenges in unmanned surface vehicles (USV): From survey to shipping
    Autorzy:
    Barrera, C.
    Padron, I.
    Luis, F. S.
    Llinas, O.
    Powiązania:
    https://bibliotekanauki.pl/articles/1841556.pdf
    Data publikacji:
    2021
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    unmanned vehicles
    unmanned surface vehicles
    guidance
    navigation and control
    Oceanic Platform of the Canary Islands
    MUNIN project
    maritime autonomous surface ships
    advanced autonomous waterborne application
    association for unmanned systems international
    Opis:
    Autonomy and unmanned systems have evolved significantly in recent decades, becoming a key routine component for various sectors and domains as an intrinsic sign of their improvement, the ocean not being an exception. This paper shows the transition from the research concept to the commercial product and related services for Unmanned Surface Vehicles (USV). Note that it has not always been easy in most cases due to the limitations of the technology, business, and policy framework. An overview of current trends in USV technology looking for a baseline to understand the sector where some experiences of the authors are shown in this work. The analysis presented shows a multidisciplinary approach to the field. USV's capabilities and applications today include a wide range of operations and services aimed at meeting the specific needs of the maritime sector. This important consideration for USV has yet to be fully addressed, but progress is being made.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 1; 135-142
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Design of a vision‐based autonomous turret
    Autorzy:
    Louali, Rabah
    Negadi, Djilali
    Hamadouche, Rabah
    Nemra, Abdelkrim
    Powiązania:
    https://bibliotekanauki.pl/articles/27314239.pdf
    Data publikacji:
    2022
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    autonomous turret
    stepper motor
    DC motor
    vision based control
    Tracking‐Learning‐Detection algorithm
    TLD algorithm
    Kalman based visual tracking
    Opis:
    This article describes the hardware and software de‐ sign of a vision‐based autonomous turret system. A two degree of freedom (2 DOF) turret platform is designed to carry a cannon equipped with an embedded camera and actuated by stepper motors or direct current motors. The turret system includes a central calculator running a visual detection and tracking solution, and a microcon‐ troller, responsible for actuators control. The Tracking‐ Learning‐Detection (TLD) algorithm is implemented for target detection and tracking. Furthermore, a Kalman filter algorithm is implemented to continue the tracking in case of occlusion. The performances of the designed turret, regarding response time, accuracy and the execu‐ tion time of its main tasks, are evaluated. In addition, an experimental scenario was performed for real‐time autonomous detection and tracking of a moving target.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 4; 72--77
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Multi-robot group for inspecting large area objects
    Grupa robotów do inspekcji wielkopowierzchniowych obiektów technicznych
    Autorzy:
    Adamczyk, M.
    Januszka, M.
    Moczulski, W.
    Panfil, W.
    Przystałka, P.
    Wyleżoł, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/257116.pdf
    Data publikacji:
    2008
    Wydawca:
    Sieć Badawcza Łukasiewicz - Instytut Technologii Eksploatacji - Państwowy Instytut Badawczy
    Tematy:
    autonomiczny robot mobilny
    grupa robotów
    inspekcja
    system sterowania
    multi-robot group
    autonomous mobile robot
    inspection
    behaviour-based control system
    Opis:
    The paper deals with concepts and an implementation of a multi-robot group that is capable of inspecting large areas of technical objects. With the group of autonomous robots it is possible to register video images and the values of characteristic quantities (temperature, concentration of any gas etc.) in the open area of the technical object. Robots are able to travel to any place of the inspected area and acquire relevant data, which could be sent to the control unit to allow its careful examination by the experienced human operator. The group of robots consists of one autonomous transport robot and four autonomous inspection robots. In this paper, primary systems of robots (e.g. control, detection, communication, and self-localisation systems) and their functioning are briefly described.
    W niniejszym artykule przedstawiono opracowane koncepcje oraz implementację grupy autonomicznych robotów zdolnych do inspekcji dużych obszarów obiektów technicznych. Dzięki wykorzystaniu grupy robotów możliwa jest rejestracja obrazów wideo oraz akwizycja danych dotyczących wybranych wielkości fizycznych (np. temperatura, stężenie wybranego gazu), z dowolnego miejsca kontrolowanego obszaru. Roboty mają możliwość dotarcia w dowolne miejsce kontrolowanego obszaru obiektu technicznego, pozyskania odpowiednich danych, a następnie przesłania tych danych do operatora w celu dokonania ich analizy i interpretacji. Opisywana w niniejszym artykule grupa robotów składa się z jednego robota transportowego oraz czterech robotów inspekcyjnych. W artykule opisane zostały podstawowe systemy robotów (m.in. sterowania, detekcji otoczenia, komunikacji, samolokalizacji) oraz ich działanie.
    Źródło:
    Problemy Eksploatacji; 2008, 3; 19-29
    1232-9312
    Pojawia się w:
    Problemy Eksploatacji
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Analysis and control of nonlinear vibration of autonomous vehicle passing through hybrid consecutive speed control humps
    Autorzy:
    Yang, Zhiyong
    Wang, Long
    Yu, Yanjun
    Mou, Zhenping
    Ou, Minghui
    Powiązania:
    https://bibliotekanauki.pl/articles/2173727.pdf
    Data publikacji:
    2022
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous vehicles
    hybrid consecutive speed control humps
    nonlinear vibration
    safety
    comfort
    pojazd autonomiczny
    próg zwalniający
    wibracje nieliniowe
    bezpieczeństwo
    komfort
    Opis:
    In order to improve the safety and comfort of autonomous vehicles passing through the expressway, relevant departments of expressway construction often design and lay consecutive speed control humps (SCHs) with cross-sections of different shapes according to different road conditions, such as the combination of trapezoidal and sinusoidal SCHs. In this paper, we conduct a study about the nonlinear dynamic characteristics of the autonomous vehicle passing through hybrid SCHs. Firstly, a four-degree-of-freedom (4-DOF) nonlinear model of the vehicle suspension and the speed coupling excitation model under hybrid SCHs are established. Then the fourth-fifth order Runge–Kutta method is used to simulate the nonlinear system, and its nonlinear dynamic characteristics are analyzed. The results show that chaotic motion occurs when the vehicle passes through hybrid SCHs, and the speed range of chaotic motion is obtained. Then, a direct variable feedback control method is used to suppress the chaotic vibration of semi-active suspension vehicles, and the effect is verified by simulation experiments. Finally, this paper presents a multi-objective optimization model based on a genetic algorithm (GA) for active suspension vehicles. The optimization model selects the vertical displacement and pitching angle of the vehicle body as the objective function. The research results of this paper can provide information on the ride comfort’s optimization for autonomous vehicles passing through hybrid SCHs and on the design of vehicle suspension system.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 6; art. no. e143643
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Global and local planning of ship route using MATLAB and Simulink
    Autorzy:
    Kupraty, O.
    Tomara, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201406.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    safety at sea
    global planning
    local planning
    marine autonomous surface ship
    device control
    Scenario Matrix
    path matrix
    route matrix
    Opis:
    This article considers a new method of decomposing the ship route into global and local planning using MATLAB and Simulink developed by the authors. The authors propose to create a program code in MATLAB and operate it into Simulink. Wherein, the corrective coefficients were written in MATLAB. Such trajectories are constructed as a set of points, collected into the special matrix. In determining of the angle value of the rudder was used the ship’s turning ability such as: high (HG), middle (MD) or low (LW) with regard to passage area. Moreover, in the article were analyzed and calculated the ship rudder effectiveness for Proportional-Integral-Derivative (PID) control. The paper is devoted to the problem of safety navigation. First of all is the task of planning the path: the trajectory of the vessel’s movement in the local water area. The purpose of planning the vessel trajectory in the local water area is to ensure navigation safety due to marine traffic and environmental conditions. One of the tasks of the present work is controlling following a desired trajectory. The article notes affect of the vessel motion deviation into control process.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 1; 205--215
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Concept of a Marine Remote Controlled Artillery-Missile System
    Koncepcja morskiego zdalnie sterowanego systemu artyleryjsko-rakietowego
    Autorzy:
    Koruba, Z.
    Szmidt, P.
    Gapiński, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/222443.pdf
    Data publikacji:
    2017
    Wydawca:
    Akademia Marynarki Wojennej. Wydział Dowodzenia i Operacji Morskich
    Tematy:
    Marine Autonomous Remote Controlled Artillery-Missile System
    air defence
    control
    morski autonomiczny zdalnie sterowany system artyleryjsko-rakietowy
    obrona powietrzna
    sterowanie
    Opis:
    This paper presents general assumptions and concept, block diagram of the operation principle as well as control algorithm of a short range Marine Remote Controlled Artillery-Missile System (MZSSAR). Its main purpose is to combat low-flying manoeuvring air targets. In relation to existing set ‘Wróbel II’, an additional opportunity of autonomous search, detection, identification, tracking and effective target combat will appear. An increase of combat capabilities of a modified set, including in particular operation speed and range of target detection, will be possible.
    Artykuł przedstawia ogólne założenia, koncepcję, schemat blokowy i algorytm sterowania morskiego zdalnie sterowanego systemu artyleryjsko-rakietowego średniego zasięgu (MZSSAR). Głównym zadaniem tego systemu jest zwalczanie nisko lecących celów manewrujących. W obecnym zestawie „Wróbel II” pojawią się dodatkowe opcje: autonomicznego poszukiwania, wykrywania, identyfikacji, śledzenia i skutecznego zwalczania celu, możliwy będzie też wzrost zdolności bojowych, w szczególności prędkości operacyjnej i zasięgu wykrywania celu.
    Źródło:
    Zeszyty Naukowe Akademii Marynarki Wojennej; 2017, R. 58 nr 2 (209), 2 (209); 97-107
    0860-889X
    Pojawia się w:
    Zeszyty Naukowe Akademii Marynarki Wojennej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Global path planning for multiple AUVs using GWO
    Autorzy:
    Panda, Madhusmita
    Das, Bikramaditya
    Pati, Bibhuti
    Powiązania:
    https://bibliotekanauki.pl/articles/229749.pdf
    Data publikacji:
    2020
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    Autonomous Underwater Vehicle
    AUV
    Genetic Algorithm
    GA
    Global Path Planning
    GPP
    Grey Wolf Optimization
    GWO
    Sliding Mode Control
    SMC
    waypoints
    Opis:
    In global path planning (GPP), an autonomous underwater vehicle (AUV) tracks a predefined path. The main objective of GPP is to generate a collision free sub-optimal path with minimum path cost. The path is defined as a set of segments, passing through selected nodes known as waypoints. For smooth planar motion, the path cost is a function of the path length, the threat cost and the cost of diving. Path length is the total distance travelled from start to end point, threat cost is the penalty of collision with the obstacle and cost of diving is the energy expanse for diving deeper in ocean. This paper addresses the GPP problem for multiple AUVs in formation. Here, Grey Wolf Optimization (GWO) algorithm is used to find the suboptimal path for multiple AUVs in formation. The results obtained are compared to the results of applying Genetic Algorithm (GA) to the same problem. GA concept is simple to understand, easy to implement and supports multi-objective optimization. It is robust to local minima and have wide applications in various fields of science, engineering and commerce. Hence, GA is used for this comparative study. The performance analysis is based on computational time, length of the path generated and the total path cost. The resultant path obtained using GWO is found to be better than GA in terms of path cost and processing time. Thus, GWO is used as the GPP algorithm for three AUVs in formation. The formation follows leader-follower topography. A sliding mode controller (SMC) is developed to minimize the tracking error based on local information while maintaining formation, as mild communication exists. The stability of the sliding surface is verified by Lyapunov stability analysis. With proper path planning, the path cost can be minimized as AUVs can reach their target in less time with less energy expanses. Thus, lower path cost leads to less expensive underwater missions.
    Źródło:
    Archives of Control Sciences; 2020, 30, 1; 77-100
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    The Human Element and Autonomous Ships
    Autorzy:
    Ahvenjärvi, S.
    Powiązania:
    https://bibliotekanauki.pl/articles/115965.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    human element
    autonomous ship
    unmanned ship
    future of navigation
    unmanned surface vessel (USV)
    remote control
    Human Machine Interface (HMI)
    MUNIN project
    Opis:
    The autonomous ship technology has become a “hot” topic in the discussion about more efficient, environmentally friendly and safer sea transportation solutions. The time is becoming mature for the introduction of commercially sensible solutions for unmanned and fully autonomous cargo and passenger ships. Safety will be the most interesting and important aspect in this development. The utilization of the autonomous ship technology will have many effects on the safety, both positive and negative. It has been announced that the goal is to make the safety of an unmanned ship better that the safety of a manned ship. However, it must be understood that the human element will still be present when fully unmanned ships are being used. The shore-based control of a ship contains new safety aspects and an interesting question will be the interaction of manned and unmanned ships in the same traffic area. The autonomous ship technology should therefore be taken into account on the training of seafarers. Also it should not be forgotten that every single control algorithm and rule of the internal decision making logic of the autonomously navigating ship has been designed and coded by a human software engineer. Thus the human element is present also in this point of the lifetime navigation system of the autonomous ship.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2016, 10, 3; 517-521
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Wprowadzanie struktury w życie dziecka w ujęciu teorii samostanowienia
    Provision of structure in educational context: Perspective of self-determination theory
    Autorzy:
    Święcicka, Małgorzata
    Powiązania:
    https://bibliotekanauki.pl/articles/896452.pdf
    Data publikacji:
    2019-12-11
    Wydawca:
    Akademia Pedagogiki Specjalnej im. Marii Grzegorzewskiej. Wydawnictwo APS
    Tematy:
    teoria samostanowienia
    motywacja autonomiczna
    dostarczanie struktury
    rusztowanie
    kontrola rodzicielska
    self-determination theory (sdt)
    autonomous motivation
    provision of structure
    scaffolding
    parenting control
    Opis:
    Celem artykułu jest analiza sposobu konceptualizacji pojęcia dostarczania struktury w teorii samostanowienia (self determination theory, SDT). Omówiono podstawowe założenia i tezy SDT dotyczące kształtowania się motywacji autonomicznej. Dokonuje się ono poprzez uwewnętrznienie pierwotnie zewnętrznej motywacji, któremu sprzyja zaspokojenie przez wychowawców podstawowych potrzeb dziecka: autonomii, bliskości i kompetencji. Potrzeba kompetencji jest zaspokajana poprzez dostarczanie struktury, czyli stwarzanie przez dorosłych warunków do radzenia sobie przez dziecko z rzeczywistością. Według SDT warunkiem, aby strukturalizacja zachowania dziecka sprzyjała rozwojowi motywacji autonomicznej, jest równoczesne z dostarczaniem struktury wspieranie autonomii dziecka. W celu pokazania specyfiki ujęcia struktury w SDT, pojęcie to zostało skonfrontowane z innymi terminami, dotyczącymi podobnego obszaru oddziaływań rodzicielskich: rusztowaniem, kontrolą, dyscyplinowaniem i stawianiem granic.
    The aim of the article is to analyze the concept of a parent’s provision of structure as proposed in the Self-Determination Theory (SDT). Basic assumptions and thesis of SDT concerning autonomous motivation are discussed. According to SDT, autonomous motivation develops by internalization of initially externalized motivation. Parents can facilitate this process by responding to a child's basic psychological needs: autonomy, relatedness and competence. The need for competence is satisfied by providing a structure, which allows children to feel in control of their environment. Parental structure promotes development of autonomous motivation only when parental support is present. In the article the concept of providing a structure is linked to other similar constructs: scaffolding, control and setting limits, to show the specificity of the SDT perspective.
    Źródło:
    Psychologia Wychowawcza; 2019, 58(16); 73-84
    0033-2860
    Pojawia się w:
    Psychologia Wychowawcza
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Imitation learning of car driving skills with decision trees and random forests
    Autorzy:
    Cichosz, P.
    Pawełczak, Ł.
    Powiązania:
    https://bibliotekanauki.pl/articles/329901.pdf
    Data publikacji:
    2014
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    imitation learning
    behavioral cloning
    model ensemble
    random forest
    control
    autonomous driving
    car racing
    decision tree
    drzewo decyzyjne
    lasy losowe
    sterowanie
    wyścigi samochodowe
    Opis:
    Machine learning is an appealing and useful approach to creating vehicle control algorithms, both for simulated and real vehicles. One common learning scenario that is often possible to apply is learning by imitation, in which the behavior of an exemplary driver provides training instances for a supervised learning algorithm. This article follows this approach in the domain of simulated car racing, using the TORCS simulator. In contrast to most prior work on imitation learning, a symbolic decision tree knowledge representation is adopted, which combines potentially high accuracy with human readability, an advantage that can be important in many applications. Decision trees are demonstrated to be capable of representing high quality control models, reaching the performance level of sophisticated pre-designed algorithms. This is achieved by enhancing the basic imitation learning scenario to include active retraining, automatically triggered on control failures. It is also demonstrated how better stability and generalization can be achieved by sacrificing human-readability and using decision tree model ensembles. The methodology for learning control models contributed by this article can be hopefully applied to solve real-world control tasks, as well as to develop video game bots.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2014, 24, 3; 579-597
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Operationalising automation transparency for maritime collision avoidance
    Autorzy:
    van de Merwe, K.
    Mallam, S.
    Engelhardtsen, Ø.
    Nazir, S.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201442.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    automation transparency
    collision avoidance
    human machine interface
    human centrered design
    supervisory control
    anti-collision maneuvering
    human-automation interaction
    maritime autonomous surface ships
    Opis:
    Automation transparency is a means to provide understandability and predictability of autonomous systems by disclosing what the system is currently doing, why it is doing it, and what it will do next. To support human supervision of autonomous collision avoidance systems, insight into the system’s internal reasoning is an important prerequisite. However, there is limited knowledge regarding transparency in this domain and its relationship to human supervisory performance. Therefore, this paper aims to investigate how an information processing model and a cognitive task analysis could be used to drive the development of transparency concepts. Also, realistic traffic situations, reflecting the variation in collision type and context that can occur in real-life, were developed to empirically evaluate these concepts. Together, these activities provide the groundwork for exploring the relation between transparency and human performance variables in the autonomous maritime context.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 333--339
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Consistently Trained Artificial Neural Network for Automatic Ship Berthing Control
    Autorzy:
    Ahmed, Y.
    Hasegawa, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/116809.pdf
    Data publikacji:
    2015
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    Port Maneuvres
    Artificial Neural Network (ANN)
    Automatic Ship Berthing Control
    Ship Berthing
    Automatic Ship Berthing
    Monte Carlo simulation
    Autonomous Underwater Vehicle (AUV)
    Teaching Data Creation
    Opis:
    In this paper, consistently trained Artificial Neural Network controller for automatic ship berthing is discussed. Minimum time course changing manoeuvre is utilised to ensure such consistency and a new concept named ‘virtual window’ is introduced. Such consistent teaching data are then used to train two separate multi-layered feed forward neural networks for command rudder and propeller revolution output. After proper training, several known and unknown conditions are tested to judge the effectiveness of the proposed controller using Monte Carlo simulations. After getting acceptable percentages of success, the trained networks are implemented for the free running experiment system to judge the network’s real time response for Esso Osaka 3-m model ship. The network’s behaviour during such experiments is also investigated for possible effect of initial conditions as well as wind disturbances. Moreover, since the final goal point of the proposed controller is set at some distance from the actual pier to ensure safety, therefore a study on automatic tug assistance is also discussed for the final alignment of the ship with actual pier.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2015, 9, 3; 417-426
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Merging conventionally navigating ships and MASS - Merging VTS, FOC and SCC?
    Autorzy:
    Baldauf, M.
    Fischer, S.
    Kitada, M.
    Mehdi, R. A.
    Al-Quhali, M. A.
    Fiorini, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/117306.pdf
    Data publikacji:
    2019
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    Maritime Autonomous Surface Ships (MASS)
    Vessel Traffic Service (VTS)
    e-Navigation
    fleet operation centre (FOC)
    International Maritime Organization (IMO)
    ship control centre (SCC)
    unmanned shipping
    unmanned ship
    Opis:
    Current maritime transportation and shipping is characterized by rapid technological developments effecting the basic concepts of operating ships and even changing traditional paradigms of controlling ships. The e-Navigation concept of the International Maritime Organization (IMO) specifically aims at more comprehensive and reliable support of the human operators on-board and ashore. However, autonomous unmanned ships remote controlled or even autonomously navigating are expected to come soon. In this paper, selected operational aspects of maritime traffic merging conventional and unmanned remote controlled ships in coastal areas are discussed. Furthermore, some preliminary results of experimental simulation studies into a future scenario of maritime traffic are presented and preliminary conclusions in respect to job profiling and training requirements are discussed.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 3; 495-501
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Maritime Autonomous Surface Ships (MASS) and the COLREGS: Do we need quantified rules or is “the ordinary practice of seamen” specific enough?
    Autorzy:
    Porathe, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/116796.pdf
    Data publikacji:
    2019
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    Maritime Autonomous Surface Ships (MASS)
    colregs
    collision avoidance
    ordinary practice of seamen
    officer of the watch (OOW)
    shore control centre (SCC)
    operational design domain (ODD)
    anti-collision
    Opis:
    Maritime Autonomous Surface Ships (MASS) is currently on the agenda in several countries and also in the IMO. In Norway a 120 TEU container feeder is being build and will start sailing autonomously in 2022. The challenge is huge. One question is whether or not the present, quantitative, collision regulations needs to be updated to rules where expressions as “early” and “substantial” are quantified? Or if ships can sail autonomously under the present rules? Another question is if MASS should be marked to signal that the ship is in autonomous mode? Or if it is enough that she follows COLREGS? This discussion paper will take a closer look at these questions and advocate automation transparency, meaning that the behavior of an autonomous vessel has to make sense and be understandable to human operators on other manned ships and crafts.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 3; 511-517
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Analiza sygnałów chaotycznych do realizacji kryptograficznie bezpiecznego bezprzewodowego kanału komunikacyjnego
    Analysis of chaotic signals for cryptographically secure wireless communications
    Autorzy:
    Czernik, P.
    Winiecki, W.
    Powiązania:
    https://bibliotekanauki.pl/articles/157904.pdf
    Data publikacji:
    2012
    Wydawca:
    Stowarzyszenie Inżynierów i Techników Mechaników Polskich
    Tematy:
    autonomiczne bezprzewodowe sieci czujnikowe
    kryptografia
    rozproszone systemy pomiarowo-sterujące
    generatory liczb losowych
    teoria chaosu
    sygnały chaotyczne
    autonomous wireless sensor networks
    distributed measurement and control systems
    random number generators
    chaotic theory
    chaotic signals
    Opis:
    W artykule przedstawiono właściwości sygnałów chaotycznych specyficznych do zastosowań w kryptograficznie bezpiecznej komunikacji bezprzewodowej dla rozproszonych systemów pomiarowo-sterujących, w szczególności bezprzewodowych sieci czujnikowych. Przeanalizowano zjawisko synchronizacji dwóch układów chaotycznych. Zaprezentowano analizę symulacyjną modeli generatorów sygnałów chaotycznych bazujących na nieliniowych układach dynamicznych, popartą wynikami eksperymentalnymi.
    This paper presents specific properties of chaotic signals applicable to cryptographically secure wireless communications. Chaotic signals have characteristics that significantly distinguish them from signals commonly used in wireless distributed measurement and control systems. The most important feature of the chaotic signal is its exponential sensitivity to initial conditions. Due to the finite measurement accuracy it is very difficult to predict the signal value after a certain time from the execution of the measurement. Moreover, it is very difficult to determine prior values of the signal having particular measurement result. Different characteristics of this type of electrical signals result in a number of potential ad-vantages which are as follows: low probability of transmission detection (capture), possibility of using occupied bandwidth, resilience to errors caused by multipath propagation, lower transmission power, possibility of coherent transmission and communication privacy. The paper deals with an analysis of the phenomenon of synchronization of two chaotic systems. The ob-tained simulation and experimental results of different chaotic signal generator models using nonlinear dynamical circuits are presented and discussed.
    Źródło:
    Pomiary Automatyka Kontrola; 2012, R. 58, nr 9, 9; 785-788
    0032-4140
    Pojawia się w:
    Pomiary Automatyka Kontrola
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties
    Autorzy:
    Sun, Xiaoqiang
    Wang, Yujun
    Cai, Yingfeng
    Wong, Pak Kin
    Chen, Long
    Powiązania:
    https://bibliotekanauki.pl/articles/2173619.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous electric vehicles
    direct yaw moment control
    DYC
    tire nonlinear mechanical properties
    nonsingular fast terminal sliding mode
    NFTSM
    trust-region interior-point method
    pojazd elektryczny autonomiczny
    kontrola momentu odchylenia bezpośrednia
    właściwości mechaniczne opon nieliniowe
    niesingularny tryb szybkiego przesuwania terminala
    metoda punktu wewnętrznego regionu zaufania
    Opis:
    To improve the curve driving stability and safety under critical maneuvers for four-wheel-independent drive autonomous electric vehicles, a three-stage direct yaw moment control (DYC) strategy design procedure is proposed in this work. The first stage conducts the modeling of the tire nonlinear mechanical properties, i.e. the coupling relationship between the tire longitudinal force and the tire lateral force, which is crucial for the DYC strategy design, in the STI (Systems Technologies Inc.) form based on experimental data. On this basis, a 7-DOF vehicle dynamics model is established and the direct yaw moment calculation problem of the four-wheel-independent drive autonomous electric vehicle is solved through the nonsingular fast terminal sliding mode (NFTSM) control method, thus the optimal direct yaw moment can be obtained. To achieve this direct yaw moment, an optimal allocation problem of the tire forces is further solved by using the trust-region interior-point method, which can effectively guarantee the solving efficiency of complex optimization problem like the tire driving and braking forces allocation of four wheels in this work. Finally, the effectiveness of the DYC strategy proposed for the autonomous electric vehicles is verified through the CarSim-Simulink co-simulation results.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; art. no. e137065
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties
    Autorzy:
    Sun, Xiaoqiang
    Wang, Yujun
    Cai, Yingfeng
    Wong, Pak Kin
    Chen, Long
    Powiązania:
    https://bibliotekanauki.pl/articles/2128162.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous electric vehicles
    direct yaw moment control
    DYC
    tire nonlinear mechanical properties
    nonsingular fast terminal sliding mode
    NFTSM
    trust-region interior-point method
    pojazd elektryczny autonomiczny
    kontrola momentu odchylenia bezpośrednia
    właściwości mechaniczne opon nieliniowe
    niesingularny tryb szybkiego przesuwania terminala
    metoda punktu wewnętrznego regionu zaufania
    Opis:
    To improve the curve driving stability and safety under critical maneuvers for four-wheel-independent drive autonomous electric vehicles, a three-stage direct yaw moment control (DYC) strategy design procedure is proposed in this work. The first stage conducts the modeling of the tire nonlinear mechanical properties, i.e. the coupling relationship between the tire longitudinal force and the tire lateral force, which is crucial for the DYC strategy design, in the STI (Systems Technologies Inc.) form based on experimental data. On this basis, a 7-DOF vehicle dynamics model is established and the direct yaw moment calculation problem of the four-wheel-independent drive autonomous electric vehicle is solved through the nonsingular fast terminal sliding mode (NFTSM) control method, thus the optimal direct yaw moment can be obtained. To achieve this direct yaw moment, an optimal allocation problem of the tire forces is further solved by using the trust-region interior-point method, which can effectively guarantee the solving efficiency of complex optimization problem like the tire driving and braking forces allocation of four wheels in this work. Finally, the effectiveness of the DYC strategy proposed for the autonomous electric vehicles is verified through the CarSim-Simulink co-simulation results.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; e137065, 1--13
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-66 z 66

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