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Wyświetlanie 1-15 z 84
Tytuł:
Efficient non-odometry method for environment mapping and localisation of mobile robots
Autorzy:
Adamowicz, Mateusz
Ambroziak, Leszek
Kondratiuk, Mirosław
Powiązania:
https://bibliotekanauki.pl/articles/1837947.pdf
Data publikacji:
2021
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
mobile robot
mapping
navigation
obstacle detection
obstacle avoidance
Opis:
The paper presents the simple algorithm of simultaneous localisation and mapping (SLAM) without odometry information. The proposed algorithm is based only on scanning laser range finder. The theoretical foundations of the proposed method are presented. The most important element of the work is the experimental research. The research underlying the paper encompasses several tests, which were carried out to build the environment map to be navigated by the mobile robot in conjunction with the trajectory planning algorithm and obstacle avoidance.
Źródło:
Acta Mechanica et Automatica; 2021, 15, 1; 24-29
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The obstacles encountered by COPD patients about quitting smoking
Autorzy:
Cavusoglu, F.
Beser, A.
Kılınc, O.
Powiązania:
https://bibliotekanauki.pl/articles/1918872.pdf
Data publikacji:
2019-08-26
Wydawca:
Uniwersytet Medyczny w Białymstoku
Tematy:
Quit Smoking
obstacle
COPD
smoking
Opis:
Purpose: To determine the obstacles encountered by chronic obstructive respiratory disease (COPD) patients when quitting smoking. Materials and methods: Phenomenological research design was used in this study. A total of 20 smoker COPD patients chosen with purposive sampling constituted the universe of this study. Data were collected through the in-depth interview method using semi-structured interview forms. Analysis of the data was performed with inductive analysis using the content analysis method. Results: The challenges encountered by COPD patients when quitting smoking consist of 3 main themes and sub-themes including “İndividual specific challenges, environmental and social challenges and addiction/life with cigarettes”. Conclusions: This study revealed the individual, environmental-social and physical, psychological and social challenges in relation to addiction encountered by COPD patients when quitting smoking. Patients should be informed about the relationship between COPD and smoking through trainings, behaviours of individuals about smoking cessation should be determined and accordingly necessary actions should be taken in line with the motivational interview principles and families be included in these actions.
Źródło:
Progress in Health Sciences; 2019, 1; 28-35
2083-1617
Pojawia się w:
Progress in Health Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Epistemocentryzm jako epistemologiczna przeszkoda nauk społecznych
Epistemocentrism as an Epistemological Obstacle in the Social Sciences
Autorzy:
Kuszyk-Bytniewska, Mariola
Powiązania:
https://bibliotekanauki.pl/articles/577326.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
BOURDIEU
EPISTEMOCENTRISM
EPISTEMOLOGICAL OBSTACLE
SOCIAL SCIENCES
Opis:
Rationality, intersubjectivity, and objectivity have been conceived as primary epistemological categories from the begining of modern epoch. They characterize knowledge or subjects of knowledge, or even their activity - cognition. Epistemocentrism - in P. Bourdieu view typical to modern thinking - and supporting it epistemological fundamentalism are nothing else but limitation of the meaning of these categories. In the bygone times, epistemocentrism was useful, but now is a simply anachronism in the face of modern roles of knowledge in societies and in the face of growing progress of social sciences. Today, science and its contribution in the social worlds are not the same as once. Therefore, the need arises for revision of epistemocentrism as well as for the fulfillment of the 'epistemological gap' which emerged from collapse of epistemological fundamentalism. I think that there is a room for the new 'philosophical partition of reality' emancipated from Cartesian despotism of ego cogito and recovering intuitional insights in the social life of the ancient thinkers as Aristotle. In the paper, I concentrate on thesis that epistemocentrism is an epistemological obstacle in the social sciences and source of their crises.
Źródło:
Zagadnienia Naukoznawstwa; 2011, 47, 2(188); 165-182
0044-1619
Pojawia się w:
Zagadnienia Naukoznawstwa
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Real-time coordinated trajectory planning and obstacle avoidance for mobile robots
Autorzy:
McNinch, L. C.
Soltan, R. A.
Muske, K. R.
Ashrafiuon, H.
Peyton, J. C.
Powiązania:
https://bibliotekanauki.pl/articles/384978.pdf
Data publikacji:
2011
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
path planning
obstacle avoidance
ODE
mobile robots
Opis:
A novel method for real-time coordinated trajectory planning and obstacle avoidance of autonomous mobile robot systems is presented. The desired autonomous system trajectories are generated from a set of first order ODEs. The solution to this system of ODEs converges to either a desired target position or a closed orbit de.ned by a limit cycle. Coordinated control is achieved by utilizing the nature of limit cycles where independent, non-crossing paths are automatically generated from different initial positions that smoothly converge to the desired closed orbits. Real-time obstacle avoidance is achieved by specifying a transitional elliptically shaped closed orbit around the nearest obstacle blocking the path. This orbit determines an alternate trajectory that avoids the obstacle. When the obstacle no longer blocks a direct path to the original target trajectory, a transitional trajectory that returns to the original path is defined. The coordination and obstacle avoidance methods are demonstrated experimentally using differential-drive wheeled mobile robots.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 1; 23-29
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fuzzy logic controller with fuzzylab python library and the robot operating system for autonomous mobile robot navigation
Autorzy:
Avelar, Eduardo
Castillo, Oscar
Soria, José
Powiązania:
https://bibliotekanauki.pl/articles/385156.pdf
Data publikacji:
2020
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
fuzzy controller
mobile robot navigation
obstacle avoidance
Opis:
The navigation system of a robot requires sensors to perceive its environment to get a representation. Based on this perception and the state of the robot, it needs to take an action to make a desired behavior in the environment. The actions are defined by a system that processes the obtained information. This system can be based on decision rules defined by an expert or obtained by a training or optimization process. Fuzzy logic controllers are based on fuzzy logic on which degrees of truth are used on sy‐ stem variables and has a rule‐base that stores the knowledge about the operation of the system. In this paper a fuzzy logic controller is made with the Python fuzzylab library which is based on the Octave Fuzzy Logic Toolkit, and with the Robot Operating System (ROS) for autonomous navigation of the TurtleBot3 robot on a simulated and a real environment using a LIDAR sensor to get the distance of the objects around the robot.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 1; 48-54
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Motion planning for wheeled mobile robot using potential field method
Planowanie ruchu mobilnego robota kołowego z zastosowaniem sztucznego pola potencjalnego
Autorzy:
Żylski, W.
Powiązania:
https://bibliotekanauki.pl/articles/281931.pdf
Data publikacji:
2004
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
mobile robots
obstacle avoidance
artificial potential field
Opis:
A potential field method in the real-time approach toward avoidance of obstacles for a mobile robot has been developed. A collision-free path and goal-seeking behaviour are calculated using an artificial potential field method. The proposed reactive nevigation approach is based on the coordination of elementary responses. To avoid convex obstacles, the navigator generates a "reaching the middle of the collision-free space" and goal-seeking behaviours. A control strategy based on artificial potential fields that generates a trajectory to be followed by a mobile robot that represents a reference for the robot at the same time is proposed. The effectiveness of the proposed method is numerically verified by a series of experiments on the emulator of the wheeled mobile robot Pioneer-2DX.
W pracy rozważa się problem generowania bezkolizyjnej trajektorii ruchu mobilnego robota w czasie rzeczywistym z zastosowaniem sztucznego pola potencjalnego. Analizuje się elementarne zachowanie mobilnego robota, takie jak: osiągnij środek wolnej przestrzeni oraz idź do celu. Wygenerowana trajektoria ruchu umożliwiająca omijanie przeszkód wypukłych uwzględnia elementarne zachowania robota. Stanowi ona trajektorię zadaną, która realizuje układ sterowania. Efektywność zaproponowanego rozwiązania została numerycznie zweryfikowana na emulatorze mibilnego robota kołowego Pioneer-2DX.
Źródło:
Journal of Theoretical and Applied Mechanics; 2004, 42, 3; 695-705
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Challenges of urban garden initiatives for food security in Kuala Lumpur, Malaysia
Autorzy:
Ishak, Norziha
Abdullah, Rosazlin
Mohd Rosli, Noor Sharina
Majid, Hazreen Abdul
Halim, Nur Sa’Adah Abdul
Ariffin, Fazilah
Powiązania:
https://bibliotekanauki.pl/articles/15805569.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet im. Adama Mickiewicza w Poznaniu
Tematy:
community
food security
obstacle
sustainable
urban agriculture
Opis:
Sustainable urban farming is a strategy to improve food availability and food access, and to support food security for the urban population in Malaysia. However, the development of these activities has been affected by several constraints. This article aims to identify the challenges faced by urban farmers in Kuala Lumpur. The challenges of practicing urban gardening were categorised into five groups (technical, resource-related, economic, social and environmental factors). Data were collected via a questionnaire survey distributed to 106 urban farming practitioners from 17 urban gardens in Kuala Lumpur and were analysed using descriptive analysis by tabulating the frequency and percentage. The result showed that highly fluctuating weather, problems with access to available land and financial problems were the main challenges faced by urban farmers in Kuala Lumpur. Furthermore, difficulty in access to a financial institution, lack of commitment and the increased number of pests were also the problems faced by the urban garden. Availability of technical factors is the least issue in this study. Correlation analysis was used to determine the relationship between the challenges of urban gardens and socio-demographics. The result showed that there was a weak correlation between technical factors of educational level (r = 0.225) and race (r = 0.210), respectively, as well as between race and social factor (r = 0.201), while there was a moderate correlation between age and environment factor (r = −0.410). There is a need for further work, and comprehensive research should be conducted to capture what actions can be taken to create a policy-making space for urban farmers.
Źródło:
Quaestiones Geographicae; 2022, 41, 4; 57-72
0137-477X
2081-6383
Pojawia się w:
Quaestiones Geographicae
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Spatial motion of the aircraft manoeuvring to avoid moving obstacle
Autorzy:
Graffstein, J.
Powiązania:
https://bibliotekanauki.pl/articles/279527.pdf
Data publikacji:
2016
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
anti-collision manoeuvre
obstacle avoidance
flight simulation
Opis:
In the paper, mathematical relationships which are used to describe kinematic variables of the aircraft-obstacles configuration and motion of the aircraft are presented. These define the base for the set of conditions enabling determination of the possibility and threat of collision. The second important aim of such a definition is creation of prerequisites for selection of an appropriate anti-collision manoeuvre, computation of reference signals and inequalities used as limitations on these signals in the automatic flight control process. Theoretical analysis is illustrated by an example of computer simulation of the flight of aircraft. Two anti- -collision manoeuvres are studied in this experiment. The first one, performed in a vertical plane, consists in emergency climbing. The second one, performed in the horizontal plane, is shaped by three turns, each one of small radius, to go around the obstacle and then return to the previously realised flight path.
Źródło:
Journal of Theoretical and Applied Mechanics; 2016, 54, 1; 99-111
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Visibility of an untypical obstacle in low beam headlights during driving at night
Autorzy:
Aleksandrowicz, P.
Muślewski, Ł.
Lewalski, M.
Powiązania:
https://bibliotekanauki.pl/articles/245506.pdf
Data publikacji:
2016
Wydawca:
Instytut Techniczny Wojsk Lotniczych
Tematy:
night driving
obstacle recognition
road traffic safety
Opis:
The article deals with the problems connected with road traffic safety highlighting driver’s ability to notice an untypical obstacle in the light of low beam headlights while driving in the night. Visibility of an unlit object during the night is not only related to its motion but also to the necessity of its being lit to up to the required minimum height. On the basis of a study of a road accident, it was found that the standards accepted in reconstruction of the accident for determination of the light beam height to be used for lighting an obstacle should not be taken for granted. The driver’s surprise at the sight of an unlit obstacle is accompanied with the need to direct the light beam higher, which causes shortening of the distance available for a driver to react in an attempt to avoid hitting into an obstacle. An analysis of this case shows that verification of road accidents involving a crash with an untypical, incompatible obstacle that happen during the night needs to be carried out with attention and care. A simulation program V-SIM4 version and Ratschbacher AutoView database was used for calculation of the possibility to avoid an accident. The results obtained on the basis of the authors own investigations can also be used in information campaigns, education for road safety improvement and development of proper attitudes of the road traffic users.
Źródło:
Journal of KONES; 2016, 23, 1; 17-24
1231-4005
2354-0133
Pojawia się w:
Journal of KONES
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Raptus puellae jako przeszkoda małżeńska w Dekrecie Gracjana
Raptus puellae as an obstacle to marriage in the Decretum Gratiani
Autorzy:
Wojciechowska, Beata
Powiązania:
https://bibliotekanauki.pl/articles/449852.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Kardynała Stefana Wyszyńskiego w Warszawie
Tematy:
marriage
obstacle to marriage
abduction
Decretum Gratiani
Opis:
Marriage has always been a concern of the Church. Christian doctrine gave matrimonium sacred meaning and at the same time fully endorsed the concept of mutual consent which originated from Roman law. The act of abduction with its legal and ethical consequences was described in detail in the Decretum Gratiani. The punishment for the abductor was public penance and prohibition of marriage. If the fiancé was unwilling to take back the abducted bride he was allowed to marry another woman. However, if the fiancé and the bride wanted to get married afresh, they were to be both excommunicated until they had made their reparation. The Decretum Gratiani clearly indicated that the raptus puellae was an obstacle which prevented marriage. The reason was the duress of abduction, which was contrasted with free will, voluntarily consent and the approval of father, parents or guardians.
Źródło:
Saeculum Christianum. Pismo Historyczne; 2016, 23; 48-53
1232-1575
Pojawia się w:
Saeculum Christianum. Pismo Historyczne
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Real-time obstacle avoidance using harmonic potential functions
Autorzy:
Szulczyński, P.
Pazderski, D.
Kozłowski, K.
Powiązania:
https://bibliotekanauki.pl/articles/384802.pdf
Data publikacji:
2011
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
motion planning
obstacle avoidance
mobile robot
harmonic function
Opis:
The paper presents a solution of motion planning and control of mobile robot in a two-dimensional environment with elliptical static obstacle based on hydrodynamics description. Theoretical background refers to solution of Laplace equation using complex algebra. The method of designing complex potential with respect to stationary elliptical obstacle and stationary goal is formally shown. Next, the planning motion problem is extended assuming that the goal is moving. Then results of motion planning is used in order to design closed-loop control algorithms which is based on decoupling technique. Theoretical considerations are supported by numerical simulations illustrating example results of motion planning and control.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 59-66
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
GNSS measurement techniques applied to establish a detailed control network based on the „Termy Warmińskie” example object
Autorzy:
Pelc-Mieczkowska, R.
Pająk, K.
Pająk, P.
Powiązania:
https://bibliotekanauki.pl/articles/298186.pdf
Data publikacji:
2014
Wydawca:
Uniwersytet Warmińsko-Mazurski w Olsztynie
Tematy:
GPS measurement
terrain obstacle
POZGEO
POZGEO-D
control network
Opis:
This paper covers the issue of the establishment of a detailed control network for the realization of a construction survey pursuant to existing legislation, in particular: The Regulation of the Minister of Interior and Administration of November 9, 2011 on establishing technical standards of topographic surveys and processing of the results and submitting them to pzgik. (published in Polish: Rozporządzenie Ministra Spraw Wewnętrznych i Administracji z dnia 9 listopada 2011 w sprawie standardów technicznych wykonywania geodezyjnych pomiarów sytuacyjnych i wysokościowych oraz opracowywania i przekazywania wyników tych pomiarów do pzgik). Using the example of a detailed control network for the realization of the construction survey on the basis of the „Termy Warmińskie” object, various methods of GNSS observation processing were analysed and compared. The issue of the influence of some observation obstructions on the precision and accuracy of the results was also considered.
Źródło:
Technical Sciences / University of Warmia and Mazury in Olsztyn; 2014, 17(1); 15-29
1505-4675
2083-4527
Pojawia się w:
Technical Sciences / University of Warmia and Mazury in Olsztyn
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Gastona Bachelarda psychoanaliza umysłu naukowego
Autorzy:
Ples-Bęben, Marta
Powiązania:
https://bibliotekanauki.pl/articles/665187.pdf
Data publikacji:
2014
Wydawca:
Wydawnictwo Uniwersytetu Śląskiego
Tematy:
Gaston Bachelard
psychoanalysis
epistemological obstacle
epistemology
philosophy of science
Opis:
The paper concerns the psychoanalysis of objective cognition - a philosophical project by Gaston Bachelard, developed and implemented in epistemology and philosophy of science since 1938. The paper consists of two parts. Firstly, relation between Bachelard’s philosophy and psychoanalysis is addressed with the special attention given to sources of Bachelard’s inspiration - S. Freud, C.G. Jung, M. Bonaparte and R. Allendy. Secondly, Bachelard’s concept of psychoanalysis of objective cognition is discussed. In the course of its development, Bachelard transformed the assumptions and ideas of Freud and Jung and used them in theory of knowledge and philosophy of science. This original project was straightforwardly practical - it was aimed at providing an analysis of the scientific mind, revealing any epistemological obstacles it contains (such as false beliefs and habits of thinking) and its overcoming so that valuable cognition might be obtained.
Źródło:
Folia Philosophica; 2014, 32
1231-0913
2353-9445
Pojawia się w:
Folia Philosophica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of control algorithms for mobile robots in an environment with static and dynamic obstacles
Autorzy:
Piotrowski, Robert
Maciąg, Bartosz
Makohoń, Wojciech
Milewski, Krzysztof
Powiązania:
https://bibliotekanauki.pl/articles/384529.pdf
Data publikacji:
2019
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
obstacle avoiding
control system
software development
mobile robot
mechatronics
Opis:
This article proposes the construction of autonomous mobile robots and designing of obstacle avoidance algorithms for them. Nowadays, mobile robots are gaining more and more popularity on the customer as well as industrial market, for example as automatic vacuum cleaners or lawnmowers. Obstacle avoidance algorithms play an important role in performance of this types of robots. The proposed algorithms were designed for builds with rather not expensive electronic components, especially sensors with limited precision and dynamics. The project began with the selection of needed parts and building materials as well as designing of the PCB and assembling the whole construction. The project included also designing and developing the software responsible for, among others, implementation of obstacle avoidance algorithms. After the project’s completion, a series of tests in a closed environment was conducted to verify the quality of vehicles’ performance. Results of tests were positive.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 4; 22-30
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Simulation and analysis of a turbulent flow around a three-dimensional obstacle
Autorzy:
Benahmed, Lamia
Aliane, Khaled
Powiązania:
https://bibliotekanauki.pl/articles/386769.pdf
Data publikacji:
2019
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
turbulent flow
obstacle
finite volume
turbulence models
ANSYS CFX
Opis:
The study of flow around obstacles is devised into three different positions: above the obstacle, upstream of the obstacle, and downstream of the latter. The behaviour of the fluid downstream of the obstacle is less known, and the physical and numerical modelling is being given the existence of recirculation zones with their complex behaviour. The purpose of the work presented below is to study the influence of the inclined form of the two upper peaks of a rectangular cube. A three-dimensional study was carried out using the ANSYS CFX calculation code. Turbulence models have been used to study the flow characteristics around the inclined obstacle. The timeaveraged results of contours of velocity vectors , cross-stream and stream wise velocity and streamlines were obtained by using K-ω shear -stress transport (SST), RANG K-ε and K-ε to model the turbulence, and the governing equations were solved using the finite volume method. The turbulence model K-ω SST has presented the best prediction of the flow characteristics for the obstacle among the investigated turbulence models in this work.
Źródło:
Acta Mechanica et Automatica; 2019, 13, 3; 173-180
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
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