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Wyświetlanie 1-15 z 253
Tytuł:
Optimal sliding control of mobile manipulators
Autorzy:
Galicki, M.
Powiązania:
https://bibliotekanauki.pl/articles/201159.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
mobile manipulator
trajectory tracking
finite time control
Opis:
The paper adresses optimal control problem of mobile manipulators. Dynamic equations of those mechanisms are assuemd herein to be uncertain. Moreover, unbounded disturbances act on the mobile manipulator whose end-effector tracks a desired (reference) trajectory given in a task (Certesian) space. A compytionally efficient class of two-stage cascaded (hierarchchical) control algotithms based on both the transpose Jacobian matrix and transpose actuation matrix, has been proposed. The offered control laws involve to kinds of non-singular terminal sliding mode (TSM) manifolds, which were also introduced in the paper. The proposed class of cooperating sub-controllers is shown to be finite time stable be fulfilment of practically reasonable assumptions. The performance of the proposed control strategies is illustated on an exemplary mobile manipulator whose end-effector tracks desired trajectory.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 4; 777-788
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Improving data access security by server-side functional extensions
Autorzy:
Miłosz, M.
Draganek, D.
Powiązania:
https://bibliotekanauki.pl/articles/102072.pdf
Data publikacji:
2016
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
security
data access
access time control
password policy
Opis:
All Database Management Systems used in the industry provide secure access to data at the server level. The level of security is influenced by technology, security model, password encryption method, password strength and others. The human factor – unreasonable behaviour of users – also has a significant impact on safety. Developers of database applications often implement their security policy by limiting the risk caused by users. This implementation has a disadvantage – it does not work outside of the application. A large number and variety of applications that work with the database server may then create a security gap. The paper presents the authors’ extensions of the functional features implemented in the Oracle database server, increasing the security of data access. The implemented methods of controlling the time of user access to data and limiting the use of serial and modular passwords are also discussed.
Źródło:
Advances in Science and Technology. Research Journal; 2016, 10, 30; 69-75
2299-8624
Pojawia się w:
Advances in Science and Technology. Research Journal
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Dead-beat and reaching-law-based sliding-mode control of perishable inventory systems
Autorzy:
Ignaciuk, P.
Bartoszewicz, A.
Powiązania:
https://bibliotekanauki.pl/articles/202382.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
sliding-mode control
inventory control
perishable inventories
discrete-time control systems
Opis:
In this paper we consider the problem of efficient control of inventory systems with perishable goods. In the analyzed setting the deteriorating stock at a distribution center used to fulfill unknown, time-varying demand is replenished with delay from a supply source. The challenging issue is to achieve the high service level with minimum costs when the replenishment orders are procured with lead-time delay spanning multiple review periods. On the contrary to the typical heuristic approaches, we apply formal methodology based on discrete-time sliding-mode (SM) control. The proposed SM controller with the sliding plane selected for a dead-beat scheme ensures that the maximum service level is obtained in the system with arbitrary delay and any bounded demand pattern. In order to account for the supplier capacity limitations in the systems with input constraints, we also develop an alternative control strategy based on reaching law. Both controllers achieve a given service level with smaller holding costs and reduced order-to-demand variance ratio as compared to the classical order-up-to policy.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2011, 59, 1; 39-49
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Speed Analysis of a Digital Controller in Time Critical Applications
Autorzy:
Piątek, P.
Grega, W.
Powiązania:
https://bibliotekanauki.pl/articles/384616.pdf
Data publikacji:
2009
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
digital control
real-time control
time-critical systems
FPGA
magnetic levitation
timing model
Opis:
Traditionally, control algorithms are designed without a consideration of their real-time implementation details. The performance of a digital control system, besides the sampling period, depends on many variables, such as the control loop execution time, jitter, complexity of the control algorithm etc. In this paper attention is focused on the inter-action of the parameters of the scheduled tasks and on the performance of control loops closed with digital controller. A design approach that is based on the relative speed classification of the control system has been proposed. The approach is illustrated by the analysis of control systems developed for laboratory magnetic levitation process.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2009, 3, 1; 57-61
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Using Pre-emption For Dependable Urban Vehicle Traffic
Autorzy:
Letia, T.
Barbu, S.
Dinga, F.
Powiązania:
https://bibliotekanauki.pl/articles/384863.pdf
Data publikacji:
2009
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
urban vehicle traffic control
real time scheduling
traffic congestion
real time control
dependability
Opis:
A new approach for design and implementation of urban vehicle control system is proposed. The vehicle streams on lanes are considered similar with the streams of instructions in multitask programs. Real-time scheduling algorithms are used to allocate the green lights to phases. An adaptive component is used to calculate new vehicle flow parameters when a failure appears as a consequence of an accident. The real-time schedulers use the parameters to obtain new feasible resource allocations.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2009, 3, 1; 40-45
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Interval arithmetic-based fuzzy discrete-time crane control scheme design
Autorzy:
Smoczek, J.
Powiązania:
https://bibliotekanauki.pl/articles/201270.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
interval arithmetic
discrete-time control
fuzzy control
pole placement
anti-sway control
Opis:
In many manufacturing segments, container terminals and shipping yards the automation of material handling systems is an important element of enhancing productivity, safety and efficiency. The fast, precise and safe transfer of goods in crane operations requires a control application solving the problems, including non-collision trajectory planning and limitation of payload oscillations. The paper presents the interval arithmetic-based method of designing a discrete-time closed-loop anti-sway crane control system based on the fuzzy interpolation of linear controller parameters. The interval analysis of a closed-loop control system characteristic polynomial coefficients deviation from their nominal values is proposed to define a minimum number of fuzzy sets on the scheduling variables universe of discourse and to determine the distribution of triangular-shaped membership functions parameters, which satisfy the acceptable range of performances deterioration in the presence of the system’s parameters variation. The effectiveness of this method was proved in experiments conducted using the PAC system on the laboratory scaled overhead crane.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 4; 863-870
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Comparative Simulation of the Production Flow with the Implementation of Kanban and DBR
Autorzy:
Tomaszewska, Klaudia
Powiązania:
https://bibliotekanauki.pl/articles/24200493.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
modeling
control optimization
real-time control
process control
lean manufacturing
theory of constraints
Opis:
Currently, we live in a culture of being overly busy, but this does not translate into efficiency, speed of implementation of the actions taken. Enterprises are constantly looking for methods and tools to make them more efficient. The most popular method of production management is Lean Manufacturing, less known is Theory of Constraints. This work is a continuation of the research on the comparison of these methods with apply a computer simulation, which the analyzed production process in the selected enterprise, after 24 hours and week. An attempt was made to simplify the comparison of the methods based on the obtained simulation in terms of costs. In analyzed case, more advantageous solution is to use the DBR method. To produce various orders that do not require 100% production on the bottleneck position, the use of Kanban is a frequent practice as it provides greater flexibility in order execution.
Źródło:
Management and Production Engineering Review; 2023, 14, 2; 79--87
2080-8208
2082-1344
Pojawia się w:
Management and Production Engineering Review
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Discrete-time control systems on homogeneous spaces: partition property
Autorzy:
Jordan, J.
Powiązania:
https://bibliotekanauki.pl/articles/970004.pdf
Data publikacji:
2006
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
discrete-time control systems
inverse iteration
partition property
system semigroup
Opis:
If the system semigroup of a control system is a roup, the system has the partition property, i.e., the reachable sets form a disjoint partition in the state space. The converse is ot true in general. In this work we give sufficient conditions for le partition property for a family of discrete-time control systems on homogeneous spaces. We apply our results to Inverse Iteration systems on flag manifolds, which are closely related to numerical aIgorithms.
Źródło:
Control and Cybernetics; 2006, 35, 4; 863-871
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Work Time Control and Mental Health of Workers Working Long Hours: The Role of Gender and Age
Autorzy:
Żołnierczyk-Zreda, D.
Bedyńska, S.
Warszewska-Makuch, M.
Powiązania:
https://bibliotekanauki.pl/articles/89996.pdf
Data publikacji:
2012
Wydawca:
Centralny Instytut Ochrony Pracy
Tematy:
long working hours
work time control
somatic complaints
anxiety
social dysfunction
depression
Opis:
The aim of this study was to examine the relationship between work time control and mental health in workers working long hours. The study also attempted to show how that relationship depended on age and gender. Three hundred and six white-collar workers doing clerical work for over 8 h daily were diagnosed on work time control and mental health with the 28-item General Health Questionnaire. The results of an analysis of variance (ANOVA) showed that participants working long hours but having high control over their work time had a significantly higher level of their mental health with regard to somatic complaints and anxiety and marginally higher with regard to social dysfunction than workers with low control over their work time. Male and female workers reported different problems with their mental health depending on what age (stage of life) they were at. It is hypothesized that the work–family conflict, inability to fulfil social commitments and poor working conditions can influence those effects.
Źródło:
International Journal of Occupational Safety and Ergonomics; 2012, 18, 3; 311-320
1080-3548
Pojawia się w:
International Journal of Occupational Safety and Ergonomics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Flexibilization in tariffing for passages by public transport via prepaid services and GPS navigation with controllers of time and distance
Autorzy:
Romanuke, V.
Powiązania:
https://bibliotekanauki.pl/articles/316174.pdf
Data publikacji:
2017
Wydawca:
Instytut Naukowo-Wydawniczy "SPATIUM"
Tematy:
nawigacja GPS
transport publiczny
kontrola czasu
GPS navigation
public transport
time control
Opis:
A conception of tariffing passages flexibly by simultaneously facilitating easier controls of paying fares is suggested. Formulae of charging fares, which regard the factual passage by its elapsed time and passed distance, are stated. A scheme of executing fare payments and their control with using GPS navigators and controllers of time and distance is given.
Źródło:
Autobusy : technika, eksploatacja, systemy transportowe; 2017, 18, 12; 1781-1785, CD
1509-5878
2450-7725
Pojawia się w:
Autobusy : technika, eksploatacja, systemy transportowe
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An iterative method for time optimal control of dynamic systems
Autorzy:
Kashiri, N.
Ghasemi, M. H.
Dardel, M.
Powiązania:
https://bibliotekanauki.pl/articles/229435.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
dynamic systems
optimal control
time optimal control
bounded control inputs
Opis:
An iterative method for time optimal control of a general type of dynamic systems is proposed, subject to limited control inputs. This method uses the indirect solution of open-loop optimal control problem. The necessary conditions for optimality are derived from Pontryagin's minimum principle and the obtained equations lead to a nonlinear two point boundary value problem (TPBVP). Since there are many difficulties in finding the switching points and in solving the resulted TPBVP, a simple iterative method based on solving the minimum energy solution is proposed. The method does not need finding the switching point so that the resulted TPBVP can be solved by usual algorithms such as shooting and collocation. Also, since the solution of TPBVPs is sensitive to initial guess, a short procedure for making the proper initial guess is introduced. To this end, the accuracy and efficiency of the proposed method is demonstrated using time optimal solution of some systems: harmonic oscillator, robotic arm, double spring-mass problem with coulomb friction and F-8 aircraft.
Źródło:
Archives of Control Sciences; 2011, 21, 1; 5-23
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The real-time network control of the inverted pendulum system based on Siemens hardware
Sieciowy system sterowania w czasie rzeczywistym wahadłem odwróconym oparty na sprzęcie Siemens
Autorzy:
Turnau, A.
Knapik, D.
Marchewka, D.
Rosół, M.
Kołek, K.
Gorczyca, P.
Powiązania:
https://bibliotekanauki.pl/articles/282146.pdf
Data publikacji:
2013
Wydawca:
Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie. Wydawnictwo AGH
Tematy:
networked control system
real-time control
servomotor
sieciowy system sterowania
sterowanie w czasie rzeczywistym
serwomechanizm
Opis:
A pendulum on a cart system is often regarded as benchmark for control algorithms. In the paper such feature of the inverted pendulum is used to verify complex control system. Design and implementation of a networked control system containing a PLC and a servo driver is described. A control algorithm for inverted pendulum is shown and experiments results are presented. The findings may be used in a networked control system verification.
Wahadło odwrócone jest powszechnie uznanym wzorcem do testowania algorytmów sterowania. W pracy wykorzystano powyższą cechę wahadła odwróconego w celu weryfikacji złożonego systemu sterowania. Omówiono projekt i implementację sieciowego systemu sterowania złożonego ze sterownika PLC i sterownika napędu. Przedstawiono budowę algorytmu sterującego układem wahadła odwróconego oraz zaprezentowano wyniki rzeczywistych eksperymentów. Przeprowadzone badania mogą zostać użyte w celu weryfikacji sieciowych systemów sterowania.
Źródło:
Automatyka / Automatics; 2013, 17, 1; 83-92
1429-3447
2353-0952
Pojawia się w:
Automatyka / Automatics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Time optimal control of one and double one winding VCM motor
Autorzy:
Kołton, W.
Powiązania:
https://bibliotekanauki.pl/articles/141568.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
time optimal control
VCM motor
mass storage devices
Opis:
This article presents the time optimal control system adopted to control double winding VCM motor. This kind of control is widely used in hard disk drive servo for head positioning. Mathematical model of double winding VCM motor is presented, and its implementation in MATLAB/Simulink is shown. The extended time optimal control algorithm is implemented on dSpace DS1104 board. The results obtained from simulation and real measurements are compared and discussed.
Źródło:
Archives of Electrical Engineering; 2013, 62, 4; 663-675
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The optimal online control of the instantaneous power and the multiphase source’s current
Autorzy:
Siwczyński, M.
Hawron, K.
Powiązania:
https://bibliotekanauki.pl/articles/200285.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
power source
real-time control
optimum
operators
źródło prądu
kontrola w czasie rzeczywistym
operator
Opis:
The paper presents the new optimal real-time control algorithm of the power source. The minimum of the square-instantaneous current was assumed as an optimal criterion, with an additional constraint on source instantaneous power. The mathematical model of a multiphase source was applied as a voltage-current convolution in the discrete time domain. The resulting control algorithm was the recursive digital filter with infinite recursion.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 6; 827-832
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Time-optimal control of hydraulic manipulators with path constraints
Sterowanie minimalno-czasowe manipulatorów hydraulicznych po zadanej ścieżce
Autorzy:
Hołobut, P.
Powiązania:
https://bibliotekanauki.pl/articles/279828.pdf
Data publikacji:
2005
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
manipulatory hydrauliczne
hydraulic manipulators
time-optimal control
trajectory optimization
Opis:
A method of optimization intended to speed up motions of non-redundant hydraulic manipulators along prescribed paths of their end-effectors is presented. A parametric path of the end-effector of a non-redundant manipulator determines the corresponding path in the manipulator joint-space. The optimization problem therefore reduces to finding the optimum distribution of the parameter of the path in time. The proposed optimization scheme is based on discretization of the distribution of the parameter into a fixed number of points, and finding their optimum locations by methods of constrained nonlinear programming. Incompressibility of the hydraulic fluid is assumed throughout for greater effectiveness of the procedure. Results of sample optimizations performed on a three-link hydraulic excavator are presented.
Praca przedstawia metodę optymalizacji minimalno-czasowej ruchów manipulatorów hydraulicznych, po zadanej ścieżce członu roboczego. Zakładane jest, że ścieżka członu roboczego jednoznacznie określa odpowiadającą jej ścieżkę manipulatora w zmiennych uogólnionych. Optymalizacja sprowadza się wówczas do znalezienia optymalnego rozkładu parametru ścieżki w czasie. Proponowana metoda optymalizacji polega na przybliżeniu ciągłego rozkładu parametru zbiorem punktów, a następnie znalezieniu ich optymalnych położeń metodami programowania nieliniowego z ograniczeniami. Zakładana jest przy tym nieściśliwość cieczy hydraulicznej, w celu przyspieszenia obliczeń. Załączone są wyniki przykładowych optymalizacji, wykonanych na modelu trójczłonowej koparki hydraulicznej.
Źródło:
Journal of Theoretical and Applied Mechanics; 2005, 43, 3; 523-538
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 253

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