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A suitable use of software packages for optimization problems can give the possibility to formulate design problems of robotic mechanical systems by taking into account the several aspects and behaviours for optimum solutions both in design and operation. However, an important issue that can be even critical to obtain practical solutions can be recognized in a proper identification and formulation...
Programming frameworks [1] are application generators with the following components: library of software modules (building blocks out of which the system is constructed), a method for designing new modules that can be appended to the above mentioned library, a pattern according to which ready modules can be assembled into a complete system jointly exerting control over it and realizing the task at...
In this paper we present results of systematic and comprehensive simulation analysis of the Tsao & Safonov unfalsified controller for complex robot manipulators. In particular, we show that the controller falsification procedure yields the closedloop unfalsified controller, which accomplishes the control objective, within a finite and relatively short time interval with the number of invocations...
Neutralisation of the terrorist explosive devices is a risky task. Such tasks may be carried out by robots in order to protect human life. The article describes chosen design problems concerning the new neutralisation and assisting robot SMR-100 Expert. The robot was to be designed for the use in confined spaces, particularly inside the air-crafts, buses and rail cars. In order to achieve this ambitious...
In order to understand commands given through voice by an operator, user or any human, a robot needs to focus on a single source, to acquire a clear speech sample and to recognize it. A two-step approach to the deconvolution of speech and sound mixtures in the time-domain is proposed. At first, we apply a deconvolution procedure, constrained in the sense, that the de-mixing matrix has fixed diagonal...
Main topic of the paper is a problem of designing the input-output decoupling controllers for nonholonomic mobile manipulators. We propose a selection of output functions in much more general form than in [1,2]. Regularity conditions guaranteeing the existence of the input-output decoupling control law are presented. Theoretical considerations are illustrated with simulations for mobile manipulator...
Reasoning with limited computational resources (such as time or memory) is an important problem, in particular in knowledge-intensive embedded systems. Classical logic is usually considered inappropriate for this purpose as no guarantees regarding deadlines can be made. One of the more interesting approaches to address this problem is built around the concept of active logics. Although a step in the...
In this paper we propose a sensor-based navigation method for navigation of wheeled mobile robot, based on the Kohonen self-organising map (SOM). We discuss a sensor-based approach to path design and control of wheeled mobile robot in an unknown 2-D environment with static obstacles. A strategy of reactive navigation is developed including two main behaviours: a reaching the middle of a collision-free...
The main focus of the paper is on the asymptotic behaviour of linear discrete-time positive systems. Emphasis is on highlighting the relationship between asymptotic stability and the structure of the system, and to expose the relationship between null-controllability and asymptotic stability. Results are presented for both time-invariant and time-variant systems.
The project called "Polish Cardiosurgical Robot" has been developed by Foundation for Cardiac Surgery Development since year 2000. Within the project the telemanipulator to perform the endoscopic cardiosurgical operations has been designed, manufactured and examined. In the following paper the development of construction of arms for RobIn Heart 0, RobIn Heart 1, RobIn Heart 3 versions of...
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