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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...
In recent years organic semiconductors have been given attention in the field of active materials for gas sensor applications. In the paper the investigations of the optoelectronic sensor structure of ammonia were presented. The sensor head consists of polyaniline and Nafion layers deposited on the face of the telecommunication optical fiber. The elaborated sensor ructure in the form of Fabry-Perot...
Thin film solar cells based on multinary compound Cu(In,Ga)Se2 show record photovoltaic conversion efficiency approaching 20%. Investigation on defect physics in this compound is crucial for making further progress in the technology. In this work we present the results on photo capacitance (PC) and deep level optical spectroscopy (DLOS) for two types of cells high efficiency Cu(In,Ga)Se2 cell with...
The work presents a structural and functional model of a distributed low level radio frequency (LLRF) control, diagnostic and telemetric system for a large industrial object. An example of system implementation is the European TESLA-XFEL accelerator. The free electron laser is expected to work in the VUV region now and in the range of X-rays in the future. The design of a system based on the FPGA...
The double barrier separate confinement heterostructure (DBSCH) design aimed at reduction of vertical beam divergence and increase of catastrophic optical damage (COD) level for high power laser diodes (LDs) operation is presented. Insertion of thin, wide-gap barrier layers at the interfaces between waveguide and cladding layers of SCH gives an additional degree of freedom in design making possible...
Two constructions of microfluidic structures are described in this paper. A fibre optic micro cell for spectrophometric measurements and a micro cell for fluorescence experiments were designed and tested. The structures were made of polymer optical fibres which were incorporated into polymeric material Le. poly( dimethylsiloxane). The structures were tested as detectors in absorbance measurement (solutions...
In this paper the overview of the recent study on the rare-earth activated waveguides performed in the Optoelectronic Department of IMiO is presented. We reported on the development of rare earth-doped fluorozirconate (ZBLAN) glass fibers that allow a construction of a new family of visible and ultraviolet fiber lasers pumped by upconversion. Especially the performance of holmium devices is presented...
Strained layer InGaAs/GaAs SCH SQW (Separate Confinement Heterostructure Single Quantum Well) lasers were grown by Molecular Beam Epitaxy (MBE). Highly reliable CW (continuous wave) 980-nm, broad contact, pump lasers were fabricated in stripe geometry using Schottky isolation and ridge waveguide construction. Threshold current densities of the order of Jth = 280 A/cm2 (for the resonator length L =...
In the paper recent progress at VIGO/MUT (Military University of Technology) MOCVD Laboratory in the growth of Hg1-xCdx Te (HgCdTe) multilayer heterostructures on GaAs/CdTe substrates is presented. The optimum conditions for the growth of single layers and complex multilayer heterostructures have been established. One of the crucial stages of HgCdTe epitaxy is CdTe nucleation on GaAs substrate. Successful...
The paper describes the research on soft X-ray lasers with an active medium created using a gas puff target irradiated with high-intensity laser pulses. The gas puff target in a form of an elongated gas sheet is produced by pulsed injection of gas through a slit nozzle using a high-pressure electromagnetic valve. The method of generation of soft X-ray lasers using a laser-irradiated gas puff target...
Biosensors are a crucial part of most of bioanalytical diagnostic devices and systems. Due to semiconductor technologies, a great progress in diminution of costs and miniaturisation as well as an increased reliability of these devices was achieved. Application of molecular and biological techniques in the detection process has contributed to a real increase in sensitivity, selectivity, the detection...
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