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Paper presents the new methodology of application of uniform torque to the ring-shaped magnetoelastic sensing elements. The results of investigation on the influence of a torsion on the magnetic properties of different amorphous Fe-based ring cores are also presented. The results of tests on Fe Si B amorphous alloy in as-cast and annealed state as well as Fe Nb Cu Si B nanocrystalline alloy indicate,...
One of the basic problems connected with wheeled mobile robots is the choice of the appropriate navigational method. This refers to individual robots and also, in particular, the group of mobile robots. “Navigation” can be defined as an issue connected with systems control, defining their position and orientation as well as choosing appropriate trajectory. The consisting elements of mobile robots...
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...
The article deals with the issue of controlling the autonomous mobile systems. Considered are problems focusing around the use of distributed architecture controllers. In contrary to hierarchical architecture, all layers of distributed controller are operating simultaneously, and have an access to both: the sensors (receptors), as well as to the executing systems (effectors) of controlled autonomous...
We describe in this paper the combination of soft computing techniques and fractal theory for achieving intelligent manufacturing. Soft computing techniques can be used to develop hybrid intelligent systems. Fractal theory can be used to analyze the geometrical complexity of natural and artificial objects. The careful combination of soft computing and fractal theory can provide us with a good mix...
This paper presents the general information of mechanical structure, control system and preliminary technical evaluation results of the new polish telemanipulator for camera holding Robin Heart VisionŽ, belonging to the family of robot arms to support the minimal invasive cardiac surgery. It has four degrees of freedom with the interface for quick endoscope fixing. It was designed and carried out...
The paper deals with the problems of robust fault detection using analytical methods (observers and unknown input observers) and soft computing techniques (neural networks, neuro-fuzzy networks and genetic programming). The model-based approach to Fault Detection and Isolation (FDI) is considered. In particular, observers for non-linear Lipschitz systems and extended unknown input observers are discussed...
"Liquid lens" technologies promise significant advancements in machine vision and optical Communications systems. Utilizing two isodensity liquids with differing electrical characteristics to focus, liquid lenses require no moving parts for operation. Liquid lenses also offer Iower power consumption and smaller package sizes than their electromechonical counterparts. Liquid lenses are quickly...
Due to significant advancements in optical navigation technology, optical mouse sensors (OMS) are increasingly employed as low-cost motion sensora in personal computing and robot navigation. This paper proposes a new test bed to study the long-term measurement characteristics of emerging OMS devices. With the utilization of this set-up, the attributes of a high-resolution OMS (Agilent ADNS-2051) are...
Realization problem for positive singie-input single-output systems with delays in stale vector and inputs described by the 2D general model is addressed. Sufficient condition for the existence of o positive reaiization are established and a procedurę for finding a positive reaiization for o given proper transfer function is proposed. The procedure is illustrated by a numerical examp!e.
This paper focuses on viable position estimation schemes for timing belt drives where the position of the carriage (load) is to be calculated via reference models accepting input from a position sensor on the actuator of the timing belt. A detailied analysis on the source of transmission errors is presented a number of relevant mathematical modeis are developed utilizing a priori knowledge on the...
A superconducting field effect tronsistor bosed transducer (SuFETTr) for the micro- and nanofluidic sensors to measurs the electrical currents and mechanical flows has been described. SuFETTr device consists of either CNT or organic FETs with a superconducting property. The flowmeters are based on a common or superconducting induction sensors employing the magnetohydrodynamical and electrogase dynamical...
Paper presents prototype surgical robot Robin Heart. It is computer-controlled and based on EON reality software. The structure control and motion possibilities of the robot are shown. Then its working in virtual reality environment is described. For less invasive surgery 3D issues are crucial.
The accurate contral of CNC machine axis requires relatively expensive direct measurement sensors. In this paper, artificial neural network based position error estimators are comparatively evaluated as a part of a low-cost (but high performance) manufacturing system. Such schemes are very effective when the system is rot subjected to external loads as well as widely changing operating conditions...
It is an ingrown fsar to most travelers, frequent or not, to lose their baggage while flying from one destination to another, but if you take a look behind the scene you will experience a system with a complexity unlike most others. The baggage handling system (BHS) of an airport is just one link in a Song chain of processes your bag is going through. The BHS stretches from check-in or unloading of...
This Paper presents a methodology for estimating the parameters of stochastic differential equation (SDE) driven by froctional Brownian motion (fBm). The main idea is connected with simulated maximum likelihood.To develop the methodology, two iimportant questions, namely how to generote fBm sample paths with different values of the Hurst parameter and how to estimate Hurst parometer are studied. Aa...
We describe in this paper a general overview oj the analysis and design of hybrid intelligent systems for pattern recognition applications. Hybrid intelligent systems can be developed by a careful combination of several soft-computing techniques. The combination of soft computing techniques has to take advantage of the capabilities of each technique in solving port of the pattern recognition problem...
In this paper, we consider the problem of 3D maps building based on the 3D laser scanner indications. The map of the environmem is represented as a 2D array of cells. Each cell represents rectangular region of the scene and consits of list of objects. The key idea of the system is lines extraction from the raw laser data and assigning them to the proper cells. Based on the lines, a set of objects...
Player/Stage/Gazebo is an Open-Source Software project designed for robotics research that provides infrastructure for distributed access to robotics equipment both real and simulated. Founded by Brian Gerkey, Richard Vaughan, Andrew Howard, Kasper Stoy and Nate Koenig, it it soon became popular among roboticists community. Project itself gained lots of contributors and many related software projects...
Fuzzy clustering plays an important role in intelligent systems design and the respective methods constitute a part of the areas of automation and robotics. This paper describes a modification of a direct algorithm of possibilistic clustering that takes into account the information coming from the labeled objects. The clustering method based on the concept of allotment among fuzzy clusters is the...
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