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In this paper the design an optimal PSS-PID controller for single machine connected to an infinite bus (SMIB). We presented a novel application of particle swarm optimization (PSO) for the optimal tuning of the new PSS-PID controller. The proposed approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency. The synchronous generator...
This paper presents results of Micro Airborne Radio Relay implementation designed to extend range of mobile robots in search and rescue missions. Architecture of routing device with hardware based on ARM development board is presented, as well as overview of based on mbed-rtos software. Selected radio solution with radio modem and antennas is described. Paper presents results of proposed system field...
In this paper we present some fuzzy modal operators and show their two possible applications. These operators are fuzzy generalizations of modal operators well-known in modal logics. We present an application of some compositions of these operators in approximations of fuzzy sets. In particular, it is shown how skills of candidates can be matched for selecting research projects. The underlying idea...
The usage of real-valued, local descriptors in computer vision applications is ofen constrained by their large memory requirements and long matching time. Typical approaches to the reduction of their vectors map the descriptor space to the Hamming space in which the obtained binary strings can be efficiently stored and compared. In contrary to such techniques, the approach proposed in this paper does...
In this paper, fuzzy logic is used to perform switching controllers for Multiple Model Adaptive Control (MMAC) in manipulator robot. In the cases which uncertainty bounds of system’s parameters are large, the performance and stability issue of system are considerable concerns. Multiple Model Adaptive Control approach can be useful method to stabilize these kinds of systems. In this control method,...
In this article, the results of GPS positioning in civil aviation are presented. The flight test was conducted using Cessna 172 aircraft in Dęblin on 1st of June 2010. The aircraft position was determinated using Single Point Positioning method for GPS code observations. The numerical computations were executed in Aircraft Positioning Software (APS) in Scilab 5.4.1 language. The average accuracy of...
Monitoring of biological and chemical pollutants in large bodies of water requires the acquisition of a large number of in-situ measurements by a mobile sensor platform. Critical to this problem is an efficient path planning method, easily adaptable to different control strategies that ensure the collection of data of the greatest value. This paper proposes a deliberative path planning algorithm,...
Paper presents a novel approach to a control design of bilateral teleoperation systems with force-feedback. The problem statement, analysis of research achievements to date, and the scope of the study are presented. The new design of a control unit for a master-slave system with force-feedback is presented on a simple and ideal 1-DOF bilateral teleoperation system. System control unit was based on...
The most problem of direct torque control are high torque ripple and Settling time to overcome this problem an efficiency Backstopping speed controller are proposed. This paper makes a comparison of the effectiveness of three PI speed controller based direct torque control, the first one is the classical PI speed controller (CL-PISC), the second are no Adaptive Backstepping controller (NABACKSC),...
In this paper we present an application of fuzzy approximation operators in supporting medical diagnosis. These operators are compositions of fuzzy modal operators. The underlying idea is based on the observation that approximations of fuzzy sets may be viewed as intuitionistic fuzzy sets. Reasoning scheme is determined by distances between intuitionistic fuzzy sets proposed by Szmidt and Kacprzyk.
The utilization of satellites equipped with robotic arms is one of the existing strategies for Active Debris Removal (ADR). Considering that the time intended for on-orbit capturing manoeuvres is strictly limited, any given space robot should possess a certain level of autonomy. This paper is about the control of on-orbit space robots and the testing of such objects in laboratory conditions. The Space...
In the paper, an idea of a method of signal arrival direction estimation is presented. The influence of time error measurements on the usage of the method is described. An approach to the problem of an increase in the robustness of the method is proposed. The results of experiments are presented and discussed.
This article presents a robot for remote noninvasive medical examination. In particular, this robot allows a doctor to carry out an interview, an observation, an auscultation and an ultrasound examination, including echocardiography. The robot has been developed within the ReMeDi (Remote Medical Diagnostician) project funded by the European Union’s Research and Innovation 7th Framework Programme....
This paper considers the practical application of the RGBD Simultaneous Localization and Mapping (SLAM) techniques for localization of mobile robots. We attempt to answer the question: how the quality of the estimated sensor trajectory depends on the approach to RGB-D data processing in the SLAM system when RGB-D frames acquired on a real mobile robot are used. Experiments are performed on data obtained...
Reaction and driving forces may be non-unique in many robotic systems. This may pose a problem during robot design or its control synthesis. Hence, it is useful to detect which reaction or actuation forces are non-unique. Previously developed methods are designed for reactions uniqueness analysis only. These methods studied the constraint Jacobian matrix. The kinetostatics-based approach, presented...
This paper presents modeling and simulation of a tracked mobile robot for pipe inspection with usage of MATLAB and V-REP software. Mechanical structure of the robot is described with focus on pedipulators, used to change pose of track drive modules to adapt to different pipe sizes and shapes. Modeling of the pedipulators is shown with application of MATLAB environment. The models are verified using...
To apply a spinning hemisphere as a mobile robot drive is an unconventional idea. Equipping a mobile robot with two such hemispheres brings to life a device with absolutely novel properties. In this paper we derive kinematics models of a mobile robot with two driving hemispheres, analyse shortly their properties, and adopt a control algorithm designed to follow a path. There are two kinematics models...
The paper presents a set of soŌware tools dedicated to support mobile robot navigaƟon. The tools are used to process an image from a depth sensor. They are implemented in ROS framework and they are compaƟble with standard ROS navigaƟon packages. The soŌware is released with an open source licence. First of the tools converts a 3D depth image to a 2D scan in polar coordinates. It provides projecƟon...
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