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This paper presents a proposal of a model error mitigation technique based on the error distribution analysis of the original model and creatng the additional model that tempers the error impact in particular domain areas identified as the most sensitive. both models are then combined into single ensemble model. The idea is demonstrated on the trivial two-dimensional linear regression model.
This paper presents a deep analysis of literature on the problems of optimization of parameters and structure of the neural networks and the basic disadvantages that are present in the observed algorithms and methods. As a result, there is suggested a new algorithm for neural network structure optimization, which is free of the major shortcomings of other algorithms. The paper describes a detailed...
The paper addresses issues of the dynamic fuzzy Takagi- Sugeno models identification for multi-step ahead prediction. In the case of highly nonlinear models, standard Takagi-Sugeno models may be hard to identify if they should be designed for recurrent prediction generation. In such a case, alternative fuzzy block-structured models composed of fuzzy dynamic and fuzzy static parts may be useful. Two...
In this work we describe the optimization of a Fuzzy Logic Controller (FLC) for an autonomous mobile robot that needs to follow a desired path. The FLC is for the simulation of its trajectory, the parameters of the membership functions of the FLC had not been previously optimized. We consider in this work with the flower pollination algorithm (FPA) as a method for optimizing the FLC. For this reason,...
Analysis of electrocardiogram and heart rate provides useful information about health condition of a patient. The North Sea Bicycle Race is an annual cycling competition in Norway. Examination of ECG recordings collected from participants of this race may allow defining and evaluating the relationship between physical endurance exercises and heart electrophysiology. Parameters reflecting potentially...
Nowadays, virtual tours are very popular and many people would like to see a virtual house before the acquisition of the real one. The paper demonstrates a creation of a virtual tour for smart house developed in Unity engine. This virtual tour is connected with microcontroller from Arduino family which has attached several sensors and actuators. These electronic devices react to the events in the...
The paper demonstrates remote control of test experiment in the virtual laboratory. This is a common problem, but another way can always be used to solve it. The paper compares several existing virtual laboratories and their possible issues at present. To develop such a new solution JavaScript technology was used on both client and server side using Node.js runtime. The modern approach is a visualition...
So far too many examinations concerning the possibility of the application action cameras weren’t conducted in UAV photogrammetric studies. However in the recent time development of the action cameras production technology he let receive sensors which are light, userfriendly, and most importantly can gain images and video sequences of high resolution. The essential meaning has taking into account...
Quadrotors represent an effective class of aerial robots because of their abilities to work in small areas. We suggested in this research paper to develop an algorithm to control a quadrotor, which is a nonlinear MIMO system and strongly coupled, by a linear control technique (PID), while the parameters are tuned by the Genetic Algorithm (GA). The suggested technique allows a decentralized control...
Fuzzy logic has always been one of the key research areas in the field of computer science as it helps in dealing with the real world vagueness and uncertainty. In recent years, a variant of it, Type-2 Fuzzy Logic has gained enormous popularity for research purposes. In this paper, an analytical insight is provided into the research patterns of Type-2 Fuzzy logic. Web of Science has been used as the...
This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile robot in presence of disturbances. The proposed control design is constructed by a kinematic controller, based on PD sliding surface using fuzzy sliding mode for the angular and linear velocities disturbances, in order to tend asymptotically the robot posture error to zero. Thereafter a dynamic controller...
This paper presents the modeling, control and simulation of an electric vehicle with four in-wheel 15 kw induction motors drive 4WDEV controlled by a direct torque control DTC strategy, where two control techniques are presented and compared for controlling the electric vehicle speed: the first one is based on a classical PI controller while the second one is based on a fuzzy logic controller (FLC)...
This paper presents a comparative study of Robot Operating System (ROS) packages for mobile robot navigation on an embedded system. ROS provides various libraries and tools in developing complex robot software. We discuss the process of porting ROS to an open embedded platform, which serves as the main controller for a mobile robot. In the case of driving the robot, ROS provides local path planners...
The control of the longitudinal aircraft dynamics is challenging because the mathematical model of aircraft is highly nonlinear. This paper considers a sliding mode control design based on linearization of the aircraft, with the pitch angle and elevator deflection as the trim variables. The design further exploits the decomposition of the aircraft dynamics into its short-period and phugoid approximations...
Artificial intelligence has made big steps forward with reinforcement learning (RL) in the last century, and with the advent of deep learning (DL) in the 90s, especially, the breakthrough of convolutional networks in computer vision field. The adoption of DL neural networks in RL, in the first decade of the 21 century, led to an end-toend framework allowing a great advance in human-level agents and...
In this work the optimization process of the tracking and reactive controllers for a mobile robot are presented. The Chemical Reaction Algorithm (CRA) is used to find the optimal parameter values of the membership functions and rules for the reactive and tracking controllers. In this case, we are using five membership functions in each variable of the fuzzy controllers. The main goal of the reactive...
Polytechnic as a vocational education institution has to keep updating its curriculum with innovation and the latest technology application in industry and domestic. Teaching learning process in the classroom also has to be based on technology application. The teaching-learning process will be more effective and interesting by involving the students to be more pro- active and creative. To engage the...
This paper presents a mobile ferrograph system for measurement of magnetic parameters of ultrahigh permeability alloys. The structure of developed system is described, as well as exemplary measurement results of Co67Fe3Cr3B12Si15 alloy used in space applications are presented.
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