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this paper presents performance evaluation of a simple robotic platform named Mokhtar, designed for odor leak localization. The intermittent odor distribution and non-uniformity of the odor flow are two significant obstacles for localizing odor source. The performance is evaluated based on time to reach source, final distance from source and Success Rate. Experiments were carried out for odor mapping...
The paper presents a method for obtaining a surface gradient using photometric stereo method. A described technique deals with the limitations of the photometric stereo method to make it more suitable for use in industrial, rather than laboratory conditions. The image is captured with a RGB camera paired with a light source which light direction and wavelength composition can be externally controlled...
By definition, UAV means Unmanned Aerial Vehicle, which in fact has been growing in the recent years, encouraged by technological developments, especially in the electronics and military automation areas. Regarding that subject, this work aims to develop, simulate and compare two different control techniques in quadcopter altitude position. Low-Level Proportional Integral Derivative (PID) controllers...
New design conditions for PD discrete-time fault observers for linear system with disturbance is given. It enables to formulate design conditions using extended Lyapunov function as the set of linear matrix inequalities in the bounded real lemma structure. It is shown that such conditions provide better results considering the constrains implying from the fault time-difference norm. To encompass the...
The public interest in finding affordable solutions for multiple purpose autonomous robots has increased in the last years. The main features are recognition of defined targets and autonomous navigation between them. Human input is only required for defining the main objectives. The case study is represented by the implementation of an automated robotic system for watering indoor plants. Here we present...
The research and use of UAVs (Unmanned Aerial Vehicles) have grown in attention and new ideas in the last couple of decades, mainly due to technology improvement of its construction parts, sensors and controllers. When it comes to its autonomous behavior, robust techniques make themselves necessary to assure the security of the aircraft and people around it. This work presents the use of computer...
In this paper, coherence function estimation for parallel tracks from road measurements is studied. A two-stage scheme is proposed. In the first stage, the measurements are de-trended and periodic components are removed. An autoregressive moving-average (ARMA) model is fitted in the second stage to the vector-valued residuals derived from the left and right track measurements by using a recently developed...
Article continues to post published on the ICCC in 2016. Optimize the amount of input oxidizers has been addressed in two variants of objective function for thermodynamic temperature 800 respectively 900 °C. In the present paper is optimizing the input parameters of thermodynamic model solving for three temperature (800, 900 and 1000 °C). Results are shown for three variants of objective function...
In this paper is presented the design and developing process of a software simulator that allows both a pre-surgical planning and training future physician about anatomy and liver damage. For this it was made a design three-dimensional (3D) liver and was added properties of soft tissues in order to have a simulator surgery as realistic as to provide a complete answer and complex palpation by devices...
This paper deals with sensory equipment for swarm robots. It elaborates on reasons for choice of sensors based on their principles, ability to operate in swarms and use in a specified platform in previously defined conditions. Part of the thesis is also a background research and choice of individual sensors and numerous measuring experiments with them.
In this paper, the mathematical modeling in the area of treatment the leather waste material is presented. Leather industry contributes significantly to the production of several types of waste and pollutes the environment for many decades. A reasonable solution for processing of certain part of tannery wastes, such as shavings, is a hydrolysis reaction. This reaction enables to separate collagen...
This contribution is devoted to analyzing and to implementing a discrete time fractional order structure for a PI regulator. A loop shaping problem is formulated as a part of this approach in terms of a Min-Max optimisation problem in which a combination of a flatness based control together with a PI regulator is included into the control strategy. The system which is examined uses an actuator with...
This paper deals with the use of the real time operating system FreeRTOS, which is implemented into the 32-bit microcontroller with ARM core on the swarm robotics platform. The main task of the realized control system is to ensure the communication with the different types of sensors that are parts of the swarm robotic platform (ultrasonic sensors, LIDAR - Light Detection And Ranging, GPS, etc.),...
The proposed strategy combines structural design conditions for the actuator based on the geometric eigenvector concept and a pre-compensation action. Using the proposed geometric approach an improvement of the performances of the actuators in terms of power and rising time is achieved. Simulation to compare results between a P-controller and a P-controller integrated with the proposed approach are...
Nonlinear Model Predictive Control can be approached in direct way, when in every step minimization of quadratic function with nonlinear prediction model is used. On the other hand, feedback linearization can provide an exact linear prediction model, that can be used for the quadratic objective function. In this paper both strategies are used and simulated with model of unmanned bicycle robot. Simulation...
A flexible execution time benchmarking hardware setup for performance measurements at processor instruction and operating system level is presented, and the issues of methodology of measuring execution times inside operating systems running on modern processors is discussed. The benchmarking setup was implemented and the measurements were carried out in a system powered by a NIOS II soft processor...
After that single-thread processing performance has stalled more than a decade ago, research has intensified in direction of using more intensive parallelism. Unfortunately, the resulting computer performance is not simply the sum of single processor performances of individual processors working in parallel. Communication, housekeeping and some inherently sequential code parts degrade efficiency of...
Nowadays one of the most used algorithm for the image processing systems is the edge detection algorithm, starting from the identification systems in different domains to the complex systems direct from industry. With more different approaches this algorithm is today necessary in priority areas and his performance of time processing, quality differ in each case. In the backside of the algorithm there...
Among the issues discussed in this article the main problem concerns a neuro-fuzzy system (ANFIS) for controlling a mobile robot, which is considered one of the methods of artificial intelligence. The first part discusses the classical approach to control a mobile robot. Firstly, a mathematical model was presented describing the kinematics of a two-wheel mobile robot, which was later used for the...
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