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Robots have capabilities emulating senses as they can now see, hear and touch, but the sense of smell is just starting to be implemented in mobile applications. The principal task of a smell capable robot is the odor source localization. Nevertheless, to obtain the best algorithmic results, the perception of the environment is crucial. One of the difficulties when developing chemical sensors is that...
There is method for real time frequency analysis of the electromyogram is described in article. This method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method consists of realtime frequency estimation with preliminary using of band-pass filter. The method is easy to program and does not require any additional resources. The article gives an example...
This paper presents a new compact and rapid wall-climber. First the compact structure of the robot is introduced, which has a pair of driving wheels and a tilt-variable thruster with a set of coaxial propellers. Next the whole dual-control system is constructed, which is composed of both the remote and autonomous control. Then basic experiments are shown concerned with the tilt angle control and the...
The paper focuses on the problem of design of robotic controllers able to perform complex service tasks. The proposed approach, rooted in the embodied agent concept, enables the definition of both the structure and behaviour of the system. The supplementing each other mathematical and graphical notations along with the multi-level decomposition enable the specification of the system in details facilitating...
In this paper, the translational accuracy performance of two algorithms that allow the pose of an Unmanned Aerial Vehicle (UAV) to be estimated is reported, based on preliminary data. The two algorithms are the 2D Homography and the 3D Iterative Closest Point (ICP) algorithm. Performance is measured against real image data taken with a digital Nikon D70 camera, with lens set at 3 different focal lengths...
This paper presents the results of 3 tons skid steer 6×6 wheel robot drive system field tests. The aim of the investigation was verification of assumed data for drivetrain design and forces identification in the drivetrain system during maneuvering and crossing obstacles. Robot has hydraulics drive system with motors in the wheels and hydraulic suspension system. The needed drive torque on wheels...
In this paper visual odometry method for processing single-view images has been presented. The developed system is designed as a main navigation sensor for a police mobile robot used for investigation of crime scenes. Verification of correctness of the algorithms have been performed and results of preliminary simulated tests are included as well as guidelines for further development of the method.
This paper presents selected issues connected with the design and implementation of the 6-DOF parallel manipulator driven by permanent magnet brushless DC motors. The consideration of platform kinematics structure, computer design and simulation of mechanical framework as well as building and utilization of the reduced-scale physical are presented. The development, implementation and testing of the...
A data driven state detection algorithm was proposed to improve the security and reliability of equipment. The algorithm is used for one class of objects whose state parameters change slowly and cumulatively in the long term. The concepts of multi-scale system, multi-scale entropy and multi-scale exergy were used to describe these processes. With the help of the algorithm, an ash deposition index...
In the paper the idea of advanced control, including automatic reconfiguration in case of single fault presence, diagnostics and monitoring of all components of ventricle assist system is given. Presented solution was prepared for most recent series of controllers working with pneumatic, pulsatile VAD system. The general concept of realization of mentioned above tasks was discussed, as well as the...
The conditions of synthesis of interval observers for linear systems with unknown time-varying parameters were analyzed. The possible cases for compliance with the properties of the cooperative system were considered. The analysis of the conditions under which, for a given combination of properties of the system, it's possible to construct an interval observer, was held. Such observer allows to get...
The Oder River is a natural waterway for barges trading between the ports of Szczecin and Berlin. As the traffic was expected to increase after Poland's accession to the European Union, attempts were made to estimate traffic restrictions encountered while passing Hohensaaten Lock, connecting the Oder and the Oder-Havel Canal. An optimization model of vessel time scheduling for lock approach area was...
This work is particularly done in context to the manhole covers being used in the emirate of Abu Dhabi. Image processing techniques are used to analyze, calculate and display the required information about the graphite, extracted from the micrographs. Images taken from finely grinded and polished samples are used as an input. A graphical user interface is used to display the results. The image is...
The paper presents current state of the research devoted to the development of an unmanned quadrotor simulator done in the Warsaw University of Technology. The reconfigurable architecture of the simulator together with the brief description of the hardware used is presented. The paper describes also key elements of the dynamic model developed to be used in the unmanned system simulator.
This paper describes FRR wheeled rescue robot which being developed in Robots & Engineering Equipment Team of Military University of Technology. There have been presented also short description of planned to performing by Fire Rescue Robot FRR tasks and caused by them problems to solve. Next have been described the method and model enable to carry out simulation which are necessary to robot suspension...
This paper presents the results of field test and theoretical analysis driving resistance articulated 4×4 tracked robot test-bed. Tests were made on four different grounds. Designated elastomeric tracks resistance coefficients are much higher than for steel tracks. This information was important for the proper estimation of energy consumption in the process of driving. On the basis of obtained results...
In this paper, the problem of modeling of the energy consumption of a single component of the assembly line is considered. The motivation is shortly presented and the procedure of the initial preprocessing of the measurement data is described. Then, the conventional discrete time auto regressive models are considered and their applicability is compared with the suggested Representative Vector Method...
A vessel traffic system (VTS) is a marine traffic monitoring and controlling system of the movement of vessels on the port water areas. Coastal radar stations are the basic elements of these system to detection and tracking the vessels. However, in the ports of the dense structure and the relatively small size of water areas elements, the use of radar observation causes limitations to achieved of...
This paper discusses the modelling and simulation of a reconfigurable wheelchair with a sit-to-stand facility for a disabled 25kg child. The prototype is designed in SolidWorks® and simulated in MATLAB® to get the suitable forces that have to be provided by the motors to activate the system. Three different techniques will be used in modelling the wheelchair. SolidWorks® software package will be used...
A bond graph model of a physical system to obtain the frequency response is presented. This proposed bond graph has a derivative causality assignment and additional dissipation elements. Also, the bond graph model can have storage elements in integral and derivative causality, i.e. the state variables can be linearly independent or linearly dependent. The methodology to obtain the frequency response...
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