Wyniki wyszukiwania - BazTech

1

PI control of laboratory furnace for annealing of amorphous alloys cores

Kurek J. E., Szewczyk R., Salach J., Kloda R.

Journal of Automation Mobile Robotics and Intelligent Systems

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2012

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Vol. 6, No. 4

13-15

EN

There are presented theoretical and practical aspects of automatic control of resistive furnace for thermal annealing of magnetic cores made of amorphous alloys. Process of annealing requires specific conditions both from the point of view of temperature and its changes. Solutions presented in the paper create possibility for low value of error as well as fast achievement of set value.

2

Using Tikhonov regularization to improve estimation of robot position based on uncertain robot model obtained by neural network

Możaryn J., Kurek J. E.

Pomiary Automatyka Kontrola

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2009

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R. 55, nr 3

198-204

EN

A method for improvement of a position estimation of a robot manipulator based on model with uncertain parameters is presented. To calculate the position of the robot there was designed the robot model using artificial neural networks with structure of the mathematical model in the form of Lagrange-Elder equations. The Tikhonov regularization was then used to improve the approximation of the robot's position. The example of the position of the robot PUMA 560 with 6 degrees of freedom calculation with proposed method is presented. Obtained results indicate significant improvement of the estimation.

PL

W pracy przedstawiono metodę poprawy estymacji położeń robota na podstawie modelu robota o niedokładnych parametrach. Do wyznaczania położenia robota zaprojektowano model robota z wykorzystaniem sztucznych sieci neuronowych o strukturze modelu matematycznego w formie równań Lagrange'a-Eulera. W celu poprawy estymacji położeń na podstawie wyznaczonego modelu zastosowano regularyzację Tikhonowa. Zaproponowana metoda została przedstawiona na przykładzie odtwarzania położeń robota PUMA 560. Otrzymane wyniki wskazują na znaczną poprawę dokładności.

3

Controllability and reconstructability of a system described by the N-D Roesser model

Kurek J. E.

International Journal of Applied Mathematics and Computer Science

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2003

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Vol. 13, no 1

55-60

EN

The controllability and reconstructability (global) of the system described by a digital N-D Roesser model are defined. Then, necessary and sufficient conditions for system controllability and reconstructability are given. The conditions constitute a generalization of the corresponding conditions for 1-D systems.

4

Interactive-learning Control of Linear Continuous-time Systems with Disturbances

Kurek J. E.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2001

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vol. 49, nr 4

623-631

EN

An algorithm of interactive-learning control is presented for multivariable linear continuous-time systems with disturbances. Proposed algorithm enables ones to calculate input equence such that the tracking error is as small as acceptable, also in the case of uncertain plant model. Necessary and sufficient conditions are formulated for the convergence of the learning control system.