Wyniki wyszukiwania - Biblioteka Nauki

1

Reliable robust path planning with application to mobile robots

100%

Pepy R. , Kieffer M. , Walter E.

|

nr 3

413-424

EN

This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.

2

Interval-analysis-based methods of calculation of building structures reliability

100%

Kinash R. I.

|

tom R. 27, z. 3--4

359-364

EN

Results of the research connected with an elaboration basic, simple and easy in the use technical methods to estimate the reliability of building structures using the interval analysis have been presented in the paper. The preprocessor proposed permits to create interval programs with histogram values, using the standard - programming language Pascal. The possibility of the use in the logical expressions, containing this type data, is an important special attribute of the preprocessor.

PL

W pracy omówiono rezultaty badań związanych z opracowaniem podstawowych, prostych i łatwych w użyciu metod technicznych do oceny niezawodności konstrukcji budowlanych z wykorzystaniem analizy interwałowej. Zaproponowany preprocesor pozwala tworzyć programy interwałowe z wartościami histogramowymi, wykorzystując w tym celu standardowy język programowania Pascal. Ważną cechą szczególną preprocesora jest możliwość jego wykorzystania w wyrażeniach logicznych, zawierających dane tego typu.

3

Approaches to the determination of the working area of parallel robots and the analysis of their geometric characteristics

75%

Malyshev D. , Rybak L. , Posypkin M. , Usov A.

|

tom Vol. 67, iss. 3

333--345

EN

The article presents and experimentally confirms two approaches to the problem of determining the working area of parallel robots using the example of a planar robot DexTAR with two degrees of freedom. The proposed approaches are based on the use of constraint equations of coordinates. In the first approach, the original kinematic equations of coordinates in the six-dimensional space (two coordinates describing the position of the output link and four coordinates – the rotation angles of the rods) followed by projecting the solution onto the two-dimensional plane is used. In the second approach, the system of constraint equations is reduced to a system of inequalities describing the coordinates of the output link of the robot, which are solved in a two-dimensional Euclidean space. The results of the computational experiments are given. As an algorithmic basis of the proposed approaches, the method of non-uniform coverings is used, which obtains the external and internal approximation of the solution set of equality/inequality systems with a given accuracy. The approximation is a set of boxes. It is shown that in the first approach, it is more efficient to apply interval estimates that coincide with the extremes of the function on the box, and in the second approach, grid approximation performs better due to multiple occurrences of variables in inequalities.

4

Modelowanie statystyczne oszacowań interwałowych wskaźników niezawodności strukturalnej układów elektrycznych

75%

Grishkevich A. , Burmutaew A.

|

tom R. 88, nr 8

77-79

PL

Rozpatrzono sposób otrzymania interwałowych oszacowań wypadkowych wskaźników niezawodności strukturalnej układów elektrycznych na podstawie interwałowych rozwiązań układów równań liniowych. Zbadano dokładność i złożoność modelowania statystycznego interwałów prawdopodobieństwa stanów modeli, opisujacych funkcjonowanie jednego i dwóch elementów.

EN

Generation of interval estimations of resultant indices of structural reliability of electric systems on the basis of interval solutions of systems of the linear equations is considered. Precision and complexity of statistical modeling of intervals of states' probabilities for the models describing functioning of one and two elements are investigated.

5

Towards robust predictive fault-tolerant control for a battery assembly system

63%

Seybold L. , Witczak M. , Majdzik P. , Stetter R.

|

tom Vol. 25, no. 4

849--862

EN

The paper deals with the modeling and fault-tolerant control of a real battery assembly system which is under implementation at the RAFI GmbH company (one of the leading electronic manufacturing service providers in Germany). To model and control the battery assembly system, a unified max-plus algebra and model predictive control framework is introduced. Subsequently, the control strategy is enhanced with fault-tolerance features that increase the overall performance of the production system being considered. In particular, it enables tolerating (up to some degree) mobile robot, processing and transportation faults. The paper discusses also robustness issues, which are inevitable in real production systems. As a result, a novel robust predictive fault-tolerant strategy is developed that is applied to the battery assembly system. The last part of the paper shows illustrative examples, which clearly exhibit the performance of the proposed approach.

6

Mathematical model in task of recurrent laryngeal nerve identification by electrophysiological method

63%

Dyvak M. , Pukas A. , Melnyk A. , Kłos-Witkowska A. , Karpiński M.

|

tom R. 93, nr 12

266--270

EN

The method of constructing the mathematical model for visualization the recurrent laryngeal nerve positioning during neck surgery is described in this paper. Proposed model shows the dependence between the amplitude of information signal as response on stimulation the recurrent laryngeal nerve and the coordinates of stimulation point based on interval data analysis.

PL

Poniższy artykuł opisuje metodę konstrukcji modelu matematycznego do wizualizacji, podczas operacji, położenia nerwu krtaniowego wstecznego. Proponowany model pokazuje zależność między amplitudą sygnału informacyjnego, jako odpowiedzią na symulacje nerwu krtaniowego wstecznego a współrzędną punktu symulacji bazującego na interwałowej analizie danych.