This paper deals with two control algorithms which utilize learning of their models’ parameters. An adaptive and artificial neural network control techniques are described and compared. Both control algorithms are implemented in MATLAB and Simulink environment, and they are used in the simulation of a postion control of the LWR 4+ manipulator subjected to unknown disturbances. The results, showing the better performance of the artificial neural network controller, are shown. Advantages and disadvantages of both controllers are discussed. The usefulness of the learning algorithms for the control of LWR 4+ robots is discussed. Preliminary experiments dealing with dynamic properties of the two LWR 4+ robots are reported.
The paper focuses on different approaches to the safety assessment of concrete structures designed using nonlinear analysis. The method based on the concept of partial factors recommended by Eurocodes, and methods proposed by M. Holicky, and by the author of this paper are presented, discussed and illustrated on a numerical example. Global safety analysis by M. Holicky needs estimation of the resistance coefficient of variation from the mean and characteristic values of resistance, and requires two separate nonlinear analyses. The reliability index value and the sensitivity factor for resistance should be also identified. In the method proposed in this paper, the resistance coefficient of variation necessary to calculate the characteristic value of resistance may be adopted from test results and the resultant partial factor for materials properties, and may be calculated according to Eurocodes. Thus, only one nonlinear analysis from mean values of reinforcing steel and concrete is required.
The paper deals with application of the Gumbel model to evaluation of the environmental loads. According to recommendations of Eurocodes, the conventional method of determining return period and characteristic values of loads utilizes the theory of extremes and implicitly assumes that the cumulative distribution function of the annual or other basic period extremes is the Gumbel distribution. However, the extreme value theory shows that the distribution of extremes asymptotically approaches the Gumbel distribution when the number of independent observations in each observation period from which the maximum is abstracted increases to infinity. Results of calculations based on simulation show that in practice the rate of convergence is very slow and significantly depends on the type of parent results distribution, values of coefficient of variation, and number of observation periods. In this connection, a straightforward purely empirical method based on fitting a curve to the observed extremes is suggested.
The primary importance of the paper is the application of the efficient formulation for the simulation of open-loop lightweight robotic manipulator. The framework employed in the paper makes use of the spatial operator algebra and the associated equations are expressed in joint space. This compact representation of the manipulator dynamics makes it possible to solve the robot forward and inverse dynamics problems in a recursive and fast manner. In the current form, the presented algorithm can be applied for the dynamics simulation of an open-loop chain system possessing any number of joints. Specifically, the formulation has been successfully applied for the analysis of the 7DOF KUKA LWR robot. Results from a number of test cases for the robot demonstrate the verification of the calculations.
In this paper the overview of the recent study on the rare-earth activated waveguides performed in the Optoelectronic Department of IMiO is presented. We reported on the development of rare earth-doped fluorozirconate (ZBLAN) glass fibers that allow a construction of a new family of visible and ultraviolet fiber lasers pumped by upconversion. Especially the performance of holmium devices is presented. The properties of laser planar waveguides obtained by the LPE process and the growth conditions of rare earths doped YAG layers are presented. In this paper we present also the theoretical study of the nonlinear operation of planar waveguide laser, as an example the microdisk Nd:YAG structure is discussed. We derived an approximate formula which relates the small signal gain in the Nd:YAG active medium and the laser characteristics, obtained for whispering-gallery modes and radial modes, to the output power and real parameters of the laser structure
Polarimetric optical fiber sensors based on highly birefringent (HB) polarization-maintaining fibers have focused great interest for last decades. The paper presents a novel modular fiber optic sensing system of potential industrial applications to measure temperature, hydrostatic pressure, and strain that is based on classical HB and photonic crystal fibers and can operate at visible and infrared wavelengths. The main idea of the system is a novel and replaceable fiber-optic head, which allows adjusting the measuring system both to the required range and type (strain, pressure or temperature) of the external measurand. We propose also a new configuration of the fiber optic strain gauge with a free cylinder and an all-fiber built-in analyzer based on the photonic crystal fiber filled with a liquid crystal. Additionally, strain sensitivities of various HB fibers operating at visible and infrared wavelengths range have been measured.
en
pl
