In recent years, a significant development of technologies related to the control and communication of mobile robots, including Unmanned Aerial Vehicles, has been noticeable. Developing these technologies requires having the necessary hardware and software to enable prototyping and simulation of control algorithms in laboratory conditions. The article presents the Laboratory of Intelligent Mobile Robots equipped with the latest solutions. The laboratory equipment consists of four quadcopter drones (QDrone) and two wheeled robots (QBot), equipped with rich sensor sets, a ground control station with Matlab-Simulink software, OptiTRACK object tracking system, and the necessary infrastructure for communication and security. The paper presents the results of measurements from sensors of robots monitoring various quantities during work. The measurements concerned, among others, the quantities of robots registered by IMU sensors of the tested robots (i.e., accelerometers, magnetometers, gyroscopes and others).
Schemes are presented for calculating tuples of solutions of matrix polynomial equations using continued fractions. Despite the fact that the simplest matrix equations were solved in the second half of the 19th century, and the problem of multiplier decomposition was then deeply analysed, many tasks in this area have not yet been solved. Therefore, the construction of computer schemes for calculating the sequences of solutions is proposed in this work. The second-order matrix equations can be solved by a matrix chain function or iterative method. The results of the numerical experiment using the MatLab package for a given number of iterations are presented. A similar calculation is done for a symmetric square matrix equation of the 2nd order. Also, for the discrete (time) Riccati equation, as its analytical solution cannot be performed yet, we propose constructing its own special scheme of development of the solution in the matrix continued fraction. Next, matrix equations of the n-th order, matrix polynomial equations of the order of non-canonical form, and finally, the conditions for the termination of the iterative process in solving matrix equations by branched continued fractions and the criteria of convergence of matrix branching chain fractions to solutions are discussed.
In the field of power and drive systems, electrical AC machines are mostly modeled using a set of explicit ordinary differential equations in a state space representation. It is shown, that by using other equation types for simulation, algebraic constraints arising from aggregating several machines to a more complex system can directly be considered. The effects of different model variants on numerical ODE/DAE solvers are investigated in the focus of this work in order perform efficient simulations of larger systems possessing electrical AC machines.
This paper presents a mathematical model of a power controller for a high-frequency induction heating system based on a modified half-bridge series resonant inverter. The output real power is precise over the heating coil, and this real power is processed as a feedback signal that contends a closed-loop topology with a proportional-integral-derivative controller. This technique enables both control of the closed-loop power and determination of the stability of the high-frequency inverter. Unlike the topologies of existing power controllers, the proposed topology enables direct control of the real power of the high-frequency inverter.
The paper contains selected results of research on the Domestic Power System (DPS) as an unmanned factory. Models of the DPS system of the MISO type, obtained as a result of identification for 14 inputs and 4 outputs were presented. Particular attention was given to the identification and the assessment of the DPS development based on the systems and control theory. The obtained models of the DPS development were analyzed and discussed. The studies were obtained model of the development of the DPS, and on the basis of is knowledge of the structural and parametrical changes of system development. The model can be used to analyze the design and development of the system from the point of view of the growth of internal organization system and the transition to higher levels of control.
Casting is the most widely used manufacturing technique. Furan No-bake mould system is very widely accepted in competitive foundry
industries due to its excellent characteristics of producing heavy and extremely difficult castings. These castings have excellent surface
finish and high dimensional stability. Self setting and high dimensional stability are the key characteristics of FNB mould system which
leads to reduce production cycle time for foundry industries which will ultimately save machining cost, labour cost and energy.
Compressive strength is the main aspect of furan no bake mould, which can be improved by analyzing the effect of various parameters on
it. ANN is a useful technique for determining the relation of various parameters like Grain Fineness Number, Loss on Ignition, pH, % resin
and temperature of sand with compressive strength of the FNB mould. Matlab version: R2015a version 8.3 software with ANN tool box
can be used to gain output of relation. This paper deals with the representation of relationship of various parameters affecting on the
compressive strength of FNB mould
The article describes how to identify the boundary and yield surface for hypoplastic constitutive equations proposed by Wu, Gudehus and Bauer. It is shown how to identify and plot the surfaces for any equation in this class. Calculation errors are analyzed characteristic for applied set of numerical formulas. In the paper there are computer links to the source code prepared in the MATLAB system, based on instructions in the article. A sample consitutive domains are shown, plotted using the attached computer program.
Time-of-use (TOU) electricity pricing has been applied in many countries around the world
to encourage manufacturers to reduce their electricity consumption from peak periods to
off-peak periods. This paper investigates a new model of Optimizing Electricity costs during
Integrated Scheduling of Jobs and Stochastic Preventive Maintenance under time of-use
(TOU) electricity pricing scheme in unrelated parallel machine, in which the electricity price
varies throughout a day. The problem lies in assigning a group of jobs, the flexible intervals
of preventive maintenance to a set of unrelated parallel machines and then scheduling of jobs
and flexible preventive maintenance on each separate machine so as to minimize the total
electricity cost. We build an improved continuous-time mixed-integer linear programming
(MILP) model for the problem. To the best of our knowledge, no papers considering both
production scheduling and Stochastic Preventive Maintenance under time of-use (TOU) electricity
pricing scheme with minimization total Electricity costs in unrelated parallel machine.
To evaluate the performance of this model, computational experiments are presented, and
numerical results are given using the software CPLEX and MATLAB with then discussed.