The issues of medical robots have been approached for 12 years in the Institute of Machine Tools and Production Engineering of the Technical University of Lodz. In the last two years, the scope of research related to the miniaturization of surgical tools, automated changing of these tools with the use of a tool depot designed for this purpose, equipping the robot in the sense of touch and developing the software which provides ergonomic and intuitive robot control with the use of all its functions. In the telemanipulator control, strong emphasis is placed on the intuitiveness of control, which is hard to be ensured due to the fact that the robot tool is observed by a laparoscopic camera, whose orientation and position may vary. That is the reason for developing a new algorithm. It copies the increments of the position and orientation measured in relation to the monitor coordinate system onto the robot tool movement and orientation, which are measured in relation to the camera coordinates system. In this algorithm it is necessary to solve inverse kinematics, which has a discontinuity. Avoiding the discontinuity is achieved by mapping the solution with the cosine function. It causes smooth pass through the area of discontinuity in this way avoiding the singularity.

The LQR (linear quadratic regulator) control problem subject to singular system constitutes a optimization problem in which one must be find an optimal control that satisfy the singular system and simultaneously to optimize the quadratic objective functional. In this paper we establish a sufficient condition to obtain the optimal control of discounted LQR optimization problem subject to disturbanced singular system where the disturbance is time varying. The considered problem is solved by transforming the discounted LQR control problem subject to disturbanced singular system into the normal LQR control problem. Some available results in literatures of the normal LQR control problem be used to find the sufficient conditions for the existence of the optimal control for discounted LQR control problem subject to disturbanced singular system. The final result of this paper is in the form a method to find the optimal control of discounted LQR optimization problem subject to disturbanced singular system. The result shows that the disturbance is vanish with the passage of time.

The paper presented the wavelet transform method for de-noising and singularity detection to soil compressive stress signal. The study results show that the reconstruction signals by the wavelet de-noising keeps the low frequency component at [0, 31.25 Hz] of the original signal and improves the high frequency property at other frequency bands. The impaction time from the start time to resonance time of the stress signals is varies with the depth of the soil. With the increase of times of compaction, the impaction time of the stress is decreasing in every layer. But the speed of reaching compacted status in each layer is different.

This article is devoted to the official forms in the inflection of chosen toponyms in Poland and the variety of dialectal singular and plural place names. The variety of place names often diverges from the rules of language use, and causes language users problems. The toponyms have peculiar, locally used inflected forms; the outside-linguistic (non-linguistic) factors that are social and local factors, play an important role in the inflection of place names. The local population often uses other forms than those recommended by official sources. I focus my attention on the genitive forms of toponyms because it is mainly here that one can see clear variations in the official and local inflection of place names. The material shows that the singular masculine toponyms have genitive endings: -a (in the official variety), -u (in the local variety), for example Biłgoraj, gen. Biłgoraja, but in the local dialect: biłgoraju. The singular feminine place names have genitive endings: -ej (in the official variety), -y||-i (in the local variety): Brzezowa, gen. Brzezowej, but Brzezowy in the local dialect. The plural toponyms have genitive endings: -ø, -ów, -i (-y), but in the local circulation the ending -ów is dominant and demonstrates a wider expansion in use. For example Brzózki, gen. Brzózek, in the local variety Brzuskuf; Budy, official gen. Bud, but Buduf; Burnie, gen. Burni, in the local dialect: Burniuf. The gathered material reflects a hesitation in the inflection of toponyms, as the linguistic customs and presented dialectal records of forms of genit ives of place names show a significantly diverse approach towards the Polish language.

This paper presents the design of digital controller for longitudinal aircraft model based on the Dynamic Contraction Method. The control task is formulated as a tracking problem of velocity and flight path angle, where decoupled output transients are accomplished in spite of incomplete information about varying parameters of the system and external disturbances. The design of digital controller based on the pseudo-continuous approach is presented, where the digital controller is the result of continuous-time controller discretization. A resulting output feedback controller has a simple form of a combination of low-order linear dynamical systems and a matrix whose entries depend nonlinearly on certain known process variables. Simulation results for an aircraft model confirm theoretical expectations.

This paper presents a robust model free controller (RMFC) for a class of uncertain continuous-time single-input single-output (SISO) minimum-phase nonaffine-in-control systems. Firstly, the existence of an unknown dynamic inversion controller that can achieve control objectives is demonstrated. Afterwards, a fast approximator is designed to estimate as best as possible this dynamic inversion controller. The proposed robust model free controller is an equivalent realization of the designed fast approximator. The perturbation theory and Tikhonov’s theorem are used to analyze the stability of the overall closed-loop system. The performance of the developped controller are verified experimentally in the position control of a pneumatic actuator system.

In this paper we discuss the linear quadratic (LQ) optimization problem subject to fractional order irregular singular systems. The aim of this paper is to find the control-state pairs satisfying the dynamic constraint of the form a fractional order irregular singular systems such that the LQ objective functional is minimized. The method of solving is to convert such LQ optimization into the standard fractional LQ optimization problem. Under some particularly conditions we find the solution of the problem under consideration.

In the paper, an extended analysis of the polarization properties of a liquid crystal cell with a biconically tapered single-mode telecommunication optical fiber was presented. These properties are a result of a sample geometry and used LC materials. They were analyzed by using two theoretical models based on the matrix decomposition methods, i.e., polar and singular-value one. By measuring Mueller matrices, information about losses, depolarization, dichroism and birefringence was obtained. In the experiment two types of tested samples filled with well-known 6CHBT and E7 liquid crystals were prepared and all optical parameters were shown as the voltage dependence. The tested samples have dichroic properties and for both models calculated PDL is similar and it increases from 2.6 to 6.6 dB for E7 and from 0.4 to 2.7 dB for 6CHBT with voltage changes within the range of 40 – 190 V. Optical losses simultaneously decrease from 30 dB to 27 dB and from 36 dB to 28 dB, respectively. The birefringence properties cannot be directly comparable due to differences between both applied models but voltage fluctuations of these parameters are not significant. These results confirm expected dichroic properties of designed device and complete knowledge about its working principles. Moreover, presented analysis validates usefulness of the singular-value decomposition model applied to dichroic optical fiber elements.

The paper presents the mental files framework focusing on its seminal form invented by P.F. Strawson and on its contemporary parallel rendering by F. Recanati. It also outlines the main ideas that stood behind the introduction of the framework. These are in particular the problem of the informativeness of identity statements (for Strawson) and the controversy between singularism and descriptivism (for Recanati). The paper presents also a further enrichment of the framework, based upon some other themes from Strawson’s philosophy of language. The main ideas of the enrichment are: introducing into the structure of the files a section of the metadata, containing information about the files themselves as mental particulars, and adopting Strawson’s referring use as a triggering mechanism for opening/activating of the files.