Applied sciences

Bulletin of the Polish Academy of Sciences: Technical Sciences

Content

Bulletin of the Polish Academy of Sciences: Technical Sciences | 2005 | vol. 53 | No 1 |

Abstract

The main focus of the paper is on the asymptotic behaviour of linear discrete-time positive systems. Emphasis is on highlighting the relationship between asymptotic stability and the structure of the system, and to expose the relationship between null-controllability and asymptotic stability. Results are presented for both time-invariant and time-variant systems.

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Abstract

A suitable use of software packages for optimization problems can give the possibility to formulate design problems of robotic mechanical systems by taking into account the several aspects and behaviours for optimum solutions both in design and operation. However, an important issue that can be even critical to obtain practical solutions can be recognized in a proper identification and formulation of criteria for optimability purposes and numerical convergence feasibility. In this paper, we have reported experiences that have been developed at LARM in Cassino by referring to the abovementioned issues of determining a design procedure for manipulators both of serial and parallel architectures. The optimality criteria are focused on the well-recognized main aspects of workspace, singularity, and stiness. Computational aspects are discussed to ensure numerical convergence to solutions that can be also of practical applications. In particular, optimality criteria and computational aspects have been elaborated by taking into account the peculiarity and constraint of each other. The general concepts and formulations are illustrated by referring to specific numerical examples with satisfactory results.

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Abstract

In this paper we present results of systematic and comprehensive simulation analysis of the Tsao & Safonov unfalsified controller for complex robot manipulators. In particular, we show that the controller falsification procedure yields the closedloop unfalsified controller, which accomplishes the control objective, within a finite and relatively short time interval with the number of invocations of linear programming based unfalsified controller selection procedure being relatively small. We also present some conclusions resulting from the investigation of the eect of such elements as manipulator structure complexity, prior knowledge about disturbances, reference trajectory and assigned closed-loop spectrum on unfalsified controller performance and computational complexity.

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Abstract

Main topic of the paper is a problem of designing the input-output decoupling controllers for nonholonomic mobile manipulators. We propose a selection of output functions in much more general form than in [1,2]. Regularity conditions guaranteeing the existence of the input-output decoupling control law are presented. Theoretical considerations are illustrated with simulations for mobile manipulator consisting of RTR robotic arm mounted atop of a unicycle which moves in 3D-space.

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Abstract

In this paper we propose a sensor-based navigation method for navigation of wheeled mobile robot, based on the Kohonen self-organising map (SOM). We discuss a sensor-based approach to path design and control of wheeled mobile robot in an unknown 2-D environment with static obstacles. A strategy of reactive navigation is developed including two main behaviours: a reaching the middle of a collision-free space behaviour, and a goal-seeking behaviour. Each low-level behaviour has been designed at design stage and then fused to determine a proper actions acting on the environment at running stage. The combiner can fuse low-level behaviours so that the mobile robot can go for the goal position without colliding with obstacles one for the convex obstacles and one for the concave ones. The combiner is a softswitch, based on the idea of artificial potential fields, that chooses more then one action to be active with diRerent degrees at each time step. The output of the navigation level is fed into a neural tracking controller that takes into account the dynamics of the mobile robot. The purpose of the neural controller is to generate the commands for the servo-systems of the robot so it may choose its way to its goal autonomously, while reacting in real-time to unexpected events. Computer simulation has been conducted to illustrate the performance of the proposed solution by a series of experiments on the emulator of wheeled mobile robot Pioneer-2DX.

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Abstract

In order to understand commands given through voice by an operator, user or any human, a robot needs to focus on a single source, to acquire a clear speech sample and to recognize it. A two-step approach to the deconvolution of speech and sound mixtures in the time-domain is proposed. At first, we apply a deconvolution procedure, constrained in the sense, that the de-mixing matrix has fixed diagonal values without non-zero delay parameters. We derive an adaptive rule for the modification of the de-convolution matrix. Hence, the individual outputs extracted in the first step are eventually still self-convolved. This corruption we try to eliminate by a de-correlation process independently for every individual output channel.

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Abstract

Programming frameworks [1] are application generators with the following components: library of software modules (building blocks out of which the system is constructed), a method for designing new modules that can be appended to the above mentioned library, a pattern according to which ready modules can be assembled into a complete system jointly exerting control over it and realizing the task at hand. The presented transition function based formalism can be applied to specifying programming frameworks for robot controllers executing very diverse tasks. The paper deals with systems consisting of multiple embodied agents, influencing the environment through eectors, gathering information from the environment through sensors and communicating with other agents through communication channels. The presented code patterns pertain to behavioural agents. The formalism was instrumental in the design of MRROC++ robot programming framework, which has been used for producing controllers of single and two manipulator systems performing diverse tasks. The formalism introduces rigor into the discussion of the structure of embodied agent controllers. It is used as the means for the specification of the functions of the components of the control system and the structure of the communication links between them. This structures the implementation of a programming framework, and that in turn makes the coding of specific controllers much easier, both from the point of view of dealing with the hardware configuration of the system and the specific task that has to be executed.

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Abstract

Reasoning with limited computational resources (such as time or memory) is an important problem, in particular in knowledge-intensive embedded systems. Classical logic is usually considered inappropriate for this purpose as no guarantees regarding deadlines can be made. One of the more interesting approaches to address this problem is built around the concept of

active logics. Although a step in the right direction, active logics are just a preliminary attempt towards finding an acceptable solution. Our work is based on the assumption that labelled deductive systems (LDSs) oer appropriate metamathematical methodology to study the problem. As a first step, we have reformulated a pair of active logics systems, namely the memory model and its formalized simplification, the step logic, as LDSs. This paper presents our motivation behind this project, followed by an overview of the investigations on meta-reasoning relevant to this work, and introduces in some reasonable detail the MM system.

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Abstract

The project called “Polish Cardiosurgical Robot” has been developed by Foundation for Cardiac Surgery Development since year 2000. Within the project the telemanipulator to perform the endoscopic cardiosurgical operations has been designed, manufactured and examined. In the following paper the development of construction of arms for RobIn Heart 0, RobIn Heart 1, RobIn Heart 3 versions of the robot as well as the fixing system has been presented. In the preliminary phase of the project the requirements for mechanical construction were analyzed. Additional requirements enhancing functionality of the construction were also defined. Analyses of the planned development of the construction and ways of its possible applications were performed.

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Abstract

Neutralisation of the terrorist explosive devices is a risky task. Such tasks may be carried out by robots in order to protect human life. The article describes chosen design problems concerning the new neutralisation and assisting robot SMR-100 Expert. The robot was to be designed for the use in confined spaces, particularly inside the air-crafts, buses and rail cars. In order to achieve this ambitious plan, new advanced technological designing tools had to be applied. A number of interesting design issues were approached. The successful development of the prototype robot Expert in Poland resulted in the creation of the first intervention robot in the world able to perform all necessary anti-terrorist tasks inside the passenger planes.

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Editorial office

Editor-in-Chief:

T. Kaczorek, Warsaw University of Technology

Deputy Editor-in Chief:

M. Kaźmierkowski, Warsaw University of Technology

A. Rogalski, Division IV Technical Sciences PAN

Board of Co-editors:

Artificial and Computational Intelligence

S. Osowski and B. Sawicki, Warsaw University of Technology

Biomedical Engineering and Biotechnology

A. Liebert and R. Maniewski, Institute of Biocybernetics and Biomedical Engineering PAN

Civil Engineering

L. Czarnecki, Building Research Institute, ITB, Warsaw

Control, Robotics and Informatics

J. Klamka and A. Babiarz, Silesian Technical University

A. Borkowski, Institute of Fundamental Technological Research PAN

Electronics, Telecommunication and Optoelectronics

M. Mrozowski and A. Lamęcki, Gdansk University of Technology

W. Woliński, Warsaw University of Technology

Mechanical and Aeronautical Engineering, Thermodynamics

A. Styczek and A. Tylikowski, Warsaw University of Technology

Materials Science and Nanotechnology

B. Major and P. Czaja, Institute of Metallurgy and Materials Science PAN

T.A. Kowalewski and B. Blachowski, Institute of Fundamental Technological Research PAN

Power Systems and Power Electronics

M.P. Kazmierkowski, Warsaw University of Technology

International Editorial Advisory Board

I.V. Alexandrov, Ufa State Aviation Technical University, Russia

R. Asthana, University of Wiscontin-Stout, Menomonie, USA

Xu Binshi, China Association of Plant Engineering, Beijing, P.R. China

F. Blaabjerg, Aalborg University, Denmark

C. Cecati, University of L’Aquila, Italy

A. Cichocki, RIKEN Institute, Tokyo, Japan

M. David, National Polytechnique de Toulouse, France

R. Ebner, Materials Centre Leoben, Leoben, Austria

E. Fornasini, University of Padova, Padova, Italy

L.G. Franquelo, University of Sevilla, Spain

M. Gad-el-Hak, Virginia Commonwealth University, Richmond, USA

D. van Gemert, Catholic University Leuven, KU Leuven, Belgium

L. Keviczky, Hungarian Academy of Sciences, Budapest, Hungary

V. Kučera, Czech Technical University in Prague, Prague, Czech Republic

R. Kennel, Technical University Munich, Germany

E. Levi, Liverpool John Moore University, UK

G. Maier, Technical University of Milan, Milan, Italy

K.F. Man, City University of Hong Kong,

H.A. Mang, Austrian Academy of Sciences, Vienna, Austria

H. Mihashi, Tohoku University, Aoba-ku, Sendai, Japan

S. Mindess, University of British Columbia, Vancouver, Canada

D.A. Mlynski, University of Karlsruhe, Karlsruhe, Germany

A.S. Nowak, University of Michigan, Ann Arbor, USA

K. Ohnishi, Keio University, Yokohama, Japan

A. Öberg, Linköping University, Linköping, Sweden

W. Pedrycz, University of Alberta, Canada

S. Przemieniecki, University of South Florida, Tampa, USA

M. Razeghi, Northwestern University, Evanston, USA

J. Rodriguez, Technical University of Federico Santa Maria, Valparaiso, Chile

J.V. Sloten, Catholic University Leuven, Leuven, Belgium

B.M. Wilamowski, University of Auburn, Alabama, USA

W. Włosiński, Warsaw University of Technology, Warsaw, Poland

A.L. Yarin, Institute of Illinois at Chicago, USA

Du Xiangwan, Chinese Academy of Engineering, China

J. Żurada, Department of Computer Engineering, University of Louisville, USA

Contact

Editorial Office:

Pałac Kultury i Nauki

Wydział IV Nauk Technicznych PAN

Pl. Defilad 1

PL 00-901 Warszawa

Mrs Ewa Trojanowska

bulletinpas.et@gmail.com

Instructions for authors

Instructions for Authors

About the Journal

The Bulletin of the Polish Academy of Sciences: Technical Sciences (Bull. Pol. Ac.: Tech.) is published by the Division IV: Engineering Sciences of the Polish Academy of Sciences. The journal is peer‐reviewed and is published both in printed and electronic form (http://www.czasopisma.pan.pl/bpas). It is established for the publication of original high quality papers from multidisciplinary Engineering sciences with the following topics preferred:

• Artificial and Computational Intelligence,

• Biomedical Engineering and Biotechnology,

• Civil Engineering,

• Control, Informatics and Robotics,

• Electronics, Telecommunication and Optoelectronics,

• Mechanical and Aeronautical Engineering, Thermodynamics,

• Material Science and Nanotechnology,

• Power Systems and Power Electronics.

General data:

Format of the journal – A4 printed and electronic form,

Paper type – offset

Colourfulness – full colour at an extra charge,

The volume of the journal – 200 pages (ca 20 papers) + 4 cover pages,

Frequency of publication – bimonthly,

ISSN: 0239-7528 (print version),

ISSN: 2300-1917 (on line version),

DOI: 10.2478/bpasts

Abbreviations/Acronym:

Journal citation: Bull. Pol. Ac.: Tech.

ISO: Bull. Pol. Acad. Sci.-Tech. Sci.,

JCR Abbrev: B POL ACAD SCI-TECH

Acronym in the Editorial System: BPASTS

Journal Metrics:

JCR Impact Factor 2017: 1.361

5 Year Impact Factor 2017: 1.323

SCImago Journal Rank (SJR) 2015: 0.526

Source Normalized Impact per Paper (SNIP) 2015: 1.208

Impact per Publication (IPP) 2015: 1.158

The Polish Ministry of Science and Higher Education 2017: 25 points

Manuscript types:

Invited reviews presenting the state of the knowledge and/or devoted to novel topics,

• Refereed research papers reporting on original scientific or technological achievements,

• Refereed papers in special issues/sections serving as conference proceedings arranged by guest editors.

Special Section Policy

Proposals of original Special Sections within the scope of the Journal may be submitted to the Editorial Office. Special Section submission rules are described in detail at: Edytorial Systems

Guest Editor form needed for submitting a Special Section proposal: Edytorial systems

Manuscript Submission Policy

All manuscripts submitted for publication should be original. Manuscripts published or under consideration for publication elsewhere should not be submitted and will not be considered. Submission of a paper implies that it has not been published previously, that it is not under consideration for publication elsewhere, and that if accepted it will not be published elsewhere in the same form, in English or in any other language, without the written consent of the Publisher.

However, manuscripts based on papers published at related conferences and workshops proceedings may be submitted for consideration provided that: (1) the papers are not identical (similarity index must be below 50%), (2) the authors cite their earlier conference paper on which this new work is based, (3) the journal publication includes clearly shown novel elements (e.g., more comprehensive experiments).

Manuscript submission for review

The Bull. Pol. Ac.: Tech now employs a Web-based manuscript submission and peer-review tracking system called Editorial System. Authors must submit their manuscript electronically on the web: http://www.editorialsystem.com/bpasts/.

From this entry page, access can be obtained to all information required for the submission of a manuscript. First‐time users must create an Author’s account to obtain a user ID and password required to enter the system. All manuscripts receive individual identification codes that should be used in any correspondence with regard to the publication process. For the authors already registered in the Editorial System it is enough to enter their username and password to login as an author (Sign in).

Author(s) will be notified about registration and manuscript review process by e-mail.

The manuscripts must be uploaded as a single PDF file.

If you experience difficulties with the manuscript submission website, please contact the Copy Editor of the Bull. Pol. Ac.: Tech (Anna Jurkiewicz: bulletinPAS@gmail.com).Names of authors and their affiliation should be removed from the manuscripts for the review process in order to have a fair evaluation of their manuscript. All authors of the manuscript are responsible for its content; they must have agreed to its publication and have given the corresponding author the authority to act on their behalf in all matters pertaining to publication. The Corresponding Author is responsible for informing the coauthors of the manuscript status throughout the submission, review, and production process. All submitted papers are checked using iThenticate plagiarism detection software.

Manuscript preparation

1. The manuscript should be written in clear and concise English.

2. For manuscript preparation please use the attached Word or LaTeX template.

3. Please remember that in the .pdf version of the manuscript for evaluation process author(s) name(s) and affiliation should be removed.

4. Authors should consult a recent issue of the journal for style if possible.

Manuscript decision and Proofs

Manuscript evaluations are assigned one of four outcomes: Accept, Minor Revisions, Major Revisions, and Reject. Manuscripts with "Minor Revision" do not require a second review. All manuscripts receiving a "Major Revision" evaluation must be subjected to a second review. Rejected manuscripts are given no further consideration. Normally, manuscripts that receive a "Major Revision" decision have only one additional chance for revision and the revised version should be uploaded to the Editorial System within six weeks. If the author(s) failed to make satisfactory changes, the manuscript is rejected. On acceptance, manuscripts are subject to editorial amendment to suit house style.

Transfer of Copyright Agreement

Once the paper is initially accepted, the authors are assumed to have transferred the copyright of the paper to the publisher. Please fill the attached Form, sign, and add to the final version of the manuscript as separate .pdf file.

It is also available on the webpage

https://www.editorialsystem.com/files/bpasts/docs/BPASTS_License_to_publish.pdf.

Proofs will be sent to the author (first named author if no corresponding author is identified for multi-authored papers) and should be returned within 48 hours of receipt.

Fees for printing the article

The Bulletin of the Polish Academy of Sciences: Technical Sciences (Bull. Pol. Ac.: Tech.) is published in Open Access, which means that all papers are available on the internet to all users immediately upon publication free of charge for the readers. By submitting a paper for publication, authors declare that they are ready to cover the costs of printing their paper. In exchange for a fee for printing, the PDF file of published paper is available at the Open Access platform: http://www.degruyter.com/view/j/bpasts

National (foreign) authors:

• The flat fee of 1230 PLN (approximately 300 EUR) per paper

Exempt from the fee are:

• Authors of articles ordered by the Editorial Board (Invited papers)

50% discount for:

• Reviewers (who performed at least 5 reviews per year) – one paper per year

• Guest Editors (the discount is valid only within the special section guest-edited by the author)

Mandatory over-length charges of 200 PLN (approximately 50 EUR) per page

in case the paper exceeds

• 8 printed double-column pages for regular research papers,

• 8 printed double-column pages for Special issue/section papers,

• No limit for invited (review) papers.

In addition, each color page will be charged an additional fee according to the current cost of printing. Otherwise, the paper will be printed in black-white.

Information needed for Proforma Invoice

1. Author’s/Authors’ Last name(s), Name(s), e-mail

2. Title of the paper

3. Exact name of the payer (person / institution or other legal entity realizing the transfer)

4. Address of the payer

5. Taxpayer Identification Number (TIN, in Polish NIP) – only when paid by an institution or another legal entity!

Check list for final submission to the Bull. Pol. Ac.: Tech (after review)

1. Is your manuscript up to date? Did you include references, which were published while your manuscript was being processed? It is expected that at least 20% of references are to journal papers published in the last two years. Authors are welcome to consider reference papers published in the Bull. Pol. Ac.: Tech. In order to find the recent Bull. Pol. Ac.: Tech. papers please visit Open Access platform: http://www.czasopisma.pan.pl/dlibra/journal/95347

2. Is your title adequate and is your abstract correctly written? In the age of electronic publications it is not easy to be noticed! Authors have to do everything possible so the paper will be seen and read. Therefore, very careful wording should be used in the title and in the abstract. Without a proper and interesting title and abstract a great paper might never be downloaded from the de Gruyter platform http://www.czasopisma.pan.pl/dlibra/journal/95347 and read.

3. Does the manuscript clearly describe problem(s) and your accomplishments? Can your manuscript be shortened? Are there sentences or paragraphs that do not provide important information and can be eliminated?

4. Is the length of your manuscript adequate? Please notice that for long papers, you may face mandatory over length charges per page.

5. Please make sure that the fee for printing your manuscript is paid.

Open Access policy

Bulletin of the Polish Academy of Sciences: Technical Sciences jest czasopismem wydawanym w wolnym dostępie na licencji CC BY-NC-ND 4.0.

Bulletin of the Polish Academy of Sciences: Technical Sciences is an open access journal with all content available with no charge in full text version. The journal content is available under the licencse CC BY-NC-ND 4.0.

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