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Katedra Systemów Decyzyjnych i Robotyki
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Rok 2020
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Toolchain Modeling: Comprehensive Engineering Plans for Industry 4.0
PublikacjaThe fourth industrial revolution (Industry 4.0) elevates the complexity and autonomy of industrial systems and engineering environments to levels not seen before. The novel challenges involve not only the software running on the partaking autonomous devices, but also architectural considerations and the technological infrastructure around the entire engineering process. In this paper, complementing the trends in industrial systems...
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Testing Stability of Digital Filters Using Multimodal Particle Swarm Optimization with Phase Analysis
PublikacjaIn this paper, a novel meta-heuristic method for evaluation of digital filter stability is presented. The proposed method is very general because it allows one to evaluate stability of systems whose characteristic equations are not based on polynomials. The method combines an efficient evolutionary algorithm represented by the particle swarm optimization and the phase analysis of a complex function in the characteristic equation....
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Stability analysis of interconnected discrete-time fractional-order LTI state-space systems
PublikacjaIn this paper, a stability analysis of interconnected discrete-time fractional-order (FO) linear time-invariant (LTI) state-space systems is presented. A new system is formed by interconnecting given FO systems using cascade, feedback, parallel interconnections. The stability requirement for such a system is that all zeros of a non-polynomial characteristic equation must be within the unit circle on the complex z-plane. The obtained...
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Simulation of Wave Propagation in Media Described by Fractional-Order Models
PublikacjaIn this paper, algorithms for simulation of the wave propagation in electromagnetic media described by fractional-order (FO) models (FOMs) are presented. Initially, fractional calculus and FO Maxwell's equations are introduced. The problem of the wave propagation is formulated for media described by FOMs. Then, algorithms for simulation of the non-monochromatic wave propagation are presented which employ computations in the time...
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Simulation of Signal Propagation Along Fractional-Order Transmission Lines
PublikacjaIn this paper, the simulation method of signal propagation along fractional-order (FO) transmission lines is presented. Initially, fractional calculus and the model of FO transmission line are introduced. Then, the algorithm allowing for simulation of the nonmonochromatic wave propagation along FO transmission lines is presented. It employs computations in the frequency domain, i.e., an analytical excitation is transformed to the...
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Signal propagation in electromagnetic media described by fractional-order models
PublikacjaIn this paper, signal propagation is analysed in electromagnetic media described by fractional-order (FO) models (FOMs). Maxwell’s equations with FO constitutive relations are introduced in the time domain. Then, their phasor representation is derived for one-dimensional case of the plane wave propagation. With the use of the Fourier transformation, the algorithm for simulation of the non-monochromatic wave propagation is introduced....
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Rozpoznawanie urządzeń i wykrywanie nieautoryzowanego poboru energii elektrycznej na podstawie pomiaru napięcia
PublikacjaW pracy rozpatrywany jest problem wykrywania nieautoryzowanego poboru energii z sieci elektrycznej przez identyfikację podłączonych urządzeń. Estymacja stanu sieci, rozumianej jako zbiór podpiętych układów, wraz z ustaloną listą urządzeń dopuszczonych, pozwala określić, czy w danej chwili ma miejsce pobór nieautoryzowany. W celu wykrywania urządzeń, proponuje się wykorzystać prostą metodę opartą na analizie wysokoczęstotliwościowego...
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Performance Analysis of Convolutional Neural Networks on Embedded Systems
PublikacjaMachine learning is no longer confined to cloud and high-end server systems and has been successfully deployed on devices that are part of Internet of Things. This paper presents the analysis of performance of convolutional neural networks deployed on an ARM microcontroller. Inference time is measured for different core frequencies, with and without DSP instructions and disabled access to cache. Networks use both real-valued and...
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Open-Source Coprocessor for Integer Multiple Precision Arithmetic
PublikacjaThis paper presents an open-source digital circuit of the coprocessor for an integer multiple-precision arithmetic (MPA). The purpose of this coprocessor is to support a central processing unit (CPU) by offloading computations requiring integer precision higher than 32/64 bits. The coprocessor is developed using the very high speed integrated circuit hardware description language (VHDL) as an intellectual property (IP) core. Therefore,...
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On Applications of Fractional Derivatives in Electromagnetic Theory
PublikacjaIn this paper, concepts of fractional-order (FO) derivatives are analysed from the point of view of applications in the electromagnetic theory. The mathematical problems related to the FO generalization of Maxwell's equations are investigated. The most popular formulations of the fractional derivatives, i.e., Riemann-Liouville, Caputo, Grünwald-Letnikov and Marchaud definitions, are considered. Properties of these derivatives are...
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On Applications of Fractional Derivatives in Circuit Theory
PublikacjaIn this paper, concepts of fractional-order (FO) derivatives are discussed from the point of view of applications in the circuit theory. The properties of FO derivatives required for the circuit-level modelling are formulated. Potential problems related to the generalization of transmission line equations with the use of FO derivatives are presented. It is demonstrated that some of formulations of the FO derivatives have limited...
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On Applications of Elements Modelled by Fractional Derivatives in Circuit Theory
PublikacjaIn this paper, concepts of fractional-order (FO) derivatives are reviewed and discussed with regard to element models applied in the circuit theory. The properties of FO derivatives required for the circuit-level modeling are formulated. Potential problems related to the generalization of transmission-line equations with the use of FO derivatives are presented. It is demonstrated that some formulations of FO derivatives have limited...
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Nonreciprocal cavities and the time-bandwidth limit: comment
PublikacjaIn their paper in Optica 6, 104 (2019), Mann et al. claim that linear, time-invariant nonreciprocal structures cannot overcome the time-bandwidth limit and do not exhibit an advantage over their reciprocal counterparts, specifically with regard to their time-bandwidth performance. In this Comment, we argue that these conclusions are unfounded. On the basis of both rigorous full-wave simulations and insightful physical justifications,...
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Multimodal Particle Swarm Optimization with Phase Analysis to Solve Complex Equations of Electromagnetic Analysis
PublikacjaIn this paper, a new meta-heuristic method of finding roots and poles of a complex function of a complex variable is presented. The algorithm combines an efficient space exploration provided by the particle swarm optimization (PSO) and the classification of root and pole occurrences based on the phase analysis of the complex function. The method initially generates two uniformly distributed populations of particles on the complex...
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Multimodal Genetic Algorithm with Phase Analysis to Solve Complex Equations of Electromagnetic Analysis
PublikacjaIn this contribution, a new genetic-algorithm-based method of finding roots and poles of a complex function of a complex variable is presented. The algorithm employs the phase analysis of the function to explore the complex plane with the use of the genetic algorithm. Hence, the candidate regions of root and pole occurrences are selected and verified with the use of discrete Cauchy's argument principle. The algorithm is evaluated...
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Modele rurociągowych procesów przepływowych
PublikacjaW rozdziale analizowane jest zagadnienie modelowania oraz parametryzacji procesu przepływu w rurociągach przemysłowych. W pierwszej kolejności przedstawia się bazowy model dyskretny, do którego odnoszone są pozostałe syntezowane rozwiązania. Następnie proponuje się metodę aproksymacji diagonalnej (AMDA), w której stosuje się przybliżenia trójdiagonalnych podmacierzy macierzy rekombinacji za pomocą ich diagonalnych odpowiedników...
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Magnetic switching of Kerker scattering in spherical microresonators
PublikacjaMagneto-optical materials have become a key tool in functional nanophotonics, mainly due to their ability to offer active tuning between two different operational states in subwavelength structures. In the long-wavelength limit, such states may be considered as the directional forward- and back-scattering operations, due to the interplay between magnetic and electric dipolar modes, which act as equivalent Huygens sources. In this...
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Interpretation and modeling of emotions in the management of autonomous robots using a control paradigm based on a scheduling variable
PublikacjaThe paper presents a technical introduction to psychological theories of emotions. It highlights a usable ideaimplemented in a number of recently developed computational systems of emotions, and the hypothesis thatemotion can play the role of a scheduling variable in controlling autonomous robots. In the main part ofthis study, we outline our own computational system of emotion – xEmotion – designed as a key structuralelement in...
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Improved model of isothermal and incompressible fluid flow in pipelines versus the Darcy–Weisbach equation and the issue of friction factor
PublikacjaIn this article, we consider the modelling of stationary incompressible and isothermal one-dimensional fluid flow through a long pipeline. The approximation of the average pressure in the developed model by the arithmetic mean of inlet and outlet pressures leads to the known empirical Darcy–Weisbach equation. Most importantly, we also present another improved approach that is more accurate because the average pressure is estimated...
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Fundamental properties of solutions to fractional-order Maxwell's equations
PublikacjaIn this paper, fundamental properties of solutions to fractional-order (FO) Maxwell's equations are analysed. As a starting point, FO Maxwell's equations are introduced in both time and frequency domains. Then, we introduce and prove the fundamental properties of electromagnetic field in FO electromagnetics, i.e. energy conservation, uniqueness of solutions, and reciprocity. Furthermore, the algorithm of the plane wave simulation...
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Diagnostic Models and Estimators for LDI in Transmission Pipelines
PublikacjaThis article considers and compares four analytical models of the pipeline flow process for leak detection and location tasks. The synthesis of these models is briefly outlined. Next, the methodology for generating data and diagnosing pipes is described, as well as experimental settings, assumptions and implemented scenarios. Finally, the quality of model-based diagnostic estimators has been evaluated for their bias, standard deviations...
Rok 2019
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TIME- AND FREQUENCY-DOMAIN QUASI-2D SMALL-SIGNAL MOSFET MODELS
PublikacjaA novel approach to small-signal MOSFET modeling is presented in this book. As a result, time- and frequency-domain physics-based quasi-2D NQS four-terminal small-signal MOSFET models are proposed. The time-domain model provides the background to a novel DIBL-included quasi‑2D NQS four-terminal frequency-domain small-signal MOSFET model. Parameters and electrical quantities of the frequency-domain model are described by explicit...
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The impact of the temperament model on the behavior of an autonomous driver
PublikacjaBecause it is generally believed that the personality and temperament of a human driver influence his/her behavior on the road, the article presents a computational model of the temperament of an autonomous agent - a driver. First, a short review of the four ideas of Galen’s temperament in psychology is presented. Temperament traits are grouped into four other sets, one of which is chosen for implementation in the project of integration...
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System bezpieczeństwa dla współpracującego robota przemysłowego na bazie kamer głębi
PublikacjaW artykule zarysowano problematykę robotyzacji małych przedsiębiorstw, w szczególności aspekt robotyzacji z uwzględnieniem robotów współpracujących. Szeroko omówiono zagadnienie robotów współpracujących oraz bezpieczeństwa człowieka podczas takiej współpracy. Przedstawiono również najbardziej popularne systemy bezpieczeństwa w odniesieniu do obowiązujących norm. W głównej części artykułu przedstawiono Cooperating Automaton System...
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Sphere Drive and Control System for Haptic Interaction With Physical, Virtual, and Augmented Reality
PublikacjaA system for haptic interaction with physical, virtual, and augmented realities, founded on drive and measurement elements (DMEs), is considered. The system consists of eight DME rolls equipped with linear actuators, able to measure their angular velocity, drive the sphere, and adjust downforce (pressing the roll against the sphere). Two modeling issues are addressed. Special effort is put in to compensate for various technical...
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Sieciowy Monitor Obiektu – rozproszony system inteligentnego zarządzania złożonymi obiektami przemysłowymi
PublikacjaCelem pracy jest opracowanie kompletnego środowiska pozwalającego na budowę autonomicznych systemów diagnostyki, monitorowania, sterowania i zarządzania inteligentnymi budynkami. W ramach przeprowadzonych prac badawczych przedstawiono opracowaną koncepcję Sieciowego Monitora Obiektu (SMO) oraz metody komunikacji pomiędzy urządzeniami pomiarowo- diagnostyczno-sterującymi w oparciu o wspólną szynę danych Diagnostic Service...
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Recurrence scheme for FDTD-compatible discrete Green's function derived based on properties of Gauss hypergeometric function
PublikacjaIn this paper, the formulation of one-dimensional FDTD (Finite-difference time-domain)-compatible discrete Green's function (DGF) is derived based on the Gauss hypergeometric function (GHF). The properties of GHF make it possible to derive the recurrence scheme only in the time domain for the DGF generation. Furthermore, this recurrence scheme is valid for any stable time-step size and can be implemented using standard numerical...
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Odwzorowanie obiektów ograniczonego środowiska na trójwymiarowej mapie cyfrowej z wykorzystaniem robotów mobilnych zaopatrzonych w stereowizję
PublikacjaProblem podjęty w rozprawie dotyczy trójwymiarowego odwzorowania otoczenia przez roboty mobilne. Wpisuje się on w zagadnienie SLAM - jednoczesnego określania położenia i tworzenia mapy. W pracy skupiono się na wybranej realizacji mapowania opartej na stereowizji (konkretnego zagadnienia SLAM). Duży nacisk położono także na warunki konieczne do zapewnienia prawidłowej stereowizji oraz na sprzętowy układ eksperymentu, który umożliwia...
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Modeling of medium flow processes in transportation pipelines - the synthesis of their state-space models and the analysis of the mathematical properties of the models for leak detection purposes
PublikacjaThe dissertation concerns the issue of modeling the pipeline flow process under incompressible and isothermal conditions, with a target application to the leak detection and isolation systems. First, an introduction to the model-based process diagnostics is provided, where its basic terminology, tools, and methods are described. In the following chapter, a review of the state of the art in the field of leak detection and isolation...
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JamesBot - an intelligent agent playing StarCraft II
PublikacjaThe most popular method for optimizing a certain strategy based on a reward is Reinforcement Learning (RL). Lately, a big challenge for this technique are computer games such as StarCraft II which is a real-time strategy game, created by Blizzard. The main idea of this game is to fight between agents and control objects on the battlefield in order to defeat the enemy. This work concerns creating an autonomous bot using reinforced...
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Intelligent monitoring the vertical dynamics of wheeled inspection vehicles
PublikacjaThe problem of intelligent monitoring of the vertical dynamics of wheeled inspection vehicles is addressed. With the independent MacPherson suspension system installed, the basic analysis focuses on the evaluation of the parameters of the so-called quarter car model. To identify a physically motivated continuous description, in practice, dedicated integral-horizontal filters are used. The obtained discrete model, which retains...
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Intelligent Autonomous Vehicles
PublikacjaAdvanced mobile vehicles and robots have long been one of the main issues in engineering. They have various applications in emergency, lifeguarding and entertainment as well as in various industrial, civil and military systems. Among them, you can distinguish robots that can move in an open environment or operate only in predetermined confined spaces. Open world robots are very demanding because they have...
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Intelligent Autonomous Robot Supporting Small Pets in Domestic Environment
PublikacjaIn this contribution, we present preliminary results of the student project aimed at the development of an intelligent autonomous robot supporting small pets in a domestic environment. The main task of this robot is to protect a freely moving small pets against accidental stepping on them by home residents. For this purpose, we have developed the mobile robot which follows a pet and makes an alarm signal when a human is approaching....
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Implementation of control system and tracking objects in a Quadcopter
PublikacjaIn this paper, we implement a quadcopter assembly with control and navigation module. The project also includes the design of the control panel for the operator which consists of a set of the micro-controller and the glove equipped with sensors and buttons. The panel has a touch screen which displays current parameters such as vehicle status, including information about orientation and geographical coordinates. The concept of quadcopter...
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Implementation of Addition and Subtraction Operations in Multiple Precision Arithmetic
PublikacjaIn this paper, we present a digital circuit of arithmetic unit implementing addition and subtraction operations in multiple-precision arithmetic (MPA). This adder-subtractor unit is a part of MPA coprocessor supporting and offloading the central processing unit (CPU) in computations requiring precision higher than 32/64 bits. Although addition and subtraction operations of two n-digit numbers require O(n) operations, the efficient...
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Fractional Order Circuit Elements Derived from Electromagnetism
PublikacjaIn this paper, derivations of fractional-order (FO) circuit-element equations from electromagnetism are presented. Whilst many papers are devoted to FO modelling of electrical circuits, there are no strong foundations for such an approach. Therefore, we investigate relations between the FO electromagnetism and the FO circuit theory. Our derivations start from quasi-static (QS) approximations of Maxwell's equations in media with...
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Emotion monitoring system for drivers
PublikacjaThis article describes a new approach to the issue of building a driver monitoring system. Actual systems focus, for example, on tracking eyelid and eyebrow movements that result from fatigue. We propose a different approach based on monitoring the state of emotions. Such a system assumes that by using the emotion model based on our own concept, referred to as the reverse Plutchik’s paraboloid of emotions, the recognition of emotions...
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Elementy psychologii w kontekście autonomii robotów
PublikacjaW niniejszym opracowaniu zaprezentowano szerokie spektrum zagadnień związanych z psychologią poznawczą w kontekście antropoidalnej robotyki. W szczególności omówiono sposób przetwarzania informacji u człowieka, od bodźca do reakcji, tak aby przedstawioną wiedzę można było wykorzystać przy projektowaniu robotów autonomicznych. Na początku pracy szczegółowo omówiono procesy poznawcze: percepcję sensoryczną, spostrzeganie,...
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Electromagnetic-based derivation of fractional-order circuit theory
PublikacjaIn this paper, foundations of the fractional-order circuit theory are revisited. Although many papers have been devoted to fractional-order modelling of electrical circuits, there are relatively few foundations for such an approach. Therefore, we derive fractional-order lumped-element equations for capacitors, inductors and resistors, as well as Kirchhoff’s voltage and current laws using quasi-static approximations of fractional-order...
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Classification of objects in the LIDAR point clouds using Deep Neural Networks based on the PointNet model
PublikacjaThis work attempts to meet the challenges associated with the classification of LIDAR point clouds by means of deep learning. In addition to achieving high accuracy, the designed system should allow the classification of point clouds covering an area of several dozen square kilometers within a reasonable time interval. Therefore, it must be characterized by fast processing and efficient use of memory. Thus, the most popular approaches...
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Acceleration of the Discrete Green’s Function Formulation of the FDTD Method Based on Recurrence Schemes
PublikacjaIn this paper, we investigate an acceleration of the discrete Green's function (DGF) formulation of the FDTD method (DGF-FDTD) with the use of recurrence schemes. The DGF-FDTD method allows one to compute FDTD solutions as a convolution of the excitation with the DGF kernel. Hence, it does not require to execute a leapfrog time-stepping scheme in a whole computational domain for this purpose. Until recently, the DGF generation...
Rok 2018
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Usuwanie tła w video nagraniach pochodzących z monitorowania basenu pływackiego
PublikacjaAutomatyczna obróbka obrazu w czasie rzeczywistym jest kluczowa dla wielu rozwiązań monitoringu wykorzystywanych m.in. w celach bezpieczeństwa. Często jednym z ważniejszych etapów obróbki jest oddzielenie tła od obiektów na pierwszym planie, tak aby wykluczyć wszystkie nieistotne informacje z obrazu. Celem niniejszej pracy jest podsumowanie doświadczenia zdobytego podczas śledzenia pływaków oraz pokazanie możliwości skutecznego...
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The Use of an Autoencoder in the Problem of Shepherding
PublikacjaThis paper refers to the problem of shepherding clusters of passive agents consisting of a large number of objects by a team of active agents. The problem of shepherding and the difficulties that arise with the increasing number of data describing the location of agents have been described. Several methods for reducing the dimensionality of data are presented. Selected autoencoding method using a Restricted Boltzmann Machine is...
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River Flow Simulation Based on the HEC-RAS System
PublikacjaThis work considers the problem of river floods, and presents a computer solution that can be used to predict such a threat. The basic tool, called Hydrologic Engineering Centers for River Analysis System (HEC-RAS), and created by the US Army Corps of Engineering, is well developed; and the models created in the system HEC-RAS are quite realistic. For the purpose of solving practical national flood problems, simplified static and...
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Reduction of Computational Complexity in Simulations of the Flow Process in Transmission Pipelines
PublikacjaThe paper addresses the problem of computational efficiency of the pipe-flow model used in leak detection and identification systems. Analysis of the model brings attention to its specific structure, where all matrices are sparse. With certain rearrangements, the model can be reduced to a set of equations with tridiagonal matrices. Such equations can be solved using the Thomas algorithm. This method provides almost the same values...
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Numerical Test for Stability Evaluation of Discrete-Time Systems
PublikacjaIn this paper, a new numerical test for stability evaluation of discrete-time systems is presented. It is based on modern root-finding techniques at the complex plane employing the Delaunay triangulation and Cauchy's Argument Principle. The method evaluates if a system is stable and returns possible values and multiplicities of unstable zeros of the characteristic equation. For state-space discrete-time models, the developed test...
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Low-Cost Flight Simulator with Possibility of Modeling of Flight Controls Failures
PublikacjaThe goal of this paper is to present a development of a low cost flight simulator, that allows to simulate flight controls failures. Cessna 172 has been chosen as an example of a general aviation aircraft and the flight model has been implemented in Simulink. The model allows for easy integration of an experimental autopilot, using various strategies. Aerodynamic coefficients have been calculated using software called DATCOM. Such...
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IP Core of Coprocessor for Multiple-Precision-Arithmetic Computations
PublikacjaIn this paper, we present an IP core of coprocessor supporting computations requiring integer multiple-precision arithmetic (MPA). Whilst standard 32/64-bit arithmetic is sufficient to solve many computing problems, there are still applications that require higher numerical precision. Hence, the purpose of the developed coprocessor is to support and offload central processing unit (CPU) in such computations. The developed digital...
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Identification of Emotions Based on Human Facial Expressions Using a Color-Space Approach
PublikacjaHCI technology improves human-computer interaction. Such communication can be carried out with the use of emotions that are visible on the human face since birth. In this paper the Emotion system for detecting and recognizing facial expressions, developed in the MSc work, is presented. The system recognizes emotion from webcam video in real time. It is based on color segmentation and morphological operations. The system uses a...
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Identification of Continuous Systems - Practical Issues of Insensitivity to Perturbations
PublikacjaIn this paper the issue of continuous systems estimation, insensitive to certain perturbations, is discussed. Such an approach has rational advantages, especially when robust schemes are used to assist a target system responsible for industrial diagnostics. This requires that estimated model parameters are generated on-line, and their values are reliable and to a great extent accurate. Practical hints are suggested to challenge...