Papers by Author: Piotr Niklas

Abstract: In this paper the identification method of the parameter representing the inertia of masses flowing water throw the pipes in water power plants has been presented. The value of this parameter is used in adaptable method of synchronizing power generators. The identification based on the simplified mathematical model of the hydro-turbine and initial phase of the response to synchronizing power object. Application mathematical model compose synchronous generator during idle work, hydro-turbine with long pipes and large head and controller of governor. Identification Tw parameter process consists of two steps. The first step is connected with analyzing initial phase of transient characteristic. And the next point is connected with determinate coefficients of linear flattening and characteristic point. This point is realized by sending control signals of angular velocity from automatic synchronizer to controller. This cause changing frequency of voltage which is the next (point by point) registered in selected moments in matrix. A shown synchronization method is

Abstract: The main goal of this article is to compare the accuracy of the extrapolations time phase coincidence for the selected methods. In the comparing analysis selected the method using calculable function, polynomial function and linear function. The general idea of synchronization proceed in electrical power system is presented. The most important work conditions during realization of this proceed are mentioned. The most important is the realization of phase condition. Incorrect realization of the phase condition may causes numerous consequences, from power impact and current compensatory impact till loose of synchronous work. For this reason known methods of extrapolation of the time phase coincidence are recalled and their pros and cons are described. Next a new non-linear method of extrapolation of the time phase coinci¬dence realized by calculable function is presented. Then the comparison analysis of the selected methods is made. As the comparative criterion the time phase error is taken. The methods were tested for different parameters concerning frequency difference of voltages synchronizing power objects. One of the testing data set obtained from the mathematical model of the control speed angle unit for water plant with long pipes and large difference water levels. This gives the rigorous testing conditions because of the dynamic changing frequency difference. The values of the numerous tests done on the testing device showed that the new method results in better performance parameters. The paper includes the most important results of the comparative tests. Conclusions and final summary are made.

Abstract: In this paper the authors present the localization system which uses triangulation and trilateration to position mobile robot in the two-dimensional space. Distance was measured with the strength of radio signal emitted by devices of existing communication network, which were constructed by the authors. To get the actual distance in the function of radio signal strength the calibration curve, which was set empirically, made from the spline of linear functions was used. Research in this paper can be divided into two parts: the quality tests of communication and the localization using radio waves. Quantity measure of the correctly transmitted frames showed that the communication network works with the credibility of 80%, which is good result for the radio waves. Outcome of the localization quality showed that the position error did not surpass 1.7 m, which is a good result compared to the error of a typical GPS receiver is 15 m. Summing up, the localization system proposed by the authors is working well. Furthermore the test showed that triangulation and trilateration are universal methods of positioning and they can be used in other systems. Additionally the test indicated that the accuracy can by increased by using devices with a better signal strength measure.

Abstract: In paper the methodology of complete coverage of unknown area by autonomous mobile robot is described. The main principles of complete coverage task using sensory data only are given. The shape of coverage area is defined. The modified "the way of the ox" algorithm is proposed to realize this task and its following stages are described. Definitions of two quality indicators of realization of complete coverage task are given. The behaviour based control methodology imitated reactions of animals, realized the robot's movement, is presented. The general structure of reactive and proactive behaviours is showed. The example structures of defined reactive and proactive beheaviours, which allow to achive given task, are described. The example structure of complex behaviour implemented in Matlab-Simulink environment is presented. Graphical results of simulations of complete coverage task are presented. Values of quality indicators D and E are given and discussed.

Abstract: Robotics is actually one of the most important technologies; which in the last year has been developing very fast. It’s interdisciplinary since combine mechanics, automatic, electric, and computer since. This paper presents generally the problems in navigation which should be solved by all who wants to build such educational and mobile robots [1, 3, 5, and 7]. For this reason the mechanical structure, module of communication, digital sonar and main board of autonomous and mobile robot for laboratory tasks has been described [2, 4]. After that the operation principle was given and some of the realized tests have been shown. A next possibility of development of the robot has been presented. Moreover the way, which satisfies the need of the large computational power on usually small platforms of mobile robots and the most advantageous sorts of the power supply from the point of view of the robot which realizes specify functions has been described. At the end of paper the conclusions has been extracted. Wide laboratory tests of the robot presented in this paper fully confirm all guideliness. In spite of fact that the device is very simple and very cheep, succesfully meet tasks in teaching, and enables students to meet fascinating subject of the mobile robots. Possibility of extension this subject can be continued during realization of other programs.