Solid State Phenomena Vol. 210

Abstract: The paper presents a design of a computer measuring system for the recording and visualisation of selected parameters of an AC motor. Such parameters are characterised and the principles of their configuration are stated for a three-phase soft-start system. The measuring experiments were performed on the drive during the start-up. The results are represented as time characteristics of the phase to-phase voltage, of phase current and of rotational speed.

Abstract: The paper presents system architecture of mission planning and autonomous surface vehicle (ASV) "Edredon" control. The modular structure of the system makes possible realization of many tasks related to an ASV management. Due to appropriate configuration of its modules, it can perform such tasks as: mission planning on the command post, autonomous control of an ASV, as well as to serve as a training simulator for operators training and a simulator for ASVs control algorithms evaluation.

Abstract: This paper describes application of elements of dynamic game theory for automation of the process of controlling moving objects, on an example of safe control of the own vessel in collision situations while passing encountered vessels. A method of determining safe game trajectory of the vessel has been presented in a form of a multi-stage matrix game of cooperating or non-cooperating objects of control. The method of dual linear programming has been used for the synthesis of the computer algorithm of control. The considerations have been illustrated with examples of a computer simulation, in Matlab/Simulink language, of safe trajectory of the vessel in a real situation at sea. Characteristics of sensitivity of the game control to the inaccuracy of information on the condition of the process and change of its parameters have been presented.

Abstract: In this paper the parameter identification methods for nonlinear models were compared for fractional, partial differential equation. The compared three methods are: the Levenberg-Marquardt algorithm, the Gauss-Newton algorithm and Nelder-Mead Simplex method. The series of numerical experiments were performed to test their robustness and calculation speed. The result of this tests were presented and described.

Abstract: The paper is focused on presenting first steps in attempting to build model of the motion of the biomimetic underwater vehicle (BUV) based on experimental studies of traveling wave parameters on the robots speed. In the introduction the mechanical and electronic part of the fifth version of BUV called CyberFish is shortly presented as well as its enhanced motion principle based on traveling wave. The second paragraph covers experiment description and discusses its results.

Abstract: In this paper the attempt to make an analysis of short duration Micro ROV distance measurement using low-cost MEMS accelerometers was presented. The main emphasis was placed on the gravity compensation and state estimation with Kalman filter method. The MEMS accelerometers error characteristics and the process model for measuring displacement of Micro ROV using accelerometers were presented. Finally, the examples of the verification results were performed.

Abstract: The article showcases a concept of using multiple Unmanned Engineering Machines (UEMs) for carrying out a single, complex engineering task. Major part of it focuses on the overall structure of the system and the way in allows to interact between the human-operator and the UEMs. Controlling a single machine requires a lot from the operator in terms of concentration and managing a lot of data. Having him simply command several different units would create the level of stress exponentially. That is why the paper presents a series of mechanisms which could take the unnecessary load from the operator during task execution. Lastly, it proposes a small scale execution scenario of proposed solutions using UEMs constructed by the Machine Building Faculty of the Military University of Technology (MUT).

Abstract: Unmanned ground platforms are increasingly used to perform tasks under direct threat to the operators life and health. Separating an operator from a controlled machine places high demands to its steering system. The requirement of reliability put to such platforms in terms of potential threats makes their steering systems being very precise controlled and tested at the stage of construction. The key element in the steering process of unmanned ground platforms are surroundings display systems which determine the success of conducting rescue operations. This paper presents an unmanned ground platform controlled by remote operator and describes some of the functionality tests of the remote control system. Keywords: Robot, Remote Control, Vision System, Teleoperation

Abstract: The paper describes the wheeled rescue robot FRR drawn up by a team of Engineering Machines and Robots at Military University of Technology. It also shows a brief description of predicted for implementation tasks by FRR and probable problems that might occur and should be solved. Next the paper describes the method and the model which served to simulation evaluation of rigidity for robots suspension system. Describing the simulation model, used simplified assumptions and the method of calculating the basic parameters for model were described. The following chapter presents simulation that the model was tested through and some model results of the test. In the final phase of the article the conclusion and discussion is presented.

Abstract: This article presents the concept and construction of a mobile underwater robot. The robot is designed to work on battery power (cordless) and its movement systems is design after fish locomotion. The robot is propelled using fins which allow it to emerge submerge and move in a water environment. The robot is controlled using a remote control panel which communicates with the main control unit inside the robot