Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291153
M. Filipovic
This work includes modelling and analysis of collision and jamming as really present phenomena in the realization of the contact of elastic robotic mechanism with the environment. Jamming and collision is implicated in complex robotic system who's kinematic is created (direct and inverse kinematics) as well as the process of synthesis of trajectory, and then a dynamic model under the influence of dynamic environment (if exists) with all elements of conjugation presented completely as well as with dynamic effects of present forces defined in classical form. Simulation experiments were performed on “two-degree” planar mechanism of robot applying positional law of controlling local feedback. Based on obtained simulation experiments it is shown how much complexity, how much flexibility of robotic system or dynamic of the environment, inevitable collision and jamming with the presence of friction affect to the total dynamic of the system.
{"title":"Elastic robotic system with analysis of collision and jamming","authors":"M. Filipovic","doi":"10.1109/SISY.2009.5291153","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291153","url":null,"abstract":"This work includes modelling and analysis of collision and jamming as really present phenomena in the realization of the contact of elastic robotic mechanism with the environment. Jamming and collision is implicated in complex robotic system who's kinematic is created (direct and inverse kinematics) as well as the process of synthesis of trajectory, and then a dynamic model under the influence of dynamic environment (if exists) with all elements of conjugation presented completely as well as with dynamic effects of present forces defined in classical form. Simulation experiments were performed on “two-degree” planar mechanism of robot applying positional law of controlling local feedback. Based on obtained simulation experiments it is shown how much complexity, how much flexibility of robotic system or dynamic of the environment, inevitable collision and jamming with the presence of friction affect to the total dynamic of the system.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117222517","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291168
O. E. Cseri, A. Kerti, Z. Vámossy
In our project we examined the possibilities of reconstructing a 3-D model from 2-D image sequences. During this project we aimed for an automated program which is capable of producing a 3-D model from a number of photographs. In this paper we demonstrate how our system works, the algorithms and theories behind it, the details of our implementation, and we also present a series of test-images and a model generated by our program as an output.
{"title":"3-D reconstruction system","authors":"O. E. Cseri, A. Kerti, Z. Vámossy","doi":"10.1109/SISY.2009.5291168","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291168","url":null,"abstract":"In our project we examined the possibilities of reconstructing a 3-D model from 2-D image sequences. During this project we aimed for an automated program which is capable of producing a 3-D model from a number of photographs. In this paper we demonstrate how our system works, the algorithms and theories behind it, the details of our implementation, and we also present a series of test-images and a model generated by our program as an output.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122936644","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291160
I. Kecskés, P. Odry
This article describes the creation MATLAB model for the six-legged walking robot by the name of new “Szabad(ka)-Duna”, starting from the creation of the motor model through the inverse kinematic and inverse dynamic model to the insertion of the control algorithms.
{"title":"Full kinematic and dynamic modeling of “Szabad(ka)-Duna” hexapod","authors":"I. Kecskés, P. Odry","doi":"10.1109/SISY.2009.5291160","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291160","url":null,"abstract":"This article describes the creation MATLAB model for the six-legged walking robot by the name of new “Szabad(ka)-Duna”, starting from the creation of the motor model through the inverse kinematic and inverse dynamic model to the insertion of the control algorithms.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"10 15 Suppl 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128527718","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291187
P. Stanic, V. Delic
This article contents a brief description of an e-learning material, a set of interactive online exercises developed for the education of fuzzy systems with the aim to get a supplement to theoretical lessons. Students can do experiments by changing the input parameters, and after submitting the inputs, they get the results immediately via the Internet in form of a web document containing variables and figures which show the membership functions and the surfaces of the fuzzy inference systems. Online creating new fuzzy inference systems and changing the existing ones is also possible for the users.
{"title":"Web-based exercises for educating basis of fuzzy logic","authors":"P. Stanic, V. Delic","doi":"10.1109/SISY.2009.5291187","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291187","url":null,"abstract":"This article contents a brief description of an e-learning material, a set of interactive online exercises developed for the education of fuzzy systems with the aim to get a supplement to theoretical lessons. Students can do experiments by changing the input parameters, and after submitting the inputs, they get the results immediately via the Internet in form of a web document containing variables and figures which show the membership functions and the surfaces of the fuzzy inference systems. Online creating new fuzzy inference systems and changing the existing ones is also possible for the users.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129915021","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291137
Szakall Tibor, B. Kuljic, P. Dukan, K. Máthé, O. Peter
In computer networks data flows can often reach transfer rates of several Gigabits per second. On the other hand most embedded systems have additional criteria — power consumption, size, low cost, generated heat — which usually means that even a flow rate of several Megabits per second is difficult to reach. This paper reports on the development of an automated embedded system for data transfers of up to 47Mib/s using two customized embedded 68k/Coldfire RISC microprocessors.
{"title":"Realization of protocol conversion for high speed data acquisition system","authors":"Szakall Tibor, B. Kuljic, P. Dukan, K. Máthé, O. Peter","doi":"10.1109/SISY.2009.5291137","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291137","url":null,"abstract":"In computer networks data flows can often reach transfer rates of several Gigabits per second. On the other hand most embedded systems have additional criteria — power consumption, size, low cost, generated heat — which usually means that even a flow rate of several Megabits per second is difficult to reach. This paper reports on the development of an automated embedded system for data transfers of up to 47Mib/s using two customized embedded 68k/Coldfire RISC microprocessors.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129113101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291121
I. Mezei, V. Malbasa, I. Stojmenovic
We assume that an event was reported to one of robots, and a response by one robot is required. The goal of robot-robot coordination for task assignment is to select the best robot for responding to a reported event so that communication cost for selecting, and response time for performing the task are minimized. Existing solutions, except those recently proposed in [3], are either centralized, neglecting communication cost, assuming complete graph, or based on flooding with individual responses to robot decision maker (simple auction protocol – SAP), ignoring communication cost and response time bound. This article proposes greedy improvement to previously proposed (in [3]) k-hop simple auction protocol (k-SAP) and k-hop simple auction aggregation protocol (k-SAAP) for task assignment in multi-hop wireless robot networks. After decision about the best robot is made by k-SAP or k-SAAP, new 1-SAP greedy auction is initiated by that robot in order to search for possibly better robot in 1-hop neighborhood. Such greedy approach proceeds until no better robot is found. Improvement of new k-SAPG and k-SAAPG over k-SAP and k-SAAP by applying greedy approach is shown by simulation results.
{"title":"Greedy extension of localized auction based protocols for wireless robot-robot coordination","authors":"I. Mezei, V. Malbasa, I. Stojmenovic","doi":"10.1109/SISY.2009.5291121","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291121","url":null,"abstract":"We assume that an event was reported to one of robots, and a response by one robot is required. The goal of robot-robot coordination for task assignment is to select the best robot for responding to a reported event so that communication cost for selecting, and response time for performing the task are minimized. Existing solutions, except those recently proposed in [3], are either centralized, neglecting communication cost, assuming complete graph, or based on flooding with individual responses to robot decision maker (simple auction protocol – SAP), ignoring communication cost and response time bound. This article proposes greedy improvement to previously proposed (in [3]) k-hop simple auction protocol (k-SAP) and k-hop simple auction aggregation protocol (k-SAAP) for task assignment in multi-hop wireless robot networks. After decision about the best robot is made by k-SAP or k-SAAP, new 1-SAP greedy auction is initiated by that robot in order to search for possibly better robot in 1-hop neighborhood. Such greedy approach proceeds until no better robot is found. Improvement of new k-SAPG and k-SAAPG over k-SAP and k-SAAP by applying greedy approach is shown by simulation results.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129184721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291140
A. Rodic, Dusko Katie, G. Mester
The paper regards development of an ambient intelligent (aware), multi agent, robot-sensor networks for outdoor surveillance and monitoring of human living and working environments. Heterogeneous robot-sensor system consists of autonomous, ambient aware, robust outdoor mobile robots for performing environmental tasks and networked distributed terrestrial and water sensors integrated into the unique Shared Environmental Information System (SEIS). The goal is supervision, monitoring and remote sensing of territories and lands. More specifically, the objectives of the paper are addressed to design new methods and technology that integrate enhanced perception, based on heterogeneous sensor system, with advanced cognitive capabilities of mobile robots. Integrated solutions are planned to be validated in a real environment such as park of nature “Ada Ciganlija” (city of Belgrade), taking full advantage of dynamic ecological system and recent advances in ICT technology and sensor miniaturisation.
{"title":"Ambient intelligent robot-sensor networks for environmental surveillance and remote sensing","authors":"A. Rodic, Dusko Katie, G. Mester","doi":"10.1109/SISY.2009.5291140","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291140","url":null,"abstract":"The paper regards development of an ambient intelligent (aware), multi agent, robot-sensor networks for outdoor surveillance and monitoring of human living and working environments. Heterogeneous robot-sensor system consists of autonomous, ambient aware, robust outdoor mobile robots for performing environmental tasks and networked distributed terrestrial and water sensors integrated into the unique Shared Environmental Information System (SEIS). The goal is supervision, monitoring and remote sensing of territories and lands. More specifically, the objectives of the paper are addressed to design new methods and technology that integrate enhanced perception, based on heterogeneous sensor system, with advanced cognitive capabilities of mobile robots. Integrated solutions are planned to be validated in a real environment such as park of nature “Ada Ciganlija” (city of Belgrade), taking full advantage of dynamic ecological system and recent advances in ICT technology and sensor miniaturisation.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"207 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120848415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291182
B. Mihailovic, E. Pap, L. Nedovic
We present a class of absolutely monotone and signed stable set functions with m() = 0, AMSS. The representation of a set function from AMSS as a symmetric maximum of two monotone set function is obtained. We present three integrals of a real-valued measurable function based on m ∊ AMSS.
{"title":"Absolutely monotone real set functions","authors":"B. Mihailovic, E. Pap, L. Nedovic","doi":"10.1109/SISY.2009.5291182","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291182","url":null,"abstract":"We present a class of absolutely monotone and signed stable set functions with m() = 0, AMSS. The representation of a set function from AMSS as a symmetric maximum of two monotone set function is obtained. We present three integrals of a real-valued measurable function based on m ∊ AMSS.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128050870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291171
S. M. Cisar, P. Císar, R. Pinter
Writing effective and efficient exams is a crucial component of the teaching and learning process. Exams are a common approach to assess student learning and the results are useful in a variety of ways. Most often, results are used to provide students with feedback on what they have learnt or to evaluate the instructional effectiveness of a course. Certainty-Based Marking (CBM) scores an objective test (usually done on a computer) in a way that rewards students for identifying and distinguishing between individual answers being reliable or unreliable. It penalizes confident errors and rewards a thoughtful and realistic judgment by the student on the basis of limitations of his/her knowledge.
{"title":"True/false questions analysis using computerized Certainty-Based Marking tests","authors":"S. M. Cisar, P. Císar, R. Pinter","doi":"10.1109/SISY.2009.5291171","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291171","url":null,"abstract":"Writing effective and efficient exams is a crucial component of the teaching and learning process. Exams are a common approach to assess student learning and the results are useful in a variety of ways. Most often, results are used to provide students with feedback on what they have learnt or to evaluate the instructional effectiveness of a course. Certainty-Based Marking (CBM) scores an objective test (usually done on a computer) in a way that rewards students for identifying and distinguishing between individual answers being reliable or unreliable. It penalizes confident errors and rewards a thoughtful and realistic judgment by the student on the basis of limitations of his/her knowledge.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"1117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134238484","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-10-23DOI: 10.1109/SISY.2009.5291138
R. Precup, C. Gavriluță, M. Radac, S. Preitl, C. Dragos, J. Tar, E. Petriu
The paper deals with the application of two Iterative Learning Control (ILC) structures to the position control of the inverted pendulum system in crane mode. The two control system structures are based on serial and parallel ILC in combination with the conventional feedback control system structures with PI controllers. Recommendations to set the parameters of the ILC algorithms are given on the basis of experimental results.
{"title":"Iterative Learning Control experimental results for inverted pendulum crane mode control","authors":"R. Precup, C. Gavriluță, M. Radac, S. Preitl, C. Dragos, J. Tar, E. Petriu","doi":"10.1109/SISY.2009.5291138","DOIUrl":"https://doi.org/10.1109/SISY.2009.5291138","url":null,"abstract":"The paper deals with the application of two Iterative Learning Control (ILC) structures to the position control of the inverted pendulum system in crane mode. The two control system structures are based on serial and parallel ILC in combination with the conventional feedback control system structures with PI controllers. Recommendations to set the parameters of the ILC algorithms are given on the basis of experimental results.","PeriodicalId":378688,"journal":{"name":"2009 7th International Symposium on Intelligent Systems and Informatics","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134590378","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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