Wydział Elektrotechniki, Elektroniki, Informatyki i Automatyki / Faculty of Electrical, Electronic, Computer and Control Engineering / W2
Stały URI zbioruhttp://hdl.handle.net/11652/2
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Pozycja Fuzzy logic approach proposal for human-robot interaction modelling(Wydawnictwo Politechniki Łódzkiej, 2016) Kosiński, Tomasz; Kucharski, JacekScientists need to look into the future and address the issues not yet anticipated in the society, especially those directly concerning its members safety and life. It is not a new conclusion to say that robots are becoming more and more sophisticated in their forms and actions. The humanity will soon face machines known to date from science-fiction literature only- resembling humans by appearance and behavior to an utmost extent. In the presented work, the Authors have proposed a fuzzy logic approach for Human-Robot Interaction (HRI) modelling, considering factors of two levels of interaction between a person and a machine: physical and psychological. The factors are, respectively: the distance between a person and a robot and the robot's performance, defined also using reliability and dependability terms. The proposal was based mainly on the qualitative knowledge obtained from the HRI experiments, with a support of available, limited quantitative data. This is to assure that when the sophisticated robot will knock at human's door, it will be able to interact with him in a way as close to seamless as possible. It is worth to note that the presented chapter proposes ( 1) a formalized modelling approach for HRI research work purposes and (2) the use of fuzzy logic to model intuitively·understood and interpreted relations between humans and robots.Pozycja Application of adaptive and fuzzy techniques in control of permanent magnet motors(Oficyna Wydawnicza Politechniki Wrocławskiej, 2007) Kabziński, JacekThe scope of the paper is to demonstrate that fuzzy models together with adaptive control techniques are useful methods in control permanent magnet motor's currents, speed and position. It is dso pointed out that fuzzy flux distribution models can be helpful to obtain so called "circle diagram" of the machine with saturation and to derive optimal desired currents trajectories. The applicability of disturbance fuzzy model for solving the problem of tracking position control oflinear motor is also demonstrated.Pozycja Fuzzy systems in permanent magnet motors description(Oficyna Wydawnicza Politechniki Wrocławskiej, 2007) Kabziński, JacekSeveral artificial intelligence techniques for fuzzy modelling of flux distribution, electromagnetic and disturbance (friction, ripples) torques in permanent magnet rotational motors are proposed. Based on a model taking into account several nonlinear phenomena such as non-sinusoidal flux linkage, saturation effects etc observer-based parameter identifiers approach is used to plan identification experiments and to obtain the data. Next fuzzy models are applied to approximate the experimental data. Several training algorithms tuning the fuzzy model parameters and to simplifying the model structure are compared.