Iskanje po katalogu digitalne knjižnice

Opis: Localization of a semi-humanoid mobile robot Pepper is proposed based on the particle swarm optimization algorithm (PSO) that is robust to the disturbance perturbations of LIDAR-measured distances from the mobile robot to the walls of the robot real laboratory workspace. The novel PSO, with the avoiding local minima algorithm (PSO-ALM), uses a novel fitness function that can prevent the PSO search from trapping into the local minima and thus prevent the mobile robot from misidentifying the actual location. The fitness function penalizes nonsense solutions by introducing continuous integrity checks of solutions between two different consecutive locations. The proposed methodology enables accurate and real-time global localization of a mobile robot, given the underlying a priori map, with a consistent and predictable time complexity. Numerical simulations and real-world laboratory experiments with different a priori map accuracies have been conducted to prove the proper functioning of the method. The results have been compared with the benchmarks, i.e., the plain vanilla PSO and the built-in robot’s odometrical method, a genetic algorithm with included elitism and adaptive mutation rate (GA), the same GA algorithm with the included ALM algorithm (GA-ALM), the state-of-the-art plain vanilla golden eagle optimization (GEO) algorithm, and the same GEO algorithm with the added ALM algorithm (GEO-ALM). The results showed similar performance with the odometrical method right after recalibration and significantly better performance after some traveled distance. The GA and GEO algorithms with or without the ALM extension gave us similar results according to the accuracy of localization. The optimization algorithms’ performance with added ALM algorithms was much better at not getting caught in the local minimum, while the PSO-ALM algorithm gave us the overall best results
Ključne besede: mobile robot localization, PSO algorithm, avoid the global minima
Objavljeno v DKUM: 17.10.2025; Ogledov: 0; Prenosov: 7
Celotno besedilo (2,95 MB)

Opis: Classic enhanced self-correcting battery equivalent models require proper model parameters and initial conditions such as the initial state of charge for its unbiased functioning. Obtaining parameters is often conducted by optimization using evolutionary algorithms. Obtaining the initial state of charge is often conducted by measurements, which can be burdensome in practice. Incorrect initial conditions can introduce bias, leading to long-term drift and inaccurate state of charge readings. To address this, we propose two simple and efficient equivalent model frameworks that are optimized by a genetic algorithm and are able to determine the initial conditions autonomously. The first framework applies the feedback loop mechanism that gradually with time corrects the externally given initial condition that is originally a biased arbitrary value within a certain domain. The second framework applies the genetic algorithm to search for an unbiased estimate of the initial condition. Long-term experiments have demonstrated that these frameworks do not deviate from controlled benchmarks with known initial conditions. Additionally, our experiments have shown that all implemented models significantly outperformed the well-known ampere-hour coulomb counter integration method, which is prone to drift over time and the extended Kalman filter, that acted with bias.
Ključne besede: enhanced self-correcting model, state of charge estimation, lithium-ion cell parameter identification
Objavljeno v DKUM: 08.01.2025; Ogledov: 0; Prenosov: 10
Celotno besedilo (5,96 MB)

Opis: Delo opisuje razvoj, izdelavo in testiranje potapljaške svetilke. Ker se sam ukvarjam s potapljanjem, je bila ideja razviti svetilko, ki bi omogočala česar svetilke, ki so trenutno dostopne na tržišču, še ne omogočajo. Cilj je bil izdelati svetilko, ki bi bila večstransko uporabna in namenjena predvsem profesionalni rabi. Zastavljene zahteve so bile ekstremno velika svetilnost, odpornost na velike tlake, izvedba kot celota ali kot ločen akumulator od svetilnega dela. V delu je opisano načrtovanje mehanskega in elektronskega dela prototipa potapljaške svetilke ter krmiljenje njene svetilnosti. Podrobneje je predstavljena tudi analiza stabilnosti regulacijske zanke in njena implementacija. V zadnji fazi so izvedena tudi praktična testiranja prototipa glede na zastavljene zahteve.
Ključne besede: odpornost na velike tlake, LED, svetilnost, baterijsko napajanje, boost, krmiljenje
Objavljeno v DKUM: 22.04.2016; Ogledov: 1540; Prenosov: 116
Celotno besedilo (3,48 MB)