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[citace_rtf] =>
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author="Martin {Liška} and Pavel {Houška}",
title="DESIGN OF CLASHING SENSOR FOR MOBILE ROBOT",
booktitle="Engineering mechanics 2005",
year="2005",
pages="6",
publisher="Academy of Sciences of the Czech Republic",
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[popis] => The article contains the description of technical measurement application of hydraulic pressure in hydraulic control system of planetary gearbox with three freedom defrees and practical example of modeling of the influence defferent courses control pressures on the quantity of dynamic load of toothhead of planetary gearbox mechanism. It is used the dynamic properties of driving composite method of analysis for the modeling.
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[citace_text] => CHALUPA, M.; KRATOCHVÍL, C.; KOTEK, V.; HERIBAN, P. Combined method of analysis of driving systems dynamic properties. In 1. 1. Bratislava: 2006. p. 165-196. ISBN: 80-8075-128-5.
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[citace_rtf] =>
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title="Combined method of analysis of driving systems dynamic properties",
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[popis] => Modeling of the Stewart platform dynamics in Matlab SimMechanics and control implementation in NI LabView.
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[citace_html] => BŘEZINA, L.; ANDRŠ, O.; BŘEZINA, T. NI LabView Matlab SimMechanics Stewart platform design. In 1. 1. 2008. p. 13-14. ISBN: 978-80-7043-712-4.
[citace_rtf] =>
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title="NI LabView Matlab SimMechanics Stewart platform design",
booktitle="1",
year="2008",
series="1",
number="1",
pages="13--14",
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control became a paradigma and discipline itself. It is very difficult to detect and
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mathematical methods for controlling chaos in dynamic systems.
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[url] =>
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[citace_text] => KRATOCHVÍL, C.; HERIBAN, P.; ŠVÉDA, P. Contribution to Problem of Chaos Control in the Dynamic Systems. In Modelling and Optimization of Physical Systems. 1. Wisla: Politechnika Slaska, 2009. p. 77-80. ISBN: 978-83-60102-52-7.
[citace_html] => KRATOCHVÍL, C.; HERIBAN, P.; ŠVÉDA, P. Contribution to Problem of Chaos Control in the Dynamic Systems. In Modelling and Optimization of Physical Systems. 1. Wisla: Politechnika Slaska, 2009. p. 77-80. ISBN: 978-83-60102-52-7.
[citace_rtf] =>
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title="Contribution to Problem of Chaos Control in the Dynamic Systems",
booktitle="Modelling and Optimization of Physical Systems",
year="2009",
series="1",
number="1",
pages="77--80",
publisher="Politechnika Slaska",
address="Wisla",
isbn="978-83-60102-52-7"
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[nazev_en] => Contribution to Problem of Chaos Control in the Dynamic Systems
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control became a paradigma and discipline itself. It is very difficult to detect and
control chaotic behavior in nonlinear engineering dynamical systems. This contribution
introduces some basic concepts for controlling chaos and describes some
mathematical methods for controlling chaos in dynamic systems.
[klicova_slova_en] => Chaos, dynamical systems
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[nazev] => High Level Software Architecture for Autonomous Mobile Robot
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[duvernost_udaju_id] => S
[popis] => The paper deals with the high level software architecture for autonomous mobile robot Bender II, medium size wheeled nonholonomic mobile robot with Ackerman chassis for both indoor/outdoor environment. High level software uses hybrid approach combining common layered architecture with reactive control. Local navigation including static/dynamic obstacle detection/avoidance is based on laser range finder data. Global navigation in indoor environment is based on fusion of odometry based position estimation with precomputed scan matching localization technique. Architecture description is accompanied by tests results ob-tained in real environment.
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[klicova_slova] => Mobile robot, Software architecture
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[url] =>
[oecd_obor_id] => 20204
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[ins_ts] => 2025-09-22
[upd_ts] => 2025-09-22
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[identifikator] => ISBN 978-3-642-05021-3
[identifikator_popis] => ISBN - Recent Advances in Mechatronics 2008 - 2009
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[citace_text] => KREJSA, J.; VĚCHET, S.; HRBÁČEK, J.; SCHREIBER, P. High Level Software Architecture for Autonomous Mobile Robot. In Recent Advances in Mechatronics 2008 - 2009. Berlin: Springer, 2009. p. 185-190. ISBN: 978-3-642-05021-3.
[citace_html] => KREJSA, J.; VĚCHET, S.; HRBÁČEK, J.; SCHREIBER, P. High Level Software Architecture for Autonomous Mobile Robot. In Recent Advances in Mechatronics 2008 - 2009. Berlin: Springer, 2009. p. 185-190. ISBN: 978-3-642-05021-3.
[citace_rtf] =>
[citace_bibtex] => @inproceedings{BUT31194,
author="Jiří {Krejsa} and Stanislav {Věchet} and Jan {Hrbáček} and Petr {Schreiber}",
title="High Level Software Architecture for Autonomous Mobile Robot",
booktitle="Recent Advances in Mechatronics 2008 - 2009",
year="2009",
number="1",
pages="185--190",
publisher="Springer",
address="Berlin",
isbn="978-3-642-05021-3"
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[nazev_en] => High Level Software Architecture for Autonomous Mobile Robot
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(
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[ex_vysledek_id] => 68895
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[nazev] => The Influence of GA Initial Boundaries on the Identification of Nonlinear Damping Characteristics of Shock Absorber
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[duvernost_udaju_id] => S
[popis] => The paper is focused on the simulation identification of nonlinear damping characteristics of the shock absorber using genetic algorithm (GA). 2 DOF quarter car model is used with nonlinear characteristics of damping force defined as piecewise functions. The characteristics are found using time courses of position, velocity and acceleration of both masses under kine-matic excitation. The influence of initial boundaries determining the limits within the parameter values are searched is shown in the paper.
[popis_orig] => The paper is focused on the simulation identification of nonlinear damping characteristics of the shock absorber using genetic algorithm (GA). 2 DOF quarter car model is used with nonlinear characteristics of damping force defined as piecewise functions. The characteristics are found using time courses of position, velocity and acceleration of both masses under kine-matic excitation. The influence of initial boundaries determining the limits within the parameter values are searched is shown in the paper.
[klicova_slova] => shock absorber, identification, genetic algorithm
[klicova_slova_orig] => shock absorber, identification, genetic algorithm
[url] =>
[oecd_obor_id] => 20301
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[ins_ts] => 2025-09-22
[upd_ts] => 2025-09-22
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[identifikator] => ISBN 978-3-540-73955-5
[identifikator_popis] => ISBN - Recent Advances in Mechatronics
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[citace_text] => KREJSA, J.; HOUFEK, L.; VĚCHET, S. The Influence of GA Initial Boundaries on the Identification of Nonlinear Damping Characteristics of Shock Absorber. In Recent Advances in Mechatronics. 1. Berlín: Springer, 2007. p. 411-415. ISBN: 978-3-540-73955-5.
[citace_html] => KREJSA, J.; HOUFEK, L.; VĚCHET, S. The Influence of GA Initial Boundaries on the Identification of Nonlinear Damping Characteristics of Shock Absorber. In Recent Advances in Mechatronics. 1. Berlín: Springer, 2007. p. 411-415. ISBN: 978-3-540-73955-5.
[citace_rtf] =>
[citace_bibtex] => @inproceedings{BUT32485,
author="Jiří {Krejsa} and Lubomír {Houfek} and Stanislav {Věchet}",
title="The Influence of GA Initial Boundaries on the Identification of Nonlinear Damping Characteristics of Shock Absorber",
booktitle="Recent Advances in Mechatronics",
year="2007",
series="1",
number="1",
pages="411--415",
publisher="Springer",
address="Berlín",
isbn="978-3-540-73955-5"
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[nazev_en] => The Influence of GA Initial Boundaries on the Identification of Nonlinear Damping Characteristics of Shock Absorber
[popis_en] => The paper is focused on the simulation identification of nonlinear damping characteristics of the shock absorber using genetic algorithm (GA). 2 DOF quarter car model is used with nonlinear characteristics of damping force defined as piecewise functions. The characteristics are found using time courses of position, velocity and acceleration of both masses under kine-matic excitation. The influence of initial boundaries determining the limits within the parameter values are searched is shown in the paper.
[klicova_slova_en] => shock absorber, identification, genetic algorithm
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[nazev] => Stewart Platform Model with Uncertain Parameters
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[duvernost_udaju_id] => S
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[popis_orig] => The paper deals with creating of an uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for an H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of the SimMechanics model. The linearization is performed for two positions of the machine in its workspace. It is the nominal position and the position where each link of the machine reaches its maximal length. The uncertainties are then represented as differences between parameters of corresponding state-space matrices. The uncertain state space model is then obtained using upper linear fractional transformation. There are also mentioned several notes to an H-infinity controller designed according to the obtained model.
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[url] =>
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[upd_ts] => 2025-09-22
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[identifikator] => ISBN 978-9955-28-493-2
[identifikator_popis] => ISBN - The 5th International Conference Mechatronic Systems and Materials MSM-2009
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[citace_text] => BŘEZINA, L.; BŘEZINA, T. Stewart Platform Model with Uncertain Parameters. In The 5th International Conference Mechatronic Systems and Materials MSM-2009. Vilnius: Vilnius Gediminas Technical University, 2009. p. 9-10. ISBN: 978-9955-28-493-2.
[citace_html] => BŘEZINA, L.; BŘEZINA, T. Stewart Platform Model with Uncertain Parameters. In The 5th International Conference Mechatronic Systems and Materials MSM-2009. Vilnius: Vilnius Gediminas Technical University, 2009. p. 9-10. ISBN: 978-9955-28-493-2.
[citace_rtf] =>
[citace_bibtex] => @inproceedings{BUT33623,
author="Lukáš {Březina} and Tomáš {Březina}",
title="Stewart Platform Model with Uncertain Parameters",
booktitle="The 5th International Conference Mechatronic Systems and Materials MSM-2009",
year="2009",
pages="9--10",
publisher="Vilnius Gediminas Technical University",
address="Vilnius",
isbn="978-9955-28-493-2"
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[ins_ts] => 2025-09-22
[upd_ts] => 2025-09-22
[status] => 9
[identifikator] => ISBN 978-1-4244-7854-5
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[citace_text] => HADAŠ, Z.; VĚCHET, S.; SINGULE, V.; ONDRŮŠEK, Č. Development of Energy Harvesting Sources for Remote Applications as Mechatronic systems. In PROCEEDINGS OF 14TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE (EPE-PEMC 2010). Ohrid: 2010. s. 13-19. ISBN: 978-1-4244-7854-5.
[citace_html] => HADAŠ, Z.; VĚCHET, S.; SINGULE, V.; ONDRŮŠEK, Č. Development of Energy Harvesting Sources for Remote Applications as Mechatronic systems. In PROCEEDINGS OF 14TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE (EPE-PEMC 2010). Ohrid: 2010. s. 13-19. ISBN: 978-1-4244-7854-5.
[citace_rtf] =>
[citace_bibtex] => @inproceedings{BUT35795,
author="Zdeněk {Hadaš} and Stanislav {Věchet} and Vladislav {Singule} and Čestmír {Ondrůšek}",
title="Development of Energy Harvesting Sources for Remote Applications as Mechatronic systems",
booktitle="PROCEEDINGS OF 14TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE (EPE-PEMC 2010)",
year="2010",
pages="13--19",
address="Ohrid",
doi="10.1109/EPEPEMC.2010.5606867",
isbn="978-1-4244-7854-5"
}
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[popis_en] => This paper deals with a complex energy
harvesting system which generates electric energy from its
surroundings. The source of an ambient energy can be
available in the form of solar, thermal or mechanical
energy. The paper is focused on the energy harvesting from
mechanical energy of vibrations. The mechatronic approach
was used for development of the energy harvesting source
which harvests electrical energy from ambient mechanical
vibrations.
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[citace_text] => HRBÁČEK, J.; HRBÁČEK, R.; VĚCHET, S. Modular Control System Architecture for a Mobile Robot. In Proceedings of the 17th international conference Engineering Mechanics 2011. 1. Prague: Institute of Thermomechanics, Academy of Sciences of the Czech Republic, 2011. p. 211-214. ISBN: 978-80-87012-33-8.
[citace_html] => HRBÁČEK, J.; HRBÁČEK, R.; VĚCHET, S. Modular Control System Architecture for a Mobile Robot. In Proceedings of the 17th international conference Engineering Mechanics 2011. 1. Prague: Institute of Thermomechanics, Academy of Sciences of the Czech Republic, 2011. p. 211-214. ISBN: 978-80-87012-33-8.
[citace_rtf] =>
[citace_bibtex] => @inproceedings{BUT36064,
author="Jan {Hrbáček} and Radek {Hrbáček} and Stanislav {Věchet}",
title="Modular Control System Architecture for a Mobile Robot",
booktitle="Proceedings of the 17th international conference Engineering Mechanics 2011",
year="2011",
series="1",
number="1",
pages="211--214",
publisher="Institute of Thermomechanics, Academy of Sciences of the Czech Republic",
address="Prague",
isbn="978-80-87012-33-8"
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[duvernost_udaju_id] => S
[popis] => Robot je zařízení, jehož účelem je ulehčit lidem práci a nahradit je v prostředích, která jsou pro ně nebezpečná nebo nedostupná. Existují projekty robotů hledajících miny, detekující přítomnost zdraví škodlivých látek, provádějících geologický průzkum. Zároveň se v posledních několika letech objevují roboty-hračky.
V současnosti nejvíce rozvinutou kategorií lokomočních robotů jsou kolové roboty. Tato kategorie mobilních robotů se ale vyznačuje závažnými omezení pro pohyb v neregulárním terénu. Částečného zmírnění tohoto omezení lze dosáhnout použitím pásových podvozků. Z hlediska dosažitelné mobility je však nejlepším řešením použití kráčivých robotů.
Mezi výhody mobilních kráčivých robotů patří kromě podstatně snazšího překonávání terénních nerovností i velká manévrovatelnost, umožňovaná vysokým počtem stupňů volnosti pohybového mechanismu. Mezi nevýhody patří hlavně podstatně složitější mechanická konstrukce pohybového ústrojí robotu, velké množství pohybujících se součástí, vysoká náročnost na výkon jednotlivých pohonů a s ní spojená nízká účinnost robotu jako celku. Dalším problémem, který je spojen s kráčivými roboty, jsou vysoké nároky na řízení.
Vysoký počet stupňů volnosti pohybového ústrojí kráčivých robotů poskytuje širokou škálu variant pří volbě počtu a tvaru noh robotu. Na základě zvoleného počtu noh a počtu stupňů volnosti každé nohy lze navrhnou i velké množství variant způsobů řízení samostatných noh a následně několikanásobně větší počet strategií řízení chůze robotu. Chůze dále poskytuje mnoho způsobů řešení nestandardních situací, jako je například porucha jedné čí více noh. Kráčivé roboty tudíž představují vynikající platformu pro zkoumání různých inteligentních způsobů řízení využívajících fuzzy množin, neuronových sítí, genetických algoritmů, opakovaně posilovaného učení a jiných.
[popis_orig] => Robot je zařízení, jehož účelem je ulehčit lidem práci a nahradit je v prostředích, která jsou pro ně nebezpečná nebo nedostupná. Existují projekty robotů hledajících miny, detekující přítomnost zdraví škodlivých látek, provádějících geologický průzkum. Zároveň se v posledních několika letech objevují roboty-hračky.
V současnosti nejvíce rozvinutou kategorií lokomočních robotů jsou kolové roboty. Tato kategorie mobilních robotů se ale vyznačuje závažnými omezení pro pohyb v neregulárním terénu. Částečného zmírnění tohoto omezení lze dosáhnout použitím pásových podvozků. Z hlediska dosažitelné mobility je však nejlepším řešením použití kráčivých robotů.
Mezi výhody mobilních kráčivých robotů patří kromě podstatně snazšího překonávání terénních nerovností i velká manévrovatelnost, umožňovaná vysokým počtem stupňů volnosti pohybového mechanismu. Mezi nevýhody patří hlavně podstatně složitější mechanická konstrukce pohybového ústrojí robotu, velké množství pohybujících se součástí, vysoká náročnost na výkon jednotlivých pohonů a s ní spojená nízká účinnost robotu jako celku. Dalším problémem, který je spojen s kráčivými roboty, jsou vysoké nároky na řízení.
Vysoký počet stupňů volnosti pohybového ústrojí kráčivých robotů poskytuje širokou škálu variant pří volbě počtu a tvaru noh robotu. Na základě zvoleného počtu noh a počtu stupňů volnosti každé nohy lze navrhnou i velké množství variant způsobů řízení samostatných noh a následně několikanásobně větší počet strategií řízení chůze robotu. Chůze dále poskytuje mnoho způsobů řešení nestandardních situací, jako je například porucha jedné čí více noh. Kráčivé roboty tudíž představují vynikající platformu pro zkoumání různých inteligentních způsobů řízení využívajících fuzzy množin, neuronových sítí, genetických algoritmů, opakovaně posilovaného učení a jiných.
[klicova_slova] =>
[klicova_slova_orig] =>
[url] =>
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[druh_popis] => Other original article or review in a peer-reviewed scientific periodical not included in WoS or Scopus
[stav] => Approved
[vysledek_kategorie_id] => PV
[vysledek_system_kategorie_id] => PU
[vysledek_stav_id] => 3
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[upravil] => Informační systém Automat
[ins_uid] => 999999
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[ins_ts] => 2025-09-22
[upd_ts] => 2025-09-22
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[identifikator] => ISSN 1213-4198
[identifikator_popis] => ISSN - Vědecké spisy Vysokého učení technického v Brně
Edice PhD Thesis (CZ)
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[citace_text] => HOUŠKA, P. DISTRIBUOVANÝ SYSTÉM ŘÍZENÍ KRÁČIVÉHO ROBOTU. Vědecké spisy Vysokého učení technického v Brně Edice PhD Thesis, 2005, č. 317, 30 s. ISSN: 1213-4198.
[citace_html] => HOUŠKA, P. DISTRIBUOVANÝ SYSTÉM ŘÍZENÍ KRÁČIVÉHO ROBOTU. Vědecké spisy Vysokého učení technického v Brně Edice PhD Thesis, 2005, č. 317, 30 s. ISSN: 1213-4198.
[citace_rtf] =>
[citace_bibtex] => @article{BUT42619,
author="Pavel {Houška}",
title="DISTRIBUOVANÝ SYSTÉM ŘÍZENÍ KRÁČIVÉHO ROBOTU",
journal="Vědecké spisy Vysokého učení technického v Brně
Edice PhD Thesis",
year="2005",
number="317",
pages="30",
issn="1213-4198"
}
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[nazev_en] => DISTRIBUTED CONTROL SYSTEM OF THE WALKING ROBOT
[popis_en] => Presented thesis deals with the proposal of distributed control system of four-legged walking robot. Problem solving includes current design of mechanical, electrical and software level of walking robot as mechatronic system (object). Due to high complexity of the problem the thesis deals only the problem of lower layers of the system up to the gait generation module, which is not the part of this work.
Analytical section of thesis shows the analysis of present state in walking robots research worldwide and defines the most important basic terms for problems solved in thesis, e.g. definition of robot stability or landing of robot’s leg end point. Subsequently the basic structure of control system of walking robot is defined as well as definition of layers connection and its communication protocol.
The core part of thesis deals with proposal of mechanical design, hardware including the sensor system and software for lower levels of robot control.
Proposed sensor system of the robot consists of scene and collision sensors, leg end point landing sensor and robot’s body inclination sensor.
Mechanical design of given robot consists of robot’s body and four pantographic legs. The leg of the robot is equipped with three drives. A prototype of the single leg was build to experimentally verify its function. Robot leg consists of three geared drives, position sensor and control modules, leg control system with electronics and sensor of leg endpoint landing sensor.
Robot movement control is performed by module of legs control, module for communication with legs, module of local map generation and those modules process data from sensor system. Sensor system of scene and collision sensors is put in sensor tower. Inclination sensor is proposed as the system of two two-axis accelerometers and two single-axis gyroscopes and is located as close to the robot body CG as possible. Proposed sensor is of small dimension s and has low power requirements. Its disadvantage is lower precision, but a method to improve inclination measurements precision is proposed.
Proposed and partially implemented distributed control system of walking robot can be considered the basic part of complex mechatronic system – four-legged walking robot.
[klicova_slova_en] => Distributed control system, walking robot, sensor system, attitude measuring, leg landing
[vysledek_datum] => 2005-01-01T00:00:00+01:00
)
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(
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[nazev] => The Development of Autonomous Racing Robot Bender
[nazev_orig] => The Development of Autonomous Racing Robot Bender
[duvernost_udaju_id] => S
[popis] => Successful use of autonomous mobile robot in outdoor environment is nowadays still a challenge for developers. Navigation, localization and control issues are generally independent on the size of the robot, therefore smaller, low budget platforms can be successfully used for the development of appropriate algorithms. The paper describes the development of such a platform - autonomous racing wheel robot Bender, equipped only with odometry IRC sensors and camera, which won the Robotour 2006 competition. Both hardware issues and algorithms description including low and high level software layers are stated in the paper.
[popis_orig] => Successful use of autonomous mobile robot in outdoor environment is nowadays still a challenge for developers. Navigation, localization and control issues are generally independent on the size of the robot, therefore smaller, low budget platforms can be successfully used for the development of appropriate algorithms. The paper describes the development of such a platform - autonomous racing wheel robot Bender, equipped only with odometry IRC sensors and camera, which won the Robotour 2006 competition. Both hardware issues and algorithms description including low and high level software layers are stated in the paper.
[klicova_slova] => Autonomous robot, navigation, localization, image processing
[klicova_slova_orig] => Autonomous robot, navigation, localization, image processing
[url] =>
[oecd_obor_id] => 20204
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[citace_text] => VĚCHET, S.; KREJSA, J.; ONDROUŠEK, V. The Development of Autonomous Racing Robot Bender. Engineering Mechanics, 2007, vol. 14, no. 4, p. 277-287. ISSN: 1802-1484.
[citace_html] => VĚCHET, S.; KREJSA, J.; ONDROUŠEK, V. The Development of Autonomous Racing Robot Bender. Engineering Mechanics, 2007, vol. 14, no. 4, p. 277-287. ISSN: 1802-1484.
[citace_rtf] =>
[citace_bibtex] => @article{BUT44062,
author="Stanislav {Věchet} and Jiří {Krejsa} and Vít {Ondroušek}",
title="The Development of Autonomous Racing Robot Bender",
journal="Engineering Mechanics",
year="2007",
volume="14",
number="4",
pages="277--287",
issn="1802-1484"
}
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[nazev_en] => The Development of Autonomous Racing Robot Bender
[popis_en] => Successful use of autonomous mobile robot in outdoor environment is nowadays still a challenge for developers. Navigation, localization and control issues are generally independent on the size of the robot, therefore smaller, low budget platforms can be successfully used for the development of appropriate algorithms. The paper describes the development of such a platform - autonomous racing wheel robot Bender, equipped only with odometry IRC sensors and camera, which won the Robotour 2006 competition. Both hardware issues and algorithms description including low and high level software layers are stated in the paper.
[klicova_slova_en] => Autonomous robot, navigation, localization, image processing
[vysledek_datum] => 2007-08-15T00:00:00+02:00
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(
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[nazev] => Control of dynamic stability of the four-legged walking robot movement
[nazev_orig] => Control of dynamic stability of the four-legged walking robot movement
[duvernost_udaju_id] => S
[popis] => The position of the gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during the movement. Dependencies of position, velocity and acceleration of legs may be determined from the kinematic and dynamic models of the robot. The influence of terrain must be compensated through sensor system. The design of robot sensor system for determination of its slope is presented in this contribution.
[popis_orig] => The position of the gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during the movement. Dependencies of position, velocity and acceleration of legs may be determined from the kinematic and dynamic models of the robot. The influence of terrain must be compensated through sensor system. The design of robot sensor system for determination of its slope is presented in this contribution.
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[citace_text] => HOUŠKA, P., SINGULE, V., BŘEZINA, T., EHRENBERGER, Z. Control of dynamic stability of the four-legged walking robot movement. Elektronika, 2004, roč. 2004, č. 8-9, 3 s. ISSN: 0033-2089.
[citace_html] => HOUŠKA, P., SINGULE, V., BŘEZINA, T., EHRENBERGER, Z. Control of dynamic stability of the four-legged walking robot movement. Elektronika, 2004, roč. 2004, č. 8-9, 3 s. ISSN: 0033-2089.
[citace_rtf] =>
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author="Pavel {Houška} and Vladislav {Singule} and Tomáš {Březina} and Zdeněk {Ehrenberger}",
title="Control of dynamic stability of the four-legged walking robot movement",
journal="Elektronika",
year="2004",
volume="2004",
number="8-9",
pages="3",
issn="0033-2089"
}
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[nazev_en] => Control of dynamic stability of the four-legged walking robot movement
[popis_en] => The position of the gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during the movement. Dependencies of position, velocity and acceleration of legs may be determined from the kinematic and dynamic models of the robot. The influence of terrain must be compensated through sensor system. The design of robot sensor system for determination of its slope is presented in this contribution.
[klicova_slova_en] => Walking Robot, Gyro, Inclinometer, Stability Sensing
[vysledek_datum] => 2004-09-23T00:00:00+02:00
)
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[nazev] => Q-learned Controller Performance of Asynchronous electromotor
[nazev_orig] => Q-learned Controller Performance of Asynchronous electromotor
[duvernost_udaju_id] => S
[popis] => The contribution is focused on the application of Q-learning on asynchronous electromotor (AE) control. The learning process was divided into two phases – prelearning stage and tutorage stage. Tutorage stage uses conventional Q-learning procedure applied on Q function created during the prelearning stage. Tutorage is expected to be processed on real AE plant and its use for controller adaptation on possible system parameters changes is not excluded. Based on the tests the best grids of Q-function table for 2-D state and 3-D state were selected and obtained policies performance was compared with the performance of AE controlled by PID, which was tuned through Ziegler-Nichols methodology.
[popis_orig] => The contribution is focused on the application of Q-learning on asynchronous electromotor (AE) control. The learning process was divided into two phases – prelearning stage and tutorage stage. Tutorage stage uses conventional Q-learning procedure applied on Q function created during the prelearning stage. Tutorage is expected to be processed on real AE plant and its use for controller adaptation on possible system parameters changes is not excluded. Based on the tests the best grids of Q-function table for 2-D state and 3-D state were selected and obtained policies performance was compared with the performance of AE controlled by PID, which was tuned through Ziegler-Nichols methodology.
[klicova_slova] => Asynchronous electromotor, Q-learning, Control
[klicova_slova_orig] => Asynchronous electromotor, Q-learning, Control
[url] =>
[oecd_obor_id] => 20204
[odpovedny_utvar_id] => 157
[odpovedny_utvar_nazev] => Institute of Solid Mechanics, Mechatronics and Biomechanics
[odpovedny_utvar_zkratka] => ISMMB
[nadrazena_soucast_id] => 4
[nadrazena_soucast_zkratka] => FME
[nadrazena_soucast_nazev] => Faculty of Mechanical Engineering
[originalni_jazyk] => en
[schvalil_id] => 999999
[schvaleno] => 2011-05-17
[vykazovat_riv] => 0
[vykazovat_riv_zmeny] => 1
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[vycet_osob] => MARADA, T., BŘEZINA, T.
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[kategorie_nazev] => Publication results
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[stav] => Approved
[vysledek_kategorie_id] => PV
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[vlozil] => Informační systém Automat
[upravil] => Informační systém Automat
[ins_uid] => 999999
[upd_uid] => 999999
[ins_ts] => 2025-09-22
[upd_ts] => 2025-09-22
[status] => 9
[identifikator] => ISSN 0033-2089
[identifikator_popis] => ISSN - Elektronika (PL)
[riv_dodavka_id] => 65
[riv_dodavka_oznaceni] => RIV11-MSM-26210___
[riv_dodavka_rok] => 2011
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[citace_text] => MARADA, T., BŘEZINA, T. Q-learned Controller Performance of Asynchronous electromotor. Elektronika, 2004, vol. 2004, no. 8-9, 5 p. ISSN: 0033-2089.
[citace_html] => MARADA, T., BŘEZINA, T. Q-learned Controller Performance of Asynchronous electromotor. Elektronika, 2004, vol. 2004, no. 8-9, 5 p. ISSN: 0033-2089.
[citace_rtf] =>
[citace_bibtex] => @article{BUT45412,
author="Tomáš {Marada} and Tomáš {Březina}",
title="Q-learned Controller Performance of Asynchronous electromotor",
journal="Elektronika",
year="2004",
volume="2004",
number="8-9",
pages="5",
issn="0033-2089"
}
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[nazev_en] => Q-learned Controller Performance of Asynchronous electromotor
[popis_en] => The contribution is focused on the application of Q-learning on asynchronous electromotor (AE) control. The learning process was divided into two phases – prelearning stage and tutorage stage. Tutorage stage uses conventional Q-learning procedure applied on Q function created during the prelearning stage. Tutorage is expected to be processed on real AE plant and its use for controller adaptation on possible system parameters changes is not excluded. Based on the tests the best grids of Q-function table for 2-D state and 3-D state were selected and obtained policies performance was compared with the performance of AE controlled by PID, which was tuned through Ziegler-Nichols methodology.
[klicova_slova_en] => Asynchronous electromotor, Q-learning, Control
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