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[popis_en] => In this paper we deal with possible uses of case-based reasoning methods to improve autonomous mobile robot navigation. We describe CBR approaches to both levels of navigation, global and local, but the main attention is focused on a path planning problem. The aim of path planning is to search for paths between two points without collisions with known obstacles. At the same time, the length, difficulty and risk of paths need to be minimized. The verified paths are stored in a case base along with information about their properties. When proposing a path, first of all, the most similar already used paths are found. Then they are adapted to the new problem definition. When no sufficiently resembling paths are found, other methods are used to search for paths.
[klicova_slova_en] => Mobile robot, robot navigation, path planning, case-based reasoning, case graph
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[nazev] => Scheduling Manufacturing Processes
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[popis] => The scheduling of manufacturing processes aims to find sequences of jobs on given machines optimal by a selected criterion such as minimal completion time of all operations, minimal losses caused by exceeding the required completion times, minimal sum of machine idle times, etc. In the paper, a mathematical model of the job shop scheduling problem is derived and suitable representations are mentioned for solving it by heuristic methods, due to the fact that this combinatorial problem is NP-complete and exact solutions can only be gained in a reasonable time for small instances.
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[citace_text] => ŠEDA, M. Scheduling Manufacturing Processes. Acta Mechanica Slovaca, 2007, vol. 11, no. 1-A, p. 69-74. ISSN: 1335-2393.
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[popis] => The task of planning trajectories plays an important role in transportation, robotics, information systems, etc. In robot motion planning, the robot should pass around obstacles from a given starting position to a given target position, touching none of them, i.e. the goal is to find a collision-free path from the starting to the target position. Research on path planning has yielded many fundamentally different approaches to the solution of this problem that can be classified as roadmap methods (visibility graph method, Voronoi diagram) and methods based on cell decomposition. Assuming movements only in a restricted number of directions (eight directional or horizontal/vertical) the task, with respect to its combinatorial nature, can be solved by decomposition methods using heuristic techniques. The cell decomposition methods may include a case-based reasoning procedure. Robot motion planning algorithms can be modified by considering a robot as a point and enlarging the obstacles in the workspace accordingly. In order to avoid the explicit construction of the obstacle region, sampling-based motion planning algorithms have been proposed such as probabilistic roadmap methods or rapidly exploring random trees. We present drawbacks of these approaches Then, using the Voronoi diagrams, we need only polynomial time for finding a solution and, choosing a Euclidean or rectilinear metric, it can be adapted to tasks with general or directional-constrained movements
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[nazev_orig] => Mathematical Models of Flow Shop and Job Shop Scheduling Problems
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[popis] => In this paper, mathematical models for permutation flow shop scheduling and job shop scheduling problems are proposed. The first problem is based on a mixed integer programming model. As the problem is NP-complete, this model can only be used for smaller instances where an optimal solution can be computed. For large instances, another model is proposed which is suitable for solving the problem by stochastic heuristic methods. For the job shop scheduling problem, a mathematical model and its main representation schemes are presented.
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title="Control of dynamic stability of the four-legged walking robot movement",
journal="Elektronika",
year="2004",
volume="2004",
number="8-9",
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[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.
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Publikace Rok: 2007
ŠEDA, M.
Publikace Rok: 2004
HOUŠKA, P., SINGULE, V., BŘEZINA, T., EHRENBERGER, Z.
Publikace Rok: 2004
MARADA, T., BŘEZINA, T.
Zobrazeny výsledky 1096–1110 z 2086