Zobrazeno 1 - 10
of 15
pro vyhledávání: '"Iwona Karcz-Duleba"'
Autor:
Ignacy Duleba, Iwona Karcz-Duleba
Publikováno v:
Bulletin of the Polish Academy of Sciences: Technical Sciences, Vol 71, Iss 3 (2023)
In this paper three algorithms of motion planning for two-input, one-chained nonholonomic systems are presented. The classical Murray-Sastry algorithm is compared with two original algorithms aimed at optimizing energy of controls. Based on the gener
Externí odkaz:
https://doaj.org/article/668f2e932e2441178f494e6102c71443
Publikováno v:
International Journal of Applied Mathematics and Computer Science, Vol 28, Iss 3, Pp 483-492 (2018)
A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::473a20e0bdef0946b0ed422c7529d77b
https://doaj.org/article/fca7b26b11c5453c952d4e399f18999c
https://doaj.org/article/fca7b26b11c5453c952d4e399f18999c
Autor:
Iwona Karcz-Duleba, Ignacy Duleba
Publikováno v:
Computer Aided Systems Theory – EUROCAST 2019 ISBN: 9783030450922
EUROCAST (1)
EUROCAST (1)
In this paper an algorithm is presented to expand any Lie monomial in the Ph. Hall basis. The algorithm exploits an algorithm for the optimal generation of Ph. Hall basis and it can be used to express \(\log (\exp \, X \cdot \exp \, Y)\) in this basi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::8f1bc923540dc698b86501fa712ab1e3
https://doi.org/10.1007/978-3-030-45093-9_56
https://doi.org/10.1007/978-3-030-45093-9_56
Autor:
Ignacy Duleba, Iwona Karcz-Duleba
Publikováno v:
SISY
In this paper evaluation of an efficiency of motion for nonholonomic systems in a plane spanned by two non colinear versors is examined when energy costs of motion along each versor differ. It appears that an orthogonal setting of versors is preferab
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d755513006ac500e55ccaf07c5ac1a68
https://doi.org/10.1109/sisy47553.2019.9111628
https://doi.org/10.1109/sisy47553.2019.9111628
Autor:
Ignacy Duleba, Iwona Karcz-Duleba
Publikováno v:
Advances in Service and Industrial Robotics ISBN: 9783030196479
RAAD
RAAD
In this paper three algorithms are presented to generate automatically bases of null spaces (kernels) for symbolic matrices resulting from some tasks of robotics. Orthogonal (orthonormal) bases of kernels can be derived if required. Additionally, a s
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::1a12c5b55972d3b95a63cf01c7ae79bc
https://doi.org/10.1007/978-3-030-19648-6_9
https://doi.org/10.1007/978-3-030-19648-6_9
Autor:
Iwona Karcz-Duleba
Publikováno v:
International Journal of Applied Mathematics and Computer Science, Vol 26, Iss 4, Pp 905-918 (2016)
The impatience mechanism diversifies the population and facilitates escaping from a local optima trap by modifying fitness values of poorly adapted individuals. In this paper, two versions of the impatience mechanism coupled with a phenotypic model o
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::303f36b7201d1f095959df462b30f27f
https://doi.org/10.1515/amcs-2016-0064
https://doi.org/10.1515/amcs-2016-0064
Autor:
Iwona Karcz-Duleba, Ignacy Duleba
Publikováno v:
MMAR
In this paper a few methods of accelerating computations of an inverse kinematic task for robot manipulators are discussed and compared. The methods adapt known ideas to the domain of robotics, and rely on an approximation of inverse matrices, that a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a25c631b848a5e61bdc1e2c9f9834ce0
https://doi.org/10.1109/mmar.2018.8486063
https://doi.org/10.1109/mmar.2018.8486063
Autor:
Iwona Karcz-Duleba, Ignacy Duleba
Publikováno v:
Computer Aided Systems Theory – EUROCAST 2017 ISBN: 9783319747262
EUROCAST (2)
EUROCAST (2)
In this paper a method to simply computations of singular configurations of redundant and nonredundant manipulators was presented. Theoretical and numerical aspects of the method were given. Illustrating examples were carried out on models of planar
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::1dcd77da81cdefbd003f78a47150fcab
https://doi.org/10.1007/978-3-319-74727-9_14
https://doi.org/10.1007/978-3-319-74727-9_14
Publikováno v:
Journal of the Franklin Institute. 349:201-215
In this paper a layer, Lie algebraic method of motion planning for nonholonomic systems is presented. It plans locally a motion towards a goal by searching for optimal directions in equi-cost spaces. The spaces are easy to determine via exploiting Li
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::013f73210cb2cec2f0d5bcb2c68504f8
https://doi.org/10.1016/j.jfranklin.2011.10.015
https://doi.org/10.1016/j.jfranklin.2011.10.015
Autor:
Iwona Karcz-Duleba
Publikováno v:
IEEE Transactions on Evolutionary Computation. 10:199-209
An analysis of population dynamics in the space of population states is presented. The simplest case of the phenotypic evolution-a population consisting of two individuals with one real-valued trait, evolving under proportional selection and mutation
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::251bb8db9a938101818c67e748dee5b0
https://doi.org/10.1109/tevc.2005.856070
https://doi.org/10.1109/tevc.2005.856070