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Wolniakowski A.,Biaystok University of Technology | Kramberger A.,Jozef Stefan Institute | Gams A.,Jozef Stefan Institute | Chrysostomou D.,University of Aalborg | And 9 more authors.
2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 | Year: 2016

Gripper design process is one of the interesting challenges in the context of grasping within industry. Typically, simple parallel-finger grippers, which are easy to install and maintain, are used in platforms for robotic grasping. The context switches in these platforms require frequent exchange of gripper fingers to accommodate grasping of new products, while subjected to numerous constraints, such as workcell uncertainties due to the vision systems used. The design of these fingers consumes the man-hours of experienced engineers, and involves a lot of trial-and-error testing. In our previous work, we have presented a method to automatically compute the optimal finger shapes for defined task contexts in simulation. In this paper, we show the performance of our method in an industrial grasping scenario. We first analyze the uncertainties of the used vision system, which are the major source of grasping error. Then, we perform the experiments, both in simulation and in a real setting. The experiments confirmed the validity of our approach. The computed finger design was employed in a real industrial assembly scenario. © 2016 IEEE.


Romaniuk R.S.,Warsaw University of Technology | Dorosz J.,Biaystok University of Technology | Wojcik W.,Lublin University of Technology | Mergo P.,Lublin University of Technology | Buczylski R.,University of Warsaw
Proceedings of SPIE - The International Society for Optical Engineering | Year: 2015

The paper is a subjective yet critical authors†description of arbitrarily chosen series of events associated with the development of optical fibre technology (OFT) in Poland. There are reminding pioneering research activities in the second half of the seventies in Optical Fibre Technological Centres in Lublin (UMCS), in Warsaw (in ONPMP), which were joined soon after by Bialystok (Polytechnics and Glass Works). There are mentioned with friendliness the key persons of that period, and in particular the pioneers of OFT in Poland, which are not with us anymore. There is emphasized the role of the first national symposia on â€Optical Fibres and Their Applicationsâ€, which played an integration role for the newly established research community of OFT and photonics. Omitting the complex history of the development of OFT in Poland during the intermediate years, we bravely jump to today, a day which would have not existed now, if the pioneering period had not been so rich in research results. The authors would like to show in particular these research, scientific and logistic activities, which despite difficult conditions of science development in Poland, when looked at from some distance in time and space, seemed to be then well ahead of their time. © 2015 SPIE.


Mozyrska D.,Biaystok University of Technology | Torres D.F.M.,University of Aveiro
Signal Processing | Year: 2011

Fractional systems with RiemannLiouville derivatives are considered. The initial memory value problem is posed and studied. We obtain explicit steering laws with respect to the values of the fractional integrals of the state variables. The Gramian is generalized and steering functions between memory values are characterized. © 2010 Elsevier B.V. All rights reserved.


Kraisangka J.,University of Pittsburgh | Druzdzel M.J.,University of Pittsburgh | Druzdzel M.J.,Biaystok University of Technology
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | Year: 2014

Cox’s Proportional Hazards (CPH) model is quite likely the most popular modeling technique in survival analysis. While the CPH model is able to represent relationships between a collection of risks and their common effect, Bayesian networks have become an attractive alternative with far broader applications. Our paper focuses on a Bayesian network interpretation of the CPH model. We provide a method of encoding knowledge from existing CPH models in the process of knowledge engineering for Bayesian networks. We compare the accuracy of the resulting Bayesian network to the CPH model, Kaplan-Meier estimate, and Bayesian network learned from data using the EM algorithm. Bayesian networks constructed from CPH model lead to much higher accuracy than other approaches, especially when the number of data records is very small. © Springer International Publishing Switzerland 2014.


Pawuszewicz E.,Biaystok University of Technology | Pawuszewicz E.,University of Aveiro
International Journal of Systems Science | Year: 2012

The problem of observability of the family of nonlinear control systems defined on any time scale and parameterised by time instant t 0 is developed. Necessary and sufficient conditions for observability are given. Because time scale is a rich model of time that includes continuous- and discrete-time models as standard cases, the obtained results extend classical observability rank conditions given for continuous-time systems and discrete-time systems. © 2012 Copyright Taylor and Francis Group, LLC.


Mozyrska D.,Biaystok University of Technology | Pawuszewicz E.,Biaystok University of Technology
International Journal of Control | Year: 2012

Linear control systems with fractional differences and finite memory are considered. The evaluation of trajectories of such systems is studied. The extension of the classical notion of observability and controllability is given and developed. The necessary and sufficient conditions for observability and controllability are proved. © 2012 Taylor and Francis Group, LLC.

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