This paper deals with the modelling and control of balanced wheeled autonomous mobile robot. For the MBS dynamics modelling software tool Matlab-SimMechanics is used. The model derived automatically from geometric-topological description of MBS is used for the control purposes (local linearization for state space control, testing of nonlinear system controlled by LQR) and also as a reference during the analytical model formulation for global feedback linearization. The dual accelerometer is used as a tilt sensor and the proposed method for sensory processing is described in this paper. The approach is based on iterative solution of nonlinear equation. Control using the state space (LQR) and the feedback linearization is compared. Also, the influence of sensor noises and delays implemented into the model are discussed. Finally, the solution is verified on real physical model controlled by means of hardware ni the loop (HIL). and Obsahuje seznam literatury
The present-day sea-level rise is a major indicator of climate change. The sea level in European seas has risen at a rate of 2.5 to 4 millimeters per year (von Schuckmann et al., 2018). The aim of this paper is to present the sea level variability in the Baltic Sea, as based on satellite altimetry. For this purpose, the paper presents a methodology of the investigation of the Baltic Sea level changes based on the Optimum Dataset (OptD) method. The OptD method was used to identify characteristic points from the analyzed data set. For detailed theoretical and empirical tests, the sea level anomaly was used. The time series were created from the data set after introducing the OptD method, in the period from January 1993 to December 2017. The time series are then used to characterize sea level trends, and inter-annual and semi-annual variability in the Baltic Sea region. The results prove that the linear change is higher at points which are located in the northern part of the Baltic Sea, while it is lower at points located in the western part of the Baltic Sea. The average trend is 4.1±0.2 mm/yr. However, the annual cycles in the sea level variations measured by altimetry reach maximum values in approximately the same months (November/December) in the whole Baltic Sea area. We find that there occur substantial regional deviations in sea level depending on the latitude and longitude. Our results confirm the need for research into the sea level variability in the Baltic Sea region.
In this paper, we are mainly concerned with characterizing matrices that map every bounded sequence into one whose Banach core is a subset of the statistical core of the original sequence.
We present simple proofs that spaces of homogeneous polynomials on Lp[0, 1] and ℓp provide plenty of natural examples of Banach spaces without the approximation property. By giving necessary and sufficient conditions, our results bring to completion, at least for an important collection of Banach spaces, a circle of results begun in 1976 by R. Aron and M. Schottenloher (1976)., Seán Dineen, Jorge Mujica., and Obsahuje seznam literatury
It is shown that a Banach-valued Henstock-Kurzweil integrable function on an m-dimensional compact interval is McShane integrable on a portion of the interval. As a consequence, there exist a non-Perron integrable function f : [0, 1]2 −→ R and a continuous function F : [0, 1]2 −→ R such that
(P)∫ x0{ (P) ∫ y 0 f(u, v) dv } du = (P) ∫ y 0 { (P) ∫ x 0 f(u, v) du } dv = F(x, y) for all (x, y) ∈ [0, 1]2.
A generalized $MV$-algebra $\mathcal A$ is called representable if it is a subdirect product of linearly ordered generalized $MV$-algebras. Let $S$ be the system of all congruence relations $\rho $ on $\mathcal A$ such that the quotient algebra $\mathcal A/\rho $ is representable. In the present paper we prove that the system $S$ has a least element.