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Intelligent decision-making system for autonomous robots

Zdzisław KowalczukMichał Czubenko — 2011

International Journal of Applied Mathematics and Computer Science

The paper gives an account of research results concerning a project on creating a fully autonomous robotic decisionmaking system, able to interact with its environment and based on a mathematical model of human cognitive-behavioural psychology, with some key elements of personality psychology included. The principal idea of the paper is focused on the concept of needs, with a certain instrumental role of emotions.

Asynchronous distributed state estimation for continuous-time stochastic processes

Zdzisław KowalczukMariusz Domżalski — 2013

International Journal of Applied Mathematics and Computer Science

The problem of state estimation of a continuous-time stochastic process using an Asynchronous Distributed multi-sensor Estimation (ADE) system is considered. The state of a process of interest is estimated by a group of local estimators constituting the proposed ADE system. Each estimator is based, e.g., on a Kalman filter and performs single sensor filtration and fusion of its local results with the results from other/remote processors to compute possibly the best state estimates. In performing...

On-line parameter and delay estimation of continuous-time dynamic systems

Janusz KozłowskiZdzisław Kowalczuk — 2015

International Journal of Applied Mathematics and Computer Science

The problem of on-line identification of non-stationary delay systems is considered. The dynamics of supervised industrial processes are usually modeled by ordinary differential equations. Discrete-time mechanizations of continuous-time process models are implemented with the use of dedicated finite-horizon integrating filters. Least-squares and instrumental variable procedures mechanized in recursive forms are applied for simultaneous identification of input delay and spectral parameters of the...

Discrete-time predictive control with overparameterized delay-plant models and an identified cancellation order

Zdzisław KowalczukPiotr Suchomski — 2005

International Journal of Applied Mathematics and Computer Science

The paper presents several solutions to the discrete-time generalized predictive (GPC) controller problem, including an anticipative filtration mechanism, which are suitable for plants with nonzero transportation delays. Necessary modifications of the GPC design procedure required for controlling plants based on their non-minimal models are discussed in detail. Although inevitably invoking the troublesome pole-zero cancellation problem, such models can be used in adaptive systems as a remedy for...

Niching mechanisms in evolutionary computations

Zdzisław KowalczukTomasz Białaszewski — 2006

International Journal of Applied Mathematics and Computer Science

Different types of niching can be used in genetic algorithms (GAs) or evolutionary computations (ECs) to sustain the diversity of the sought optimal solutions and to increase the effectiveness of evolutionary multi-objective optimization solvers. In this paper four schemes of niching are proposed, which are also considered in two versions with respect to the method of invoking: a continuous realization and a periodic one. The characteristics of these mechanisms are discussed, while as their performance...

Suboptimal fault tolerant control design with the use of discrete optimization

Zdzisław KowalczukKrzysztof E. Oliński — 2008

International Journal of Applied Mathematics and Computer Science

This paper presents a concept of designing fault tolerant control systems with the use of suboptimal methods. We assume that a given (nonlinear) dynamical process is described in a state space. The method consists in searching (at the off-line stage) for a trajectory of operational points of the system state space. The sought trajectory can be constrained by certain conditions, which can express faults or failures already detected. Within this approach, we are able to use the autonomous dynamics...

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