Adela Ionescu

Role Selection Mechanism for the Soccer Robot System using Petri Net

Robot soccer is a challenging platform for multi-agent research, involving topics such as real-time image processing and control, robot path planning, obstacle avoidance and machine learning. The system consists of a supervisory controller, and controllers for defending and goalkeeping robots. These controllers are designed using Petri net. The robot soccer game presents an uncertain and dynamic environment for cooperating agents. Dynamic role switching and formation control are crucial for a successful game. A soccer robot has to take an appropriate decision based on environment situation. With the role of a robot fixed as goalkeeper, the supervisor, according to the game situation, assigns the role of attacking or defending to the other robots and then respective controllers control the robots. The Petri net model is implemented in Petri net toolbox under MATLAB environment.

The Improving of the Process of the Iron, the Cast Iron and the Copper Powder Mixing

This paper presents the experimental results concerning the compacting process of some iron, cast iron and copper mixtures. In these mixtures the participation of the cast iron powder to the chemical composition of the mixtures was 5%, 10% and 15% and the participation of the copper powder was 2% and 5%. The paper emphasizes the influence of the carbon content, the cast iron hardness and the cast iron powder content on the mixtures compaction ability at different compacting pressures.

Computational analysis of the Cauchy problem associated to the kinematic model of a mobile robot

Recently, the specific problems arising to mobile robots are the following: determining the position and orientation of the robot on the field, planning an optimal path of motion and stationary or moving objects avoidance.This paper realizes a computational analysis of the Cauchy problem associated to a mobile robot kinematics. The ‘phase portrait’ graphical tool of the mathematical soft MAPLE11 points out the influence of the initial conditions: the initial velocities of the driving (left and right) wheels of the robot on the robot trajectory. Considering a pair of two simulation cases for the initial conditions brings a good reliability of the analysis.MSC:68T40, 70B15, 70B10, 37M05.

Motion Control of the Soccer Robot Based on Fuzzy Logic

Robot soccer is a challenging platform for multi‐agent research, involving topics such as real‐time image processing and control, robot path planning, obstacle avoidance and machine learning. The conventional robot control consists of methods for path generation and path following. When a robot moves away the estimated path, it must return immediately, and while doing so, the obstacle avoidance behavior and the effectiveness of such a path are not guaranteed. So, motion control is a difficult task, especially in real time and high speed control. This paper describes the use of fuzzy logic control for the low level motion of a soccer robot. Firstly, the modelling of the soccer robot is presented. The soccer robot based on MiroSoT Small Size league is a differential‐drive mobile robot with non‐slipping and pure‐rolling. Then, the design of fuzzy controller is describes. Finally, the computer simulations in MATLAB Simulink show that proposed fuzzy logic controller works well.

New qualitative features for the 2D dynamical system associated to a mixing flow model

The aim of this paper is to approach the 2D mixing flow model from a new qualitative standpoint. The feedback linearization method is applied for a slight perturbation of this model, in order to analyze the form of the inverse system and the parameter influence.

Feedback Linearization and Optimal Control of the Kermack-McKendrick Model for the Spread of Epidemics

Using the feedback linearization method, a state feedback control for the two-dimensional Kermack-McKendrick model for the spread of epidemics is obtained. This form of the dynamical system is suitable to carry out a qualitative analysis of the model. An optimal control problem for a stochastic version of the model is also set up and solved explicitly in a particular instance.

A geometric and computational analysis of Chua's circuit system

In this paper we will made a study of the dynamics of Chuas circuit system from the Hamilton-Poisson geometry point of view. Using MAPLE 15 it is analyzed the phase portrait for some specific values of parameters.

Mobile Robot Trajectory Analysis Using Computational Methods

This paper presents some considerations regarding the trajectory analysis for a class of mobile robots, namely two-wheeled differential drive mobile robots, one of the most utilized mechanical structures now in mobile robotics practice. The paper is continuing the computational analysis of the Cauchy problem associated to a mobile robot kinematics. The phaseportrait graphical tool of the mathematical soft MAPLE11, points out the influence of the initial conditions the initial velocities of the driving (left and right) wheels of the robot on the robot trajectory. Considering a pair of few simulation cases for the initial conditions brings a good reliability of the analysis. The issue of repetitive phenomena is very important to notice in this context, as in the analysis it is repeated a specific allure of the trajectory. It brings important features, both from mathematical and robotic analysis standpoint. The further changes are due to the initial conditions variations. Repetitive phenomena can be collected in order to realize a global panel of random distributed events in the kinematics of two wheeled differential drive mobile robot and to use the statistical observations in the further analysis.

New approaches in computational dynamics of the mixing flow

Abstract Between the most mature interdisciplinary areas, computational fluid dynamics (CFD) comes recently into focus. In the same time, it becomes more and more difficult to contribute fundamental research to it. However, although it remains unpredictable how CFD develops, it is part of what makes it an exciting and attractive discipline. This paper aims to exhibit some part of recent work in CFD. It concerns the qualitative approach of the turbulent behaviour of a mixing flow in an excitable media. Studying a mixing for a flow implies the analysis of successive stretching and folding phenomena for its particles, the influence of parameters and initial conditions. In the previous works, the study of the 3D non-periodic models exhibited a quite complicated behaviour. In agreement with experiments, there were involved some significant events, the so-called “ rare events ”. The variation of parameters had a great influence on the length and surface deformations. The experiments were realized with a special vortex installation, it was used a well-known aquatic algae as biologic material, and the water as basic fluid. In the paper there are presented some features of a qualitative comparative analysis of the model associated to the vortex flow technology. In the computational analysis there were used the fast analysis tools of MAPLE11 soft, in order to check the “rare events” and to complete the statistical analysis of the behaviour of the model.

Modeling and Analysis of Soccer Robot Tasks Using Generalized Stochastic Petri Nets

Robot soccer competition provides an excellent opportunity for robotics research. In particular, the soccer robots must perform real-time visual recognition, navigate in a dynamic field, avoid the obstacle, collaborate with teammates, and kick the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other robot to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). This paper proposes a method of defining and analysing the attacking robot tasks using Petri nets. Attacking soccer robot behaviors are modeled using the generalized stochastic Petri nets. Using Petri nets allows qualitative and quantitative analysis of the task execution. Petri net model is implemented in Petri Net Toolbox under MATLAB environment. Therefore, it is validated the net topology, the evolution of (their dynamics), the structural and behavioral properties (corresponding to checking if resources usage is stable and the model have no deadlocks), as well as the stochastic performance.