Design, construction and control of a spherical rolling robot with internal two-wheel cart

This elaboration presents a spherical rolling robot with a 2-wheel cart. The custom design of the hardware and control software is presented to demonstrate the solution. The robot was started to realize an autonomous task. The embedded robot control system is based on a 32-bit microcontroller and uses a Bluetooth module for wireless communication. The simplified model has been proposed and its parameters identified. The results obtained at the simulation and experimental stages are shown and compared. Finally, the robot’s motion was recorded and analyzed with the support of image signal processing techniques.W artykule przedstawiony został opis sferycznego robota mobilnego z napędem w postaci dwukołowego wózka. Praca prezentuje dedykowany układ mechaniczny, elektroniczny oraz oprogramowanie sterujące. System wbudowany robota jest oparty na 32-bitowym mikrokontrolerze oraz wykorzystuje bezprzewodową komunikację Bluetooth. Parametry uproszczonego modelu matematycznego robota sferycznego zostały zidentyfikowane, a wyniki symulacji porównano do rezultatów rzeczywistych eksperymentów. Analiza obrazu zarejestrowanego za pomocą zewnętrznej kamery pozwoliła na obserwacje trajektorii ruchu robota

Upowszechnianie wyników badań naukowych w międzynarodowych bazach danych : analiza biometryczna na przykładzie nauk technicznych, ze szczególnym uwzględnieniem elektrotechniki

The issues of bibliometrics, scientometrics, informetrics and webometrics have an important place among research subject undertaken by Polish and foreign scholars. Initially, these notions were used only by researchers in the fields of library science, scientometrics and information science. However, at the turn of the 20th and 21st centuries, quantitative methods became a fundamental tool for evaluation of, among others, sources of academic communication, academic research, research and academic centers. One of the elements of the evaluation is a quantitative analysis of academic publications in databases with international access. It is of particular importance in the case of technical sciences. This work is an attempt at a quantitative analysis of publications by Polish authors (affiliated to Polish technical universities) and Polish journals on electrotechnics in international databases. The contents are organized into four chapters with an introduction, conclusions, bibliography, name index and a list of figures and illustrations. Chapters one and two are devoted to theoretical issues, whereas chapters three and four – to practical issues. In the first chapter, selected issues concerning quantitative methods were presented, including an analysis of literature and a discussion over terminology carried out in book publications and journals. Moreover, selected examples of research conducted with the use of quantitative methods (including rankings and scientific reports) were discussed in this chapter). In chapter two, sources of information on academic publications, their origins and development (from bibliographic bases to citation indexes) were presented. A separate subchapter was devoted to databases of academic publications created by libraries of technical universities, and to indicators in the assessment of academic publications. Chapter three deals with electrotechnics as a field of science. An analysis was conducted with regard to the place of electrotechnics in science classifications based on selected examples, and the development of the teaching of electrotechnics at university level was shown. In this chapter, early and contemporary Polish journals on electrotechnics were presented, including journals published by technical universities themselves. Chapter four contains the results of an analysis of international databases (Scopus, WoS, CC), focusing on the representation of Polish journals, including their citations, and publications of authors with affiliation to Polish technical universities. Final conclusions of research and analyses have brought an answer to questions raised with regard to the assessment of representation in international databases of publications by Polish authors affiliated to Polish technical universities (in its various aspects, e.g., a publication type, language of publication, publication dynamics taking into account years of publications, cooperation with representatives of other European and non-European countries), and of Polish journals

Hybrid wheelchair controller for handicapped and quadriplegic patients

In this dissertation, a hybrid wheelchair controller for handicapped and quadriplegic patient is proposed. The system has two sub-controllers which are the voice controller and the head tilt controller. The system aims to help quadriplegic, handicapped, elderly and paralyzed patients to control a robotic wheelchair using voice commands and head movements instead of a traditional joystick controller. The multi-input design makes the system more flexible to adapt to the available body signals. The low-cost design is taken into consideration as it allows more patients to use this system