A layered fuzzy logic controller for nonholonomic car-like robot

A system for real time navigation of a nonholonomic car-like robot in a dynamic environment consists of two layers is described: a Sugeno-type fuzzy motion planner; and a modified proportional navigation based fuzzy controller. The system philosophy is inspired by human routing when moving between obstacles based on visual information including right and left views to identify the next step to the goal. A Sugeno-type fuzzy motion planner of four inputs one output is introduced to give a clear direction to the robot controller. The second stage is a modified proportional navigation based fuzzy controller based on the proportional navigation guidance law and able to optimize the robot's behavior in real time, i.e. to avoid stationary and moving obstacles in its local environment obeying kinematics constraints. The system has an intelligent combination of two behaviors to cope with obstacle avoidance as well as approaching a target using a proportional navigation path. The system was simulated and tested on different environments with various obstacle distributions. The simulation reveals that the system gives good results for various simple environments

Dynamic upper atmospheric force model on stabilized vehicles for a high-precision trajectory computer program

The upper atmosphere model draws heavily on the behavior of the earth's upper atmosphere which exhibits cyclic as well as irregular variations in density profile, temperature, pressure, and composition in unison with solar activities as deduced from the more recent land-based and satellite observations. The lift and drag model is designed specifically for inertially stabilized vehicles of the Mariner class, with possible extension to gravity gradient stabilized vehicles of the GEOS class. The model considers operation in the free molecular flow regimes with large Knudsen numbers. The vehicle is considered a composite structure with basic components having well-defined shapes, each with its own surface characteristics in terms of temperature, reflectivity, and accommodation of free stream molecules. The model takes into account both the calculation of precise aerodynamic force coefficients in terms of expansion of modified Bessel functions in speed ratios and angle of attack, and approximate force coefficients when the speed ratios approach infinity. Other considerations include specular and diffused reflectivity, shielding, and shadow effects

The Velocity of the Propagating Wave for General Coupled Scalar Systems

We consider spatially coupled systems governed by a set of scalar density evolution equations. Such equations track the behavior of message-passing algorithms used, for example, in coding, sparse sensing, or constraint-satisfaction problems. Assuming that the "profile" describing the average state of the algorithm exhibits a solitonic wave-like behavior after initial transient iterations, we derive a formula for the propagation velocity of the wave. We illustrate the formula with two applications, namely Generalized LDPC codes and compressive sensing.Comment: 5 pages, 5 figures, submitted to the Information Theory Workshop (ITW) 2016 in Cambridge, U

Database of audio records

Diplomka a prakticky castDiplome with partical part

Towards Tamper-Evident Storage on Patterned Media

We propose a tamper-evident storage system based on probe storage with a patterned magnetic medium. This medium supports normal read/write operations by out-of-plane magnetisation of individual magnetic dots. We report on measurements showing that in principle the medium also supports a separate class of write-once operation that destroys the out-of-plane magnetisation property of the dots irreversibly by precise local heating. We discuss the main issues of designing a tamper-evident storage device and file system using the properties of the medium

Delay in DOTS for new pulmonary tuberculosis patient from rural area of Wardha District, India

Vast majority of active tuberculosis patients seeks treatment, do so promptly, still many patients spend a great deal of time and money “shopping for health” and too often they do not receive either accurate diagnosis or effective treatment, despite spending considerable resources. Objective: To find out the time taken to, for diagnosis of tuberculosis and to put patient on DOTS from the onset of symptoms and pattern of health seeking behavior of new pulmonary tuberculosis patients. A cross-sectional rapid assessment using qualitative (FGD) and quantitative (Interview) methods conducted at DOTS center of tertiary care hospital from rural Wardha. Participants: 53 pulmonary tuberculosis patients already on DOTS, in intensive phase. Main outcome measure: Delay in initiation of DOTS & health seeking behavior Results: Median total delay for starting DOTS was 111 days, (range: 10 to 321 days). Patient delay was more than provider delay. Patients delay was more in patients above 60 years, illiterate, per-capita income below 650 Rupees and HIV TB co-infection. Pattern of health seeking behavior was complex. Family physician was the preferred health care provider. Patient visited on an average four providers and spent around 1450 rupees (only direct cost) before DOTS begin. Time taken from the onset of symptoms and start of DOT is a cause of concern for the tuberculosis control program. Early case detection is important rather than mere achieving target of 70% new case detection. Program manager needs to implement locally relevant & focused strategies for early case detection to improve the treatment success, especially in rural area of India