Finansowanie szkolnictwa wyższego w Polsce i innych krajach Unii Europejskiej

The paper presents a comparative analysis of the scale and structure of high education financing structure in Poland and other European countries. The paper also compares the efficiency of higher education spending across these countries. In line with the analyses showed in the paper, higher education financing per capita is lower than the European Union average and the spending is to a relatively little extent channelled to research and development project. The paper contains simulation results, according to which higher education financing, particularly for research and development, would have to be way higher in order for Poland to reach the same level of capital as in the Western Europe. Low level of expenditure is accompanied by unsatisfactory results of higher education in Poland, with respect to position in University rankings, number of publications, number of patents and co-operation with industry. At the same time, case studies of higher education financing in other European countries, also in Central and Eastern Europe, indicate that achieving good outcome in the abovementioned aspects even with low level of high education financing, yet under condition of adequate combination of financing larger break-through projects with small and less innovative projects, yet with a greater probability of completion

Online identification of wind model for improving quadcopter trajectory monitoring

In this paper, we consider a problem of quadcopter control in severe weather conditions. One type of such weather conditions is a strong variable wind. In this paper, we ponder deterministic and stochastic models of winds at low altitudes with the quadcopter performing aggressive maneuvers. We choose an adaptive algorithm as our control algorithm. This algorithm might seem suitable one to solve the given problem, as it is able to adjust quickly to changing conditions. However, as shown in the paper, this algorithm is not applicable to rapidly changing winds and requires additional filters to smooth the impulse streams, so as not to lose the stability of the object

Online identification of wind model for improving quadcopter trajectory monitoring

In this paper, we consider a problem of quadcopter control in severe weather conditions. One type of such weather conditions is a strong variable wind. In this paper, we ponder deterministic and stochastic models of winds at low altitudes with the quadcopter performing aggressive maneuvers. We choose an adaptive algorithm as our control algorithm. This algorithm might seem suitable one to solve the given problem, as it is able to adjust quickly to changing conditions. However, as shown in the paper, this algorithm is not applicable to rapidly changing winds and requires additional filters to smooth the impulse streams, so as not to lose the stability of the object

Opracowanie sterowania adaptacyjnego dla quadrocoptera asymetrycznego

The paper presents an adaptive control algorithm for an asymmetric quadcopter. For determining the control algorithm, the identification was made, and an identification algorithm is presented in the form of a recursive method. The control method is realized using inverse dynamics, full state feedback and finally adaptive control method. The algorithms for the off-line and on-line identification of quadcopter model parameters are also presented. The paper shows the effectiveness of the selected algorithm on the example of the movement along a given trajectory. Finally, recommendations of the application of these different methods are made.W pracy przedstawiono algorytm sterowania adaptacyjnego dla asymetrycznego quadrocoptera. W celu określenia sterowania zrealizowano identyfikację parametrów i przedstawiono algorytm identyfikacji w formie metody rekurencyjnej. Metoda sterowania realizowana jest z wykorzystaniem dynamiki odwrotnej, przesuwania biegunów oraz sterowania adaptacyjnego. Zaprezentowano algorytmy identyfikacji parametrów modelu quadrocoptera w trybie off-line i on-line. W artykule przedstawiono skuteczność wybranych algorytmów na przykładzie ruchu wzdłuż podanej trajektorii. Na zakończenie artykułu przedstawiono zalecenia dotyczące stosowania różnych metod sterowania

Noise variance estimation for Kalman filter

In this paper, we propose an algorithm that evaluates noise variance with a numerical integration method. For noise variance estimation, we use Krogh method with a variable integration step. In line with common practice, we limit our study to fourth-order method. First, we perform simulation tests for randomly generated signals, related to the transition state and steady state. Next, we formulate three methodologies (research hypotheses) of noise variance estimation, and then compare their efficiency

Real-Time Switching Number Reduction SVM for a Two-Phase Motor Powered by Three-Level NPC Inverter

A three-level neutral point clamped inverter with three phase legs is often used to power three-phase electrical motors. This type of multilevel inverter has its advantages over two-level inverters. The main advantages are lower harmonic distortion and less stress on motor windings. This three-level inverter can be also used as a power source for a two-phase induction motor. A one-phase induction motor with a starting capacitor and auxiliary windings is in fact a two-phase induction motor. In this article, we show that the switching number reduction method, previously presented for use with three-phase induction motors, can be used with two-phase motors as well, after some crucial modifications. The reduction of switching decreases the switching losses. The switching number reduction is obtained with modified space vector modulation using redundant voltage vectors. The method was simulated and then implemented on a prototype 3L-NPC inverter powering a one-phase induction motor with auxiliary windings. A switching number reduction of about 19% to 29% was obtained, depending on modulation parameters

Noise variance estimation for Kalman filter

In this paper, we propose an algorithm that evaluates noise variance with a numerical integration method. For noise variance estimation, we use Krogh method with a variable integration step. In line with common practice, we limit our study to fourth-order method. First, we perform simulation tests for randomly generated signals, related to the transition state and steady state. Next, we formulate three methodologies (research hypotheses) of noise variance estimation, and then compare their efficiency

Implementation of a Hybrid Intelligence System Enabling the Effectiveness Assessment of Interaction Channels Use in HMI

The article presents a novel idea of Interaction Quality Sensor (IQS), introduced in the complete solution of Hybrid INTelligence (HINT) architecture for intelligent control systems. The proposed system is designed to use and prioritize multiple information channels (speech, images, videos) in order to optimize the information flow efficiency of interaction in HMI systems. The proposed architecture is implemented and validated in a real-world application of training unskilled workers—new employees (with lower competencies and/or a language barrier). With the help of the HINT system, the man–machine communication information channels are deliberately chosen based on IQS readouts to enable an untrained, inexperienced, foreign employee candidate to become a good worker, while not requiring the presence of either an interpreter or an expert during training. The proposed implementation is in line with the labor market trend, which displays significant fluctuations. The HINT system is designed to activate human resources and support organizations/enterprises in the effective assimilation of employees to the tasks performed on the production assembly line. The market need of solving this noticeable problem was caused by a large migration of employees within (and between) enterprises. The research results presented in the work show significant benefits of the methods used, while supporting multilingualism and optimizing the preselection of information channels

Human interaction smart subsystem-extending speech-based human-robot interaction systems with an implementation of external smart sensors

This paper presents a more detailed concept of Human-Robot Interaction systems architecture. One of the main differences between the proposed architecture and other ones is the methodology of information acquisition regarding the robot's interlocutor. In order to obtain as much information as possible before the actual interaction took place, a custom Internet-of-Things-based sensor subsystems connected to Smart Infrastructure was designed and implemented, in order to support the interlocutor identification and acquisition of initial interaction parameters. The Artificial Intelligence interaction framework of the developed robotic system (including humanoid Pepper with its sensors and actuators, additional local, remote and cloud computing services) is being extended with the use of custom external subsystems for additional knowledge acquisition: device-based human identification, visual identification and audio-based interlocutor localization subsystems. These subsystems were deeply introduced and evaluated in this paper, presenting the benefits of integrating them into the robotic interaction system. In this paper a more detailed analysis of one of the external subsystems-Bluetooth Human Identification Smart Subsystem-was also included. The idea, use case, and a prototype, integration of elements of Smart Infrastructure systems and the prototype implementation were performed in a small front office of the Weegree company as a decent test-bed application area