Kybernetika a robotika

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    Algebraic Design of a Discrete-Time Angle Tracking Observer
    (IEEE, 2025-11-06) Zezula, Lukáš; Blaha, Petr
    This paper presents a discrete-time design methodology for an angle tracking observer based on algebraic controller tuning techniques. A piecewise model of the estimated angular velocity is first introduced to approximate its dynamic behavior across sampling intervals. The corresponding angular position is then obtained analytically through integration, leading to a discrete-time system that captures the relationship between the velocity and the angle. A one-step delay is incorporated into the feedback path and compensated by a one-step angle prediction to avoid algebraic loops in the closed-control structure. Finally, an algebraic controller is designed to assign the closed-loop poles to the selected positions, ensuring desirable dynamics and filtering of the observer. The designed observer is experimentally validated and benchmarked against the conventional structures.
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    Monotonicity character of convex combinations of two sequences generated by the square of the cube root function
    (2025-10-15) Stevic, Stevo; Iričanin, Bratislav D.; Kosmala, Witold; Šmarda, Zdeněk
    There is a natural connection between the finite sums of the reciprocals of the squares of the cube roots of positive natural numbers and two definite integrals. By using the differences between the sums and the integrals are formed in a natural way two sequences of real numbers converging to the same finite limit. We completely determine the monotonicity character of the sequences which are obtained by convex combinations of the two sequences, in an elegant way. We also present an interesting result about monotonicity character of a real function on the interval , which is used in the proof of the main result. The results are important for solving difference equations.
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    Diagnostics of Interturn Short Circuits in PMSMs With Online Fault Indicators Estimation
    (IEEE, 2024-02-27) Zezula, Lukáš; Kozovský, Matúš; Blaha, Petr
    This article presents novel model-based diagnostics of interturn short circuits in permanent magnet synchronous machines that enable estimating fault location and its severity, even during transients. The proposed method utilizes recursive parametric estimation and model comparison approaches cast in a decision-making framework to track motor parameters and fault indicators from a machine's discrete-time model. The discrete-time prototype is derived from an advanced motor model that reflects the stator winding arrangement in a motor's case. The fault detection is then performed by tracking the changes in the estimated probability density function of the electrical parameters, using the Kullback-Leibler divergence. The fault location is subsequently evaluated by performing a recursive comparison of the predefined fault models in the different phases, utilizing a growing-window approach. Ultimately, a parametric estimation algorithm applied to the fault current model allows identifying the fault severity. The diagnostic algorithm has been validated via laboratory experiments, and its capabilities are compared with other approaches enabling severity estimation.
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    Inquiry-Based Linear Algebra Teaching and Learning in a Flipped Classroom Framework: A Case Study
    (Taylor & Francis, 2024-07-17) Fredriksen, Helge; Rebenda, Josef; Rensaa, Ragnhild Johanne; Pettersen, Petter
    Flipped Classroom (FC) approaches, which utilize video distribution via modern internet platforms, have recently gained interest as a pedagogical framework. Inquiry Based Mathematics Education (IBME) has proven to be a valid form of task design to motivate active learning and enhance classroom interactivity. This article presents a practical combination of introductory videos and inquiry-based class activities adoptable in a basic linear algebra course for stimulating students’ exploration of the underlying mathematics. Teachers’ and students’ work addressed in the article was realized in two case studies in engineering programs in Norway and the Czech Republic. The learning objective was to connect different interpretations of the matrix equation Ax=b, which is often perceived as challenging for engineering students. Feedback from classroom sessions, interviews, and questionnaires encourage further research and inspired us as teachers to closely examine the mathematics behind the task design.
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    Robust perception systems for automated, connected, and electrified vehicles: advances from EU project ArchitectECA2030
    (Elsevier, 2023-12-13) Recekenzaun, Jakob; Solmaz, Selim; Goelles, Thomas; Hilbert, Marc; Weimer, Daniel; Mayer, Peter; Chromý, Adam; Hentschel, Uwe; Modler, Niels; Toth, Mate; Hennecke, Marcus
    The perception supply chain (SC1) of the ArchitectECA2030 project investigates failure modes, fault detection, and residual risk in perception systems of electrified, connected, and automated (ECA) vehicles. This accounts for the needs of a reliable understanding of the surrounding environment. The three demonstrators of SC1, described in this paper, address steps of a typical ECA usage cycle: charge - drive - restart charging. The foreign object detection (FOD) demonstrator improves safety within a wireless charging system. The robust physical sensors demonstrator creates a more robust perception by detecting failures within fused and single sensor data. The position enhancement demonstrator improves vehicle localization in areas with reduced GNSS signal coverage. All demonstrators are linked to the challenges that occur during the ECA vehicle usage cycle