This research paper presents an approach to developing a control system for the six-axis industrial robotic manipulator ABB IRB 140, aimed at enhancing object manipulation tasks. The focus is on the integration of com...
This research paper presents an approach to developing a control system for the six-axis industrial robotic manipulator ABB IRB 140, aimed at enhancing object manipulation tasks. The focus is on the integration of computer vision and machine learning for efficient object detection and recognition. The study includes the analysis and comparison of various machine learning algorithms, including the application of convolutional neural networks and the YOLOv3 algorithm for real-time object detection using a depth camera. The work also covers the development of a robotic gripper with a robust control system capable of compensating for the saturation effect. To verify the proposed control system, the robotic complex is modeled in the Simulink environment. The research results confirm the possibility of successful implementation of the developed components into the existing robotic complex and its telecontrol system, ensuring the enhancement of efficiency and reliability in the object manipulation process.
The feedback control system, which is closed loop through the real time network, is called the networked control system. Because of the existence of the control loop network, the analysis and design of the networked c...
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ISBN:
(数字)9798350356618
ISBN:
(纸本)9798350356625
The feedback control system, which is closed loop through the real time network, is called the networked control system. Because of the existence of the control loop network, the analysis and design of the networked control system become complex. The traditional control theory should be re-evaluated before it can be applied to the networked control system. A large number of literatures and research works have focused on the analysis and design of networked control system from different perspectives. The purpose of this paper is to introduce the current research status of networked control system, discuss and point out the future development issues and problems to be solved.
The paper proposes the typical model and the functional structure of reflexive-active systems of artificial heterogeneous intelligent agents within the multi-agent approach to the construction of distributed artificia...
The paper proposes the typical model and the functional structure of reflexive-active systems of artificial heterogeneous intelligent agents within the multi-agent approach to the construction of distributed artificial intelligence systems. Reflexive-active systems of artificial heterogeneous intelligent agents are characterized by the dynamic composition and structure of agent connections, which are formed during the joint problem solving as a result of modeling each other’s reflexive positions. Thus, self-organization of the system is ensured with the involvement of currently relevant versions of agents that implement modern information and intelligent technologies, and the formation of a collective subject relevant to the problem posed. The development of such systems for solving practical problems will make it possible to obtain new theoretical, methodological and technological knowledge about collective intelligence, increase the relevance of these systems to real teams of specialists, and also verify knowledge about collective processes and effects in small groups.
This paper addresses the adaptive cruise control (ACC) problem for an automatic vehicle following system that only uses radar sensors to detect the distance and relative speed between vehicles. By considering the unce...
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This study discusses the fusion tank system as a result of the usual non-linear and linear mathematical models' theoretical modeling. It is an illustration of an interactive control system, and also its non-linear...
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The proposed work is devoted to the study of a two-dimensional problem with free boundaries, which arises in the mathematical modeling of medical problems. A new formulation of the two-dimensional problem with free bo...
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Power electronic converters, especially buck-boost circuits, play a vital role in energy management, electric vehicles, renewable energy systems and other fields. Due to the traditional PID control, there are some pro...
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ISBN:
(数字)9798350377798
ISBN:
(纸本)9798350377804
Power electronic converters, especially buck-boost circuits, play a vital role in energy management, electric vehicles, renewable energy systems and other fields. Due to the traditional PID control, there are some problems such as complex parameter setting, accurate mathematical model, sensitivity to external interference and limited response speed. In this paper, the second-order active disturbance rejection control is used as the basic control structure of the main circuit, which solves the problems of slow dynamic response speed, complex parameter setting and high accuracy of model requirements of PID control. At the same time, the selection of the main circuit structure also has the function of realizing wide input, which can be applied to many occasions. Finally, by analyzing and comparing the output voltage waveforms under the active disturbance rejection control strategy and the double closed-loop proportional integral control applied in different working conditions, the robustness and effectiveness of the active disturbance rejection control strategy applied in this paper are verified.
One of the problems of the modern theory of automatic control is the construction of verified mathematical models of objects of regulation. In some cases, obtaining such models is not possible. This paper discusses ap...
One of the problems of the modern theory of automatic control is the construction of verified mathematical models of objects of regulation. In some cases, obtaining such models is not possible. This paper discusses approaches to the use of neural networks as regulators. Due to the presence of the adaptivity property, neuroregulators in some cases show a better quality of control in comparison with classical ones. The most common architectures of neural networks and methods of their training are considered. A comparative analysis was carried out. The first stage in the design of neural network regulators is the creation of a neuroimitator. An example of the synthesis of a neural network simulator is given. The proposed scheme has been worked out on systems with saturation type limiters and a mechanical stop.
With the rapid development of China's railway system, track scenarios are becoming increasingly complex, characterized by a wide variety of engineering data tables and strong data coupling among them. The manual c...
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ISBN:
(数字)9798350369151
ISBN:
(纸本)9798350369168
With the rapid development of China's railway system, track scenarios are becoming increasingly complex, characterized by a wide variety of engineering data tables and strong data coupling among them. The manual creation of test sequences is labor-intensive and computationally demanding, making the automatic generation of test sequences a topic of significant research interest. This paper proposes an automatic test sequence generation method based on a virtual track coordinate system. The method includes the construction of the virtual track coordinate system, which is based on track direction, chainage interruption information, and mileage system transformation relationships, as well as a mapping method between the kilometer marker system and configuration attribute sets within the virtual track coordinate system. The method is validated using real-world engineering data under complex track scenarios, focusing on track conditions and RBC handovers. The results demonstrate that the proposed method can automatically generate test sequences and verify their correctness. Compared to manual test sequence creation and other automatic generation methods, the virtual track coordinate system-based approach is better suited to complex track scenarios and the coupling of diverse test sequences. Furthermore, the method of establishing the virtual track coordinate system can be applied to other coordinate system modeling needs involving complex mileage systems and chainage interruptions, offering high reusability. Therefore, this method enhances the automation level of data testing in train controlsystems.
The proceedings contain 130 papers. The topics discussed include: numerical model analysis of atypical gas filtration in a porous medium;collaborative human-ai decision-making systems with numerical channels;analysis ...
The proceedings contain 130 papers. The topics discussed include: numerical model analysis of atypical gas filtration in a porous medium;collaborative human-ai decision-making systems with numerical channels;analysis of filtration processes in porous environments taking into account the movement of capillaries;simulation and numerical optimization of specific characteristics of the unified range of power converters;distribution of permutations with different cyclic structure in mathematical models of transportation problems;features of the computational process organization of initial parameters determination for shading;web-applications fault tolerance and autoscaling provided by the combined method of databases scaling;the concept and means of adaptive shading;modeling hybrid attacks and operations to assess the threats in early warning systems;the investigation of wave processes in porous medium using fractional time derivatives;and mathematical model and method for diagnosing the operability of information and controlsystems.
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