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The System of Coordinated Operation of Two Underwater Vehicles in a complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

引用

2023 international conference on Ocean Studies, ICOS 2023

作者： Filaretov, Vladimir Katsurin, Alexey Institute of Automation and Control Processes Feb Ras Vladivostok State University Laboratory of Robotic Systems Laboratory of Automation and Robotics Vladivostok Russia Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems Feb Ras Laboratory of Intelligent Information Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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Distributed System for Scientific and Engineering Computations with Problem Containerization and Prioritization 1

引用

26th international conference on Distributed Computer and Communication Networks: control, Computation, Communications, DCCN 2023

作者： Sokolov, Aleksander Larionov, Andrey Mukhtarov, Amir V.A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Profsoyuznaya Str. 65 Moscow117997 Russia

ISBN: (数字)9783031504822

ISBN: (纸本)9783031504815

A key challenge in computer modeling is obtaining numerical results on large input datasets. For instance, this problem arises when researchers need to produce a visualization of an economic or physical process, as well as during the computation of characteristics of complex mathematical models using the Monte Carlo method. Each problem requires repeating the same program on a large set of inputs, consuming much time, from several hours to days and weeks. Computational algorithms may be implemented in different programming languages and may require various specific tools like GNU Octave, NS-3, or OMNeT++. This article describes a distributed system architecture, which can speed up the process of obtaining results for such problems. The system comprises a backend server, a control service (supervisor), worker nodes, and a database. These algorithms are executed in Docker containers to abstract from particular languages and tools required for computational algorithms. The system supports several strategies for problem prioritization to operate efficiently under heavy loads introduced by multiple users. To use the system, the user only needs to build a Docker image with an encapsulated algorithm, describe the input dataset in a JSON file, and upload them via the web interface. The system can be deployed in any public cloud. In this article, we describe the system architecture and numerical results obtained from computations on various clouds and local platforms. We demonstrate that the computation time for CPU-bound problems in different public clouds varies greatly. Finally, we show the influence of different prioritization strategies on the duration of computations under a moderate workload. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Virtualization

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Research on Fabrication method of fabric sensor based on laser induced graphene

Research on Fabrication method of fabric sensor based on las...

引用

2023 international conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Yuan, Chonghao Shan, Rongrong Wang, Jia Fan, Yi Gao, Yuqin Lu, Fan Nari Group Corporation State Grid Electric Power Research Institutie NARI Technology Nanjing Control Systems Co. Ltd Jiangsu Nanjing230001 China

ISBN: (纸本)9781510674608

At present, how to manufacture lightweight and flexible wearable sensors suitable for human body has become an important scientific and technological problem. However, most of the existing manufacturing methods of portable flexible wearable sensors have the problems of complex manufacturing process and low design freedom. The laser induced graphene technology with high efficiency and customizable advantages is conducive to solving these problems. In this paper, the effects of flame retardants and fabric substrates on the properties of graphene were studied. The effects of sodium tetraborate and ammonium polyphosphate on the structural stability of fabric graphene were compared, and the effects of flame retardant concentration on the properties of graphene were analyzed. Ammonium polyphosphate solution with a concentration of 0.45 g/ml was selected as the flame retardant. The laser induced graphene fabrics prepared by different fabrics were compared and analyzed. Choose 120 cotton fabric as the substrate. Secondly, the effects of laser processing parameters on the properties of graphene were analyzed. Different combinations of laser power and scanning speed were used to analyze the mechanical and electrical properties of the prepared graphene. Determine that the laser power used is 3 W and the scanning speed is 125 mm/s. Finally, the feasibility of fabric graphene structure monitoring human ECG signal is demonstrated by comparing commercial ECG signal detection instruments. The manufacturing method of lightweight flexible fabric sensor based on laser-induced graphene has the characteristics of high efficiency and easy customization, which is expected to realize multi-modal monitoring of human health information, and has application prospects in medical health, human-computer interaction and other fields. © 2024 SPIE.

关键词： Graphene

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Mathematical modeling of the Process of Grinding Root Crops for Feeding Cattle

Mathematical Modeling of the Process of Grinding Root Crops ...

引用

international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Angela Bukreeva Svetlana Davydova Aleksey Bukreev Laboratory of Electricity Supply Electrical Equipment and Renewable Energy Agroengineering Center VIM Moscow Russia Laboratories for Forecasting the Development of Machine Systems and Technologies in the Agro-Industrial Complex Federal Scientific Agroengineering Center VIM Moscow Russia Laboratory of Electricity Supply Electrical Equipment and Renewable Energy Federal Scientific Agroengineering Center VIM Moscow Russia

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

The results of mathematical modeling of the process of root crop shredding are presented, namely the equations of the total cutting force of the shredder with a knife wall, the total resistance to the movement of the root crop through the knife wall, the force spent on free cutting of the root crop. It is established that the cutting force should correspond to a certain condition, which allows to determine the optimal parameters of the cutting process.

关键词： Resistance Automation Force Crops Process control Cows control systems Mathematical models Energy efficiency

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Particle Swarm Optimization for PSS Parameters and Application to DIgSILENT PowerFactory 6

Particle Swarm Optimization for PSS Parameters and Applicati...

引用

6th international conference on Energy, Electrical and Power Engineering, CEEPE 2023

作者： Liu, Yonghan He, Jing Wang, Peng Zhao, Haoran School of Electrical Engineering Shandong University Jinan China China Power Research Institute State Key Laboratory of Operation and Control of Renewable Energy & Storage System Beijing China

ISBN: (纸本)9798350348279

The power grid becomes complex, low-frequency oscillations occur more frequently, posing significant challenges to power systems' safe and stable operation. Power system stabilizers are commonly used to enhance system stability by improving damping and suppressing low-frequency oscillations. However, optimizing PSS parameters is a challenging task that typically requires extensive analysis or on-site experimentation. To address this challenge, this study proposes an efficient parameter optimization method for PSSs using the DIgSILENT PowerFactory software and the particle swarm optimization algorithm. The proposed method is validated on a 39-node system, and the results show that the proposed method improves system damping and enhances stability. This method offers an easy-to-implement solution for engineers seeking to optimize PSS parameters in power systems. © 2023 IEEE.

关键词： System stability

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Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Automatic Anti-Swing Gantry Crane Based on Gradient Descent ...

引用

2023 international conference on Electrical Engineering and Informatics, ICEEI 2023

作者： Qadri, Munzir Harjanto, Danang Karuna Miharja, Jonathan Astuti, Winda Mariana, Yosica Tan, Sofyan Solihin, Mahmud Iwan University of Muhammadiyah Jakarta Engineering Faculty Mechanical Engineering Department Jakarta10510 Indonesia Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Binus Aso School of Engineering Bina Nusantara University Product Design Program Industrial Engineering Department Jakarta11480 Indonesia Ucsi University Departement of Mechanical & Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798350381290

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time. © 2023 IEEE.

关键词： Proportional control systems

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Robust Autonomous Rendezvous, Docking and Formation control of Electric Low-Thrust Chaser Spacecraft: A Reinforcement Learning Approach 52

Robust Autonomous Rendezvous, Docking and Formation Control ...

引用

52nd IAF Student conference at the 75th international Astronautical Congress, IAC 2024

作者： Das, Arya Giri, Dipak Kumar Department of Aerospace Engineering Indian Institute of Technology Kanpur208016 India

ISBN: (纸本)9798331312305

In recent years, there has been a notable rise in the deployment of small satellites outfitted with efficient low-thrust electric propulsion systems. These satellites are increasingly utilized for complex missions that involve rendezvous, docking, and other close-proximity operations. In this context, Reinforcement Learning (RL) has emerged as a valuable tool for addressing the Guidance Navigation and control (GNC) challenges of Rendezvous and Docking (RVD). RL, a machine learning approach, is adept at optimizing solutions for sequential decision-making problems, such as those encountered in RVD scenarios. In this paper, an optimal and robust approach to RVD has been presented using the reinforcement learning approach. Using Monte Carlo simulation analysis, we demonstrate that the RL approach can generate fuel-efficient rendezvous, docking and formation control trajectories. In case of low-thrust spacecraft, the rendezvous manoeuvres are not instantaneous impulses, but a prolonged continuous firing of the engine, which the RL approach successfully solves for. It satisfies constraints such as collision avoidance, approach cone constraint, and sensor line-of-sight constraint. We test it for navigation sensors noise and modelling noise and find that the developed model is robust to external disturbances, which further validates the approach. Safety, robustness, and reliability are big concerns for autonomous close-proximity operations. We envisage that owing to the robustness of the approach, this algorithm can be used for future close-proximity operations in space. Copyright © 2024 by Mr. Arya Das.

关键词： Small satellites

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Mathematical modeling of Delta Robot Dynamics Using the Shulgin's Equations

Mathematical Modeling of Delta Robot Dynamics Using the Shul...

引用

international conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Aleksander Ya. Krasinskiy Anastasia N. Ilyina Dept. of Probability Theory Moscow Aviation Institute Moscow Russia

ISBN: (数字)9798331512194

ISBN: (纸本)9798331512200

modeling the dynamics of systems with geometric constraints requires a rigor which is unusual for technical practice. In particular, it is necessary to take into account the nonlinear terms (quadratic, at least) of constraint equations for stability and stabilization problems. As a rule, in such cases, Lagrange equations with constraint multipliers are used to create a mathematical model. In this paper, we demonstrate a new approach to mathematical modeling of such systems, based on using the Shilgin's equations, which are free from unknown Lagrange multipliers. The number of the equations is equal to the number of freedom of the system. The application of the theory of critical cases together with the use of the Shulgin's equations allows us to solve efficiently the problems of stability and stabilization of systems with geometric connections. As an example, we consider modeling the dynamics of a delta robot as a system with three geometric constraints. Variables corresponding to the zero roots of the characteristic equation are selected. Then, according to the constraints imposed on the perturbations of the dependent coordinates, a reasonable conclusion on the stability of the system based on the methods of nonlinear stability theory is made. Coefficients of the linear stabilization control are calculated using the N.N. Krasovskiy method.

关键词： Asymptotic stability Service robots Robot kinematics Perturbation methods Robot control Mathematical models Stability analysis Nonlinear dynamical systems Transient analysis Standards

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Testing Electrophysical Parameters of Multilayer Dielectric and Magnetodielectric Coatings by the Method of Surface Electromagnetic Waves 3

Testing Electrophysical Parameters of Multilayer Dielectric ...

引用

3rd international conference on control systems, Mathematical modeling, Automation and Energy Efficiency, SUMMA 2021

作者： Chernyshov, Vladimir Kaz'min, Aleksandr Fedyunin, Pavel Tambov State Technical University Dept. Materials and Technology Tambov Russia Zhukovsky and Gagarin Voronezh Air Force Academy Voronezh Russia

ISBN: (纸本)9781665439817

The widespread use of multilayer dielectric and magnetodielectric coatings operating in the microwave range in various science-intensive areas has led to the search and selection of effective methods for radio wave nondestructive testing of their electrophysical parameters. In this paper, we propose an original method for local evaluation of the complex dielectric and magnetic permeabilities, as well as the thickness of multilayer dielectric and magnetodielectric coatings on a metal substrate using surface electromagnetic waves of the microwave range. The method is based on solving inverse problems to determine the complex dielectric and magnetic permeabilities and the thickness of the coatings from the frequency dependences of the field attenuation coefficient of the surface electromagnetic wave excited in the sample under study. A simulation model is shown for evaluating the accuracy of reconstructing the electrical and geometric parameters of multilayer coatings. The results of simulation are presented to determine the frequency dependences of the electrophysical parameters and the thickness of a sample of a radio-Absorbing single-layer coating, as well as the two-layer coating on a metal substrate. The numerical and field experiments have shown that for a measurement frequency band of 9-13.5 GHz, the errors in the estimates of complex dielectric and magnetic permeabilities and the thickness are no more than 10% with a confidence level of 0.95. © 2021 IEEE.

关键词： Inverse problems

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Data-Driven Modelling and Predictive control for the Geometry and Mechanical Properties of Freeform Bending Processes 11

Data-Driven Modelling and Predictive Control for the Geometr...

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11th Vienna international conference on Mathematical Modelling (MATHMOD)

作者： Ismail, Ahmed Boehm, Viktor Stebner, Sophie Kong, Linghao Volk, Wolfram Muenstermann, Sebastian Lohmann, Boris Tech Univ Munich Sch Engn & Design Chair Automat Control Boltzmannstr 15 D-8570 Garching Germany Tech Univ Munich Sch Engn & Design Chair Met Forming & Casting Walther Meissner Str 4 D-85748 Garching Germany RWTH Aachen Unviers Integrityy Mat & Struct Intzestr 1 D-52072 Aachen Germany

Freeform bending is a technique used to bend different tube profiles into complex structures. In the realm of Aritificial Intelligence and Machine Learning, data-driven approaches in modeling and in optimization based control contribute to the job being executed, by increasing product quality and reducing energy consumption and material waste. In previous works, soft-sensors as well as different factors affecting the geometry and the residual stresses have been investigated and been utilized in a preliminary closed-loop control structure. Later on, this control structure has been replaced with a control strategy called Residual Strategy Algorithm, that could, based on previous deviations in the geometry, proactively react in order to reduce their effects. In this paper, the previously developed Residual Strategy Algorithm is extended to include both, the geometry as well as the residual stresses of the tube being bent. Also the modelling of both will be discussed altogether. The validation of the algorithm is done using simulation results. Copyright (c) 2025 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Data-Driven Modelling Predictive control Free-form bending Residual Stresses Curvature Process Optimization Soft sensors Closed-loop control Feed-forward control Gaussian Process Regression Neural Network Artificial Intelligence Machine Learning Cyber Physical Production systems

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