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Planning the Operations of a Group of Autonomous Unmanned Underwater Vehicles Based on a Carrier Vessel as a Solution for Multiple Traveling Salesmen Problem With Some Restrictions 17

Planning the Operations of a Group of Autonomous Unmanned Un...

引用

17th International Conference on Management of Large-Scale System Development, MLSD 2024

作者： Druzhinin, Yuri Sokolov, Vladimir V.A. Trapeznikov Institute of Control Sciences of Ras Laboratory of Automated Queuing Systems and Signal Processing Moscow Russia

ISBN: (纸本)9798350375718

We regard monitoring of a river or water basin. We propose a method for calculating the work carried out as part of this activity. A group of autonomous unmanned underwater vehicles (AUVs), accompanied by a carrier vessel, do the job based on a two-level model. Examples of monitoring are given for arbitrarily located inspection points using the mathematical apparatus of multiple traveling salesmen problem with some restrictions. © 2024 IEEE.

关键词： Autonomous underwater vehicles

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Planning the Operations of a Group of Autonomous Unmanned Underwater Vehicles Based on a Carrier Vessel as a Solution for Multiple Traveling Salesmen Problem 16

Planning the Operations of a Group of Autonomous Unmanned Un...

引用

16th International Conference Management of Large-Scale System Development, MLSD 2023

作者： Druzhinin, Yuri Sokolov, Vladimir V.A. Trapeznikov Institute of Control Sciences of Ras Laboratory of Automated Queuing Systems and Signal Processing Moscow Russia

ISBN: (纸本)9798350337907

We propose a method for calculating the work carried out as part of the monitoring of a river or water basin. A group of autonomous crewless underwater vehicles (AUVs), accompanied by a base ship, do the job based on a two-level model. Examples of monitoring are given for arbitrarily located inspection points using the mathematical apparatus of the of multiple traveling salesmen problem. © 2023 IEEE.

关键词： Distributed parameter control systems

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Development of an Interface for the Rapid Construction of Formal Context-Logical Queries for Searching for Information in Large Arrays of Information 5

Development of an Interface for the Rapid Construction of Fo...

引用

5th International Conference on Problems of Cybernetics and Informatics, PCI 2023

作者： Farkhadov, Mais Blinova, Olga Pankratova, Ekaterina Smirnov, Valentin Institute of Control Sciences V.A. Laboratory No. 17 Automated Queuing Systems and Signal Processing Moscow Russia Institute of Control Sciences V.A. Trapeznikov Academy of Sciences Laboratory No. 17 Automated Queuing Systems and Signal Processing Moscow Russia Llc 'Speech Drive Moscow Russia

ISBN: (纸本)9798350319064

The article is devoted to the problem of constructing accurate queries to a large volume of textual information in order to obtain concretized information for the desired query. Many modern systems have extensive capabilities for configuring search, but using these capabilities requires special knowledge. The article presents the interface of a visual, simple, intuitive system for searching for information on a given topic. The system is intended primarily for use by experts in professional activities. When performing work tasks, many requests can be template or of the same type. Therefore, working with the system begins with the use of a library of standard queries. The principles of encapsulation, modularity, ergonomics are used. Queries are connected using visual and simple commands. Dictionaries are used to search for derived words. © 2023 IEEE.

关键词： User interfaces

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Cooperative Ultrasonic Odometry of Autonomous Mobile Robots for Grouping Navigation

Cooperative Ultrasonic Odometry of Autonomous Mobile Robots ...

引用

2023 International Russian Automation Conference, RusAutoCon 2023

作者： Abdulov, Alexander V.A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences Laboratory of Automated Queuing Systems and Signal Processing Moscow Russia

ISBN: (纸本)9798350345551

This paper considers a method for local positioning of a group of mobile robots equipped with ultrasonic beacons. The described alternate movement algorithm allows a group of four wheeled robots to move on a flat surface with centimeter accuracy. While one robot is moving, the others act as fiducial beacons for it. The positioning problem is solved based on trilateration and numerical optimization. The overall trajectory is obtained by integrating the steps of each mobile robot. The leader communicates with all participants, receives the necessary data from them and organizes the grouping movement. The proposed approach can be used for autonomous cooperative navigation in the absence of other positioning systems. © 2023 IEEE.

关键词： Mobile robots

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Architectures for processing Large Data Arrays in Distributed systems Based on Open Source Frameworks 5

Architectures for Processing Large Data Arrays in Distribute...

引用

5th International Conference on Problems of Cybernetics and Informatics, PCI 2023

作者： Blinova, Olga Kuprikov, Oleg Komanich, Daniil Gorina, Ekaterina Institute of Control Sciences V.A. Trapeznikov Academy of Sciences Laboratory No. 17 Automated Queuing Systems and Signal Processing Moscow Russia

ISBN: (纸本)9798350319064

Currently, relational and object-relational databases have become the de facto standard for organizing data storage in most information systems. But such structures are not suitable for volumes of information that cannot be processed by the capacity of a single server. To process such big data, databases with a key-value structure are used. The article discusses the main problems that arise when creating distributed big data repositories and modern technologies that allow these problems to be leveled. There is no single universal solution related to the storage and processing of big data. When choosing technologies and implementing storage, it is important to consider together the tasks that require solutions, technical capabilities, types and regularity of necessary treatments, data features, for example, the frequency of their updates. © 2023 IEEE.

关键词： Big data

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Planning the Operations of a Group of Autonomous Unmanned Underwater Vehicles Based on a Carrier Vessel 15

Planning the Operations of a Group of Autonomous Unmanned Un...

引用

15th International Conference Management of Large-Scale System Development, MLSD 2022

作者： Druzhinin, Yuri Sokolov, Vladimir V.A. Trapeznikov Institute of Control Sciences of Ras Laboratory of Automated Queuing Systems and Signal Processing Moscow Russia

ISBN: (数字)9781665497015

ISBN: (纸本)9781665497015

We propose a method for calculating the work carried out as part of the monitoring of a river or water basin by a group of autonomous unmanned underwater vehicles (AUV) accompanied by a base vessel. This method is based on a two-level model. We give examples of monitoring a linear object (pipeline or cable) and randomly located inspection objects. © 2022 IEEE.

关键词： Distributed parameter control systems

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Position Control of Maneuverable Underwater Vehicle Based on Model Identification 5

Position Control of Maneuverable Underwater Vehicle Based on...

引用

5th International Conference on Control systems, Mathematical Modeling, Automation and Energy Efficiency, SUMMA 2023

作者： Alexandrov, Vadim Shatov, Dmitrii Abramenkov, Alexander Abdulov, Alexander V.A. Trapeznikov Institute of Control Sciences of RAS Ya.Z. Tsypkin Lab. of Adaptive and Robust Systems Moscow Russia V.A. Trapeznikov Institute of Control Sciences of RAS Lab. of Automated Queuing Systems and Signal Processing Moscow Russia

ISBN: (纸本)9798350309126

The position control for the experimental maneuverable remotely operated underwater vehicle is considered. The problem is to hold the position or to move a short distance without the attitude changing. So, velocity limitations and attitude control are not considered in the paper. Separate control loops for the body frame axes are designed, while the Eath frame position is transformed into the body frame coordinate system. For each axis, the translational dynamics linearized model is experimentally identified as a second-order transfer function. The PID controllers with setpoint weighting are designed via the pole placement optimization procedure using the identified models. Experimental tests of the obtained controllers showed acceptable performance. © 2023 IEEE.

关键词： Three term control systems

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Planning the Operations of a Group of Autonomous Unmanned Underwater Vehicles Based on a Carrier Vessel as a Solution for Multiple Traveling Salesmen Problem With Some Restrictions

Planning the Operations of a Group of Autonomous Unmanned Un...

引用

International Conference on Management of Large-Scale System Development (MLSD)

作者： Yuri Druzhinin Vladimir Sokolov Laboratory of Automated Queuing Systems and Signal Processing V.A. Trapeznikov Institute of Control Sciences of RAS Moscow Russia

ISBN: (数字)9798350375718

ISBN: (纸本)9798350375725

关键词： Autonomous underwater vehicles Costs Inspection Control systems Mathematical models Energy states Planning Rivers Large-scale systems Monitoring

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Planning the Operations of a Group of Autonomous Unmanned Underwater Vehicles Based on a Carrier Vessel as a Solution for Multiple Traveling Salesmen Problem

Planning the Operations of a Group of Autonomous Unmanned Un...

引用

International Conference on Management of Large-Scale System Development (MLSD)

作者： Yuri Druzhinin Vladimir Sokolov Laboratory of Automated Queuing Systems and Signal Processing V.A. Trapeznikov Institute of Control Sciences of RAS Moscow Russia

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Extra Steering for ROV Control System by Tracking the Gamepad Orientation

Extra Steering for ROV Control System by Tracking the Gamepa...

引用

2021 International Russian Automation Conference, RusAutoCon 2021

作者： Abdulov, Alexander Abramenkov, Alexander V. A. Trapeznikov Institute of Control Sciences Laboratory of Automated Queuing Systems and Signal Processing Moscow Russia

ISBN: (纸本)9780738131566

This paper presents a description of the created prototype of an omnidirectional underwater vehicle. Some aspects of its mathematical model and discusses several issues of improving maneuvering and performing teleoperations consider. The proposed approach advances remote-control capabilities of the underwater vehicle orientation using accessories with inertial sensors. The discussed issues are in the con of increasing automation and convenience of the visual underwater pipeline inspection. The transients of orientation regulators evaluate under natural conditions close to operational ones. An autoregressive with exogenous input model uses for the construction of averaged transient response. The control system is implemented based on the feedback linearization method. © 2021 IEEE.

关键词： Remote control

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