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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Gaiduk, Anatoly Prokopenko, Nikolay Chumakov, Vladislav Southern Federal University Scientific Design Office Robotics and Control Systems Taganrog Dept. of Automatic Control Systems Rostov-on-Don Russia Don State Technical University Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Rostov-on-Don Russia

ISBN: (纸本)9798350345551

To design linear control systems a new method is suggested on the basis of the principle of output and impacts control. The main difference of this principle consists in the use of only measurable variables and separate operators for each input signal of the control device. The design problem has a solution if the plant is completely controllable, and at least the controllable variable is measured. The suggested approach makes it possible to eliminate the well-known contradiction between the accuracy and stability of systems with control on deviation, and to provide the required astatism orders or selective invariance to the external actions. At the same time, the conditions of ensuring the direct indicators of the transient quality and the physical implementation of the control device are taken into account. The coefficients of the equation of the output and impacts control device are determined by solving a system of linear algebraic equations. The control device can be implemented on the basis of either operational amplifiers or sufficiently high-speed digital automation tools. The suggested method can be applied for designing high-quality linear control systems for various purposes. © 2023 IEEE.

关键词： Operational amplifiers

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Using AI for Healthcare Management – Vinci Medicine solution

Using AI for Healthcare Management – Vinci Medicine solutio...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Nataliia Kashpruk Jerzy Baranowski Wojciech Bachta Department of Automatic Control and Robotics AGH University of Krakow Krakow Poland Department of Automatic Control and Robotics AGH University of Krakow Poland Da Vinci Studio sp.z o.o Bielsko-Biała Poland

This paper describes the development of Vinci Medicine, a comprehensive healthcare system that utilizes machine learning and mobile technology. The system comprises a mobile application, an administrative panel, a machine learning module, and a database. The mobile application allows users to input their symptoms and receive appropriate medical advice based on the analysis provided by the machine learning module. The administrative panel provides staff members access to the system's backend, allowing them to manage appointments and doctor schedules. The machine learning module provides preliminary diagnoses and suggests tests and examinations. The database stores user data and medical information. The system was designed with user experience in mind, providing an easy-to-use interface and intuitive navigation. The machine learning module was developed using Python 3.10 and FastAPI, and the database was implemented using MariaDB. The system has been shown to provide accurate diagnoses and suggestions for medical examinations. Vinci Medicine offers a reliable and efficient healthcare solution for users, providing access to medical advice and services from the convenience of their mobile devices.

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Wave Problems of the Influence of Acoustic Pressure on the Accuracy of Inertial Sensors 5

Wave Problems of the Influence of Acoustic Pressure on the A...

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5th International Conference on control, robotics and Informatics, ICCRI 2022

作者： Korobiichuk, Igor Mel'nick, Viktorij Shybetskyi, Vladyslav Kostyk, Sergii Kalinina, Myroslava Warsaw University of Technology Institute of Automatic Control and Robotics Warsaw Poland National Technical University of Ukraine 'Igor Sikorsky Kyiv Polytechnic Institute' Kyiv Ukraine

ISBN: (数字)9781665468008

ISBN: (纸本)9781665468008

This research is devoted to the study of the nature and degree of the influence of acoustic radiation, as well as the mechanical models of the disturbed movement, depend on the ratio between the dimensions of the product and half the length of the sound wave. The studied parameters of a double-shell structure with a rectangular hole in the conditions of irradiation with sound waves of different frequencies, namely: shell velocity, linear deformations and acoustic pressure, are important for predicting the behavior of the gyroscope shell and the possibility of resonant phenomena. It is established that high-intensity acoustic radiation causes measurement errors above the sensitivity threshold of the device. The largest values of systematic error reach the level of 0.6 deg s-1 and are observed at a frequency of 800 Hz. To analyze the effect of diffraction phenomena on the suspension of the angular velocity sensor, computer simulations were performed in the Harmonic Acoustic analysis system. It is established that in the system at a frequency of 2200 Hz there is a resonance and the displacement of the suspension surface reaches 28.3 μm. The obtained results can be used at the stage of designing the elements of the navigation system to improve their performance designing the elements of the navigation system to improve their performance. © 2022 IEEE.

关键词： Errors

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Mechanical input-output linearization and decoupling of mechanical control systems

Mechanical input-output linearization and decoupling of mech...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Marcin Nowicki Witold Respondek Institute of Automatic Control and Robotics Poznan University of Technology Poznaň Poland Institute of Automatic Control Lodz University of Technology Łódź Poland Emeritus Professor at Normandie Université INSA de Rouen Saint-Etienne-du-Rouvray France

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, we present a mechanical counterpart of the problem of simultaneous input-output feedback linearization and decoupling that is designed for control systems that possess a mechanical structure. We show how our problem differs from the classical one and what are the supplementary conditions for preserving the mechanical structure of the system. Unlike our previous works, here we treat a mechanical control system $(\mathcal{M S O})$ as a control system on $\mathrm{T} Q$ with a special structure of the drift and control vector fields.

关键词： Manifolds Automation control systems Vectors Planning Feedback linearization Mechanical systems

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Modeling of passive cooling systems for building-applied photovoltaics panels (BAPV)

Modeling of passive cooling systems for building-applied pho...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Oleh Holovko Adam Konieczka Adam Dąbrowski Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Poznan University of Technology Poland

This article analyzes the effectiveness of passive solar panel cooling systems in building-applied photovoltaics (BAPV) installations. Emphasis was placed on the ribbed heat sinks. Using CFD (Computational Fluid Dynamics) simulation, the movement of air in the cooling system and the dependence of the heat sink temperature on wind speed and direction, ambient temperature and distance to surrounding objects were analyzed. A mathematical analysis of the decrease in the average temperature of the solar panel was carried out. Experimental temperature measurements of the real panel were also made. They confirmed the simulation results.

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How to combine issues related to autonomous vehicles - a proposal with a literature review

How to combine issues related to autonomous vehicles - a pro...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Julian Balcerek Paweł Pawłowski Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Poznan University of Technology Poland

This article proposes a model that combines the issues related to autonomous vehicles into seven groups. The groups are included in mutual iterations between the user, the autonomous vehicle and the environment. They are: vehicle automation, environmental sensors, automatic perception of the environment based on the processing of vision signals, communication with external devices, interaction with the user, direct transmission of signals to the environment, and future development plans. Bearing in mind the proposed model, various latest solutions presented in the state-of-the-art literature or already offered in vehicles are collected and described.

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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

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IEEE Transactions on automatic control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Evaluation of Hybrid Particle Swarm Optimization in the Multi-door Cross-docking Problem 25

Evaluation of Hybrid Particle Swarm Optimization in the Mult...

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25th International Conference on Methods and Models in Automation and robotics, MMAR 2021

作者： Pasko, Kamil Kucharska, Edyta Baranowski, Jerzy AGH University of Science and Technology Department of Automatic Control and Robotics Krakow30-059 Poland

ISBN: (纸本)9781728173801

The paper deals with a cross-docking problem which is an example of real-word logistics problem and belongs to the class of NP-hard optimization problems. Cross-docking is a transshipment platform, where products from suppliers to several destinations are deconsolidated, sorted, consolidated based on the customer's orders, and shipped out to the end customers using outbound trucks. In particular, multiple inbound and outbound doors cross-docking is under consideration. The aim is to optimize the sequence of inbound and outbound trucks and truck dock assignment in cross-docking systems with multiple inbound and outbound dock doors. A particle swarm optimization hybridized with simulated annealing is proposed to solve this problem. The paper also presents the results of computational experiments. © 2021 IEEE.

关键词： Trucks

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Towards experimental insight into magnetic flux distribution within the air gap of permanent magnet synchronous drive

Towards experimental insight into magnetic flux distribution...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Hubert Milanowski Adam Krzysztof Piłat Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

This report explores the experimental identification of magnetic flux density within the motor air gap, focusing on the development of a robot-based approach to automate the scanning procedure. Emphasis is placed on analyzing the distribution of magnetic flux within the motor’s spatial air gap, as well as the amplification of harmonics resulting from changes in air gap orientation. Drawing upon experimental findings, a model is proposed to illustrate the three-dimensional distribution of magnetic flux within the gap.

关键词： Solid modeling Magnetic flux density Automation Atmospheric modeling Air gaps Rotors Drives

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A Heuristically Accelerated Reinforcement Learning-Based Neurosurgical Path Planner

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Cyborg and Bionic Systems 2023年第1期4卷 298-308页

作者： Guanglin Ji Qian Gao Tianwei Zhang Lin Cao Zhenglong Sun School of Science and Engineering The Chinese University of Hong KongShenzhenChina Shenzhen Institute of Artificial Intelligence and Robotics for Society ShenzhenChina Department of Automatic Control and Systems Engineering The University of SheffieldUK

The steerable needle becomes appealing in the neurosurgery intervention procedure because of its flexibility to bypass critical regions inside the brain;with proper path planning,it can also minimize the potential damage by setting constraints and optimizing the insertion ***,reinforcement learning(RL)-based path planning algorithm has shown promising results in neurosurgery,but because of the trial and error mechanism,it can be computationally expensive and insecure with low training *** this paper,we propose a heuristically accelerated deep Q network(DQN)algorithm to safely preoperatively plan a needle insertion path in a neurosurgical ***,a fuzzy inference system is integrated into the framework as a balance of the heuristic policy and the RL *** are conducted to test the proposed method in comparison to the traditional greedy heuristic searching algorithm and DQN *** showed promising results of our algorithm in saving over 50 training episodes,calculating path lengths of 0.35 after normalization,which is 0.61 and 0.39 for DQN and traditional greedy heuristic searching algorithm,***,the maximum curvature during planning is reduced to 0.046 from 0.139 mm−1 using the proposed algorithm compared to DQN.

关键词： needle surgical insertion

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