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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Margun, Alexey Bui, Van Huan Bobtsov, Alexey Itmo University Control Systems and Robotics Department Saint Petersburg Russia

The paper focuses on developing a finite-time approach for sensors fault detection and isolation in MIMO systems. The proposed solution utilizes the synthesis of a bank of unknown input observers, tailored specifically for each of sensor. A significant advantage of this solution over existing methods is its applicability to plants with any arbitrary relative degree. The paper introduces a modification that ensures finite-time convergence using Kreisselmeier's scheme combined with the dynamic regressor extension and mixing method. This modification guarantees that the convergence of observer estimates - and thus the diagnostic results - occurs within a user-specified timeframe. Additionally, the implementation of filters and threshold settings is discussed to prevent false alarms caused by measurement noise. The effectiveness of the developed approach is validated through computer simulations, confirming its robust performance. © 2024 IEEE.

关键词： MIMO systems

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Adaptive Direct Compensation of External Disturbances for Mimo Linear systems

Adaptive Direct Compensation of External Disturbances for Mi...

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Van Huan, Bui Margun, Alexey A. Kremlev, Artem S. Itmo University Department of Control Systems and Robotics St. Petersburg Russia Itmo University Ipme Ras Department of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9798350345551

The paper proposes a new algorithm for compensating external disturbances for a class of multi-input multi-output (MIMO) linear systems. The solution of the problem is based on the use of the internal model principle and the extended error adaptation algorithm. It is assumed that the disturbance is the output of an autonomous linear generator with unknown parameters. At the first stage, a full-order unknown input observer (UIO) is synthesized to solve the problem of estimating the state vector of the plant. Then a new observer of external disturbance is formed on the basis of state vector estimates. At the last stage, based on the new observer's estimates, a system with an extended state vector is formed for that a controller providing compensation of disturbance is constructed. The performance of the obtained results is confirmed using computer simulation in MATLAB Simulink. © 2023 IEEE.

关键词： Linear systems

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Modern Approaches for Equipment's Technical State Prediction 7

Modern Approaches for Equipment's Technical State Prediction

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7th International Conference on Information, control, and Communication Technologies, ICCT 2023

作者： Bratchikov, Stepan Itmo University Department of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9798350340945

Any manufacturing process aims to become more efficient. There is a plenty ways to achieve this. One of those is industrial equipment technical state prediction. Some of the methods are considered. Also, inclusion of modern machine learning and digital twins techniques is reviewed. As a result, the method of describing a production process as set of separate operations characterized by the parameters of the equipment involved in order to predict the output quality of produced items is introduced. © 2023 IEEE.

关键词： Forecasting

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Adaptive Algorithm for Identification Parameters of Linear Nonstationary systems

Adaptive Algorithm for Identification Parameters of Linear N...

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Tung, N.K. Vlasov, S.M. Zhdanov, V.A. Itmo University Department of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9798350345551

In this paper, we consider the problem of identifying unknown parameters of non-stationary systems. Let us assume that the non-stationary parameter of the system can be represented by the outputs of linear generators with an unknown state matrix and initial conditions vector. It is proposed that the state, control signal, and output variable are measurable. In the first step, the problem of parameterizing the initial dynamic model into a linear static regression model is solved. The second step is to estimate the unknown constant parameters of the linear regression model using the Dynamic Regressor Extension and Mixing method, which allows obtaining monotonic estimates and ensures the acceleration of the convergence of the estimates to the true values. The results of computer simulation showed the efficiency of the developed algorithm. © 2023 IEEE.

关键词： Adaptive algorithms

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Finite Time Adaptive Algorithm for Indentification Stationary Signal Generators Parameters that are Product of Sinuses

Finite Time Adaptive Algorithm for Indentification Stationar...

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Vlasov, S.M. Zhdanov, V.A. Pyrkin, A.A. Itmo University Department of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9798350345551

In this paper, we address the challenge of identifying parameters of stationary signal generators in finite time, where these generators are products of sinusoidal signals. It's posited that all parameters of the original signal remain unknown. We introduce a new method for parameterizing the signal under consideration. The measured signal is represented as the output of a linear generator possessing an unknown state matrix. In the initial step, the measured signal is transformed using the Jordan form of the matrix, supplemented with delay units. Subsequently, based on the parameters of the original signal, a linear regression model is derived. In the final step, unknown parameters are calculated using the derived linear regression models. The efficacy of the proposed methodology is validated through numerical simulation. © 2023 IEEE.

关键词： Adaptive algorithms

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Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundus Images with 3D UNet 26

Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundu...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Marciniak, Tomasz Stankiewicz, Agnieszka Zaradzki, Przemyslaw Poznan University of Technology Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Department of Control Robotics and Electrical Engineering Poznan Poland

ISBN: (纸本)9798350304985

This paper presents an analysis of the effectiveness of blood vessel segmentation in human retinal images. The segmentation process was carried out for three-dimensional optical coherence tomography (OCT) scans using the author's publicly available CAVRI-C database. A 3D version of the U-Net artificial neural network was used. Various dimensions of the input blocks were investigated to determine their influence on the segmentation process. The effectiveness of the proposed solutions was evaluated using various metrics and the results obtained were compared with the 2D solution, also based on neural networks. The use of the proposed solutions allowed us to improve the segmentation even by 15% (in the case of the F1-score). © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Optical tomography

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All-Fabric Bi-directional Actuators for Multi-joint Assistance of Upper Limb

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Journal of Bionic Engineering 2023年第6期20卷 2661-2669页

作者： Junlin Ma Diansheng Chen Zhe Liu Jie Wei Xianglin Zhang Zihan Zeng Yongkang Jiang Institute of Robotics Beihang UniversityBeijing100191China Department of Control Science and Engineering Tongji UniversityShanghai201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai201210China

According to clinical studies,upper limb robotic suits are vital to reduce therapist fatigue and accelerate patient *** pneumatic actuators have drawn increasing attention for the development of wearable robots due to their low weight,flexibility,and high power-to-weight ***,most of current actuators were designed for the flexion assistance of a specific joint,and that for joint extension requires further ***,designing an actuator for diverse working scenarios remains a *** this paper,we propose an all-fabric bi-directional actuator to assist the flexion and extension of the elbow,wrist,and fingers.A mathematical model is presented that predicts the deformation and guides the design of the proposed bi-directional *** further validate the applicability and adaptability of the proposed actuator for different joints,we developed a 3-DOF soft robotic *** results show that the robotic suit can assist the motion of the elbow,wrist,and finger of the subject.

关键词： Soft robotic suits Fabric-based actuators Multi-DOF motion Upper limb rehabilitation

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Output-feedback-based affine formation manoeuvre control of multi-agent systems applying negative imaginary systems theory 63

Output-feedback-based affine formation manoeuvre control of ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Su, Yu-Hsiang Bhowmick, Parijat Lanzon, Alexander Iit Guwahati Department of Eee Assam 781039 India University of Manchester Control Systems and Robotics Group Department of Eee United Kingdom

ISBN: (纸本)9798350316339

This paper exploits the Negative Imaginary systems theory to develop a novel affine formation manoeuvre control framework for multi-agent systems using dynamic output feedback. The framework begins by deriving affine transformation matrices for leader agents, enabling dynamic adjustments from the nominal formation to the target formation. An output-feedback distributed Strictly Negative Imaginary control law is then proposed for follower agents to achieve affine formation manoeuvres. Unlike existing affine formation manoeuvre control schemes, which typically rely on full-state feedback (including both position and velocity measurements), the proposed approach requires only relative position measurements. In addition, it offers more freedom in choosing a dynamic controller transfer function, thereby improving formation tracking performance. A comprehensive simulation case study is provided to test the effectiveness of the proposed output-feedback-based affine formation manoeuvre control framework. © 2024 IEEE.

关键词： Affine transforms

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Real-Time Multi-object Tracking Using YOLOv8 and SORT on a SoC FPGA 21st

Real-Time Multi-object Tracking Using YOLOv8 and SORT on a...

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21st International Symposium on Applied Reconfigurable Computing, ARC 2025

作者： Danilowicz, Michal Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031879944

Multi-object tracking (MOT) is one of the most important problems in computer vision and a key component of any vision-based perception system used in advanced autonomous mobile robotics. Therefore, its implementation on low-power and real-time embedded platforms is highly desirable. Modern MOT algorithms should be able to track objects of a given class (e.g. people or vehicles). In addition, the number of objects to be tracked is not known in advance, and they may appear and disappear at any time, as well as be obscured. For these reasons, the most popular and successful approaches have recently been based on the tracking paradigm. Therefore, the presence of a high quality object detector is essential, which in practice accounts for the vast majority of the computational and memory complexity of the whole MOT system. In this paper, we propose an FPGA (Field-Programmable Gate Array) implementation of an embedded MOT system based on a quantized YOLOv8 detector and the SORT (Simple Online Realtime Tracker) tracker. We use a modified version of the FINN framework to utilize external memory for model parameters and to support operations necessary required by YOLOv8. We discuss the evaluation of detection and tracking performance using the COCO and MOT15 datasets, where we achieve 0.21 mAP and 38.9 MOTA respectively. As the computational platform, we use an MPSoC system (Zynq UltraScale+ device from AMD/Xilinx) where the detector is deployed in reprogrammable logic and the tracking algorithm is implemented in the processor system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： System-on-chip

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Method for Improvement of Biosignal Measurement Accuracy in the IoB System 27

Method for Improvement of Biosignal Measurement Accuracy in ...

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27th International Conference on Soft Computing and Measurements, SCM 2024

作者： Altay, Yeldos A. Uskenbayeva, Raisa K. Fedorov, Alexey V. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan Satbayev University Almaty Kazakhstan Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9798350363708

This paper presents filtering methods for improvement of biosignal measurement accuracy - an ECG signal under the influence of electromagnetic interference, which has a significant impact on the operation of the IoB system. A single-frequency polynomial notch filter has been synthesized to filter this noise to improve the accuracy of ECG signal measurement. The results of the implementation of the synthesized notch filter demonstrated that the filter makes it possible to separate the informative component from the distorting noise and increase the accuracy of signal measurement during its implementation in comparison with wavelet filters. © 2024 IEEE.

关键词： Notch filters

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