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Variable interface dynamic adjustment (VIDA) technique: A novel approach to adjust lagrangian frame and eulerian frame at flattering interface 8th

Variable interface dynamic adjustment (VIDA) technique: A no...

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8th AIAA Theoretical Fluid Mechanics Conference, 2017

作者： Zanj, Amir He, Fangpo Breedveld, Peter C. College of Science and Engineering Advanced Control Systems Research Group Flinders University Adelaide Australia Department of Mechanical engineering Robotics and Mechatronics Group University of Twente Enschede Netherlands

ISBN: (纸本)9781624104978

In the current study to address the incompatibility issue of the Eulerian and Lagrangian frame at FSI problems, a novel physical approach is proposed. According to this approach, the motion of the Lagrangian frame is physically translated to a virtual volumetric flow for the Eulerian frame. As thus, the shared spatial boundary of the two frame at the interface remains unique in spite of the motion of the interface. This capability provides the possibility of dynamic data transactions between the two frames, which guarantees the continuity of these transformation (e. g., the power interactions of the system on the interface). The obtained capability can be a desirable tool in multiple-field dynamic investigations. Also, the proposed method by elimination of mesh regeneration in FSI transient solutions can open a new window in dynamic mesh techniques which leads to reducing the time cost of the solution. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Lagrange multipliers

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Autonomous Navigation Algorithms Based on Cognitive Technologies and Machine Learning

Autonomous Navigation Algorithms Based on Cognitive Technolo...

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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Demidova, Kristina Logichev, Michail Zhilenkova, Elena Dang, Binh St. Petersburg State Marine Technical University Department of Marine Electronics Saint-Petersburg Russia ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia

A research project to create an intelligent autonomous navigation system is being considered. The system is implemented on the basis of cognitive technologies and machine learning. The system makes a decision by analy... 详细信息

ISBN: (数字)9781728157610

ISBN: (纸本)9781728157610

关键词： Machine learning

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Development of a Fault Adaptation System for Underwater Robot Manipulators

Development of a Fault Adaptation System for Underwater Robo...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Filaretov, Vladimir Zuev, Alexander Zhirabok, Alexey Protsenko, Alexander Institute of Automation and Control Processes Vladivostok Russia Sevastopol State University Department of Informatics and Control in Technical Systems Sevastopol Russia Institute of Marine Technology Problems Vladivostok Russia Far Eastern Federal University Department of Automatics and Robotics Vladivostok Russia

ISBN: (纸本)9781665473729

The paper describes the development and research of a system of adaptation to faults of manipulators of underwater robots. The following types of faults were considered: unknown additional load torques on the output shafts of the manipulator electric drives, changes in the electrical resistance of the armature windings of electric motors, and measurement errors of sensors of the position of the manipulator links. The proposed system makes it possible to identify these faults and compensate for their negative consequences in two stages. At the first stage, the values of faults are estimated using a bank of diagnostic observers operating in a sliding mode. At the second stage, with the help of the obtained estimates, a control signal is generated that ensures the stabilization of dynamic properties of each electric drive at the desired level. To check the operability of the proposed system, a computer simulation was carried out. © 2022 IEEE.

关键词： Manipulators

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Model for Wind-Related Phenomena Estimation Using Polarization Characteristics of Microwave Radar Signal 16

Model for Wind-Related Phenomena Estimation Using Polarizati...

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16th IEEE International Conference on Advanced Trends in Radioelectronics, Telecommunications and Computer Engineering, TCSET 2022

作者： Averyanova, Yuliya Yanovsky, Felix Shcherbina, Olga Ostroumov, Ivan Kuzmenko, Nataliia Zaliskyi, Maksym Solomentsev, Oleksandr Sushchenko, Olha National Aviation University Air Navigation Systems Department Kyiv Ukraine National Aviation University Electronics Robotics Monitoring and IoT Technologies Department Kyiv Ukraine National Aviation University Telecommunication and Radio Engineering Systems Department Kyiv Ukraine National Aviation University Aerospace Control Systems Department Kyiv Ukraine

ISBN: (纸本)9781665468619

Radar Polarimetry is a convenient and promising technique to obtain information about target scattering properties. In this paper, the hydrometeor shape and orientation variations under the dynamic phenomena influence are analyzed to connect polarization radar measurements with atmospheric dynamic processes. The new model to state regularities and to put the interconnections between atmospheric dynamics and polarization characteristics of the reflected radar signal is developed. The model is based on an analysis of two regimes of drop deformation under the wind influence. The first is the regime of subcritical deformation and the second is the regime of critical deformation that leads to the drop's shatter. The developed new model demonstrates the possibility to use polarimetry for estimation of wind and wind-related phenomena and can be used to improve drop size distribution estimate, rainfall intensity estimates as well. © 2022 IEEE.

关键词： Meteorological radar

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Object detection and tracking basics: Student education ⁎

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IFAC-PapersOnLine 2019年第9期52卷 79-84页

作者： Izabella Y. Merkulova Sergey V. Shavetov Oleg I. Borisov Vladislav S. Gromov ITMO University Department of Control Systems and Robotics Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

Computer vision is a rapidly developing field of human knowledge. Due to the fullness of images information visual sensors, unlike other types of sensors, theoretically can cover the entire amount of information necessary for autonomous driving, registration of traffic violations, in various medical tasks and so on. The requirements for computer vision specialists are growing every day. At the same time, it is advisable to train specialists in related fields the basics of computer vision. This paper provides an overview of the main points that should be taken into account during the education process in the field of object detection and tracking using computer vision algorithms.

关键词： Computer vision detection algorithms target tracking convolution neural networks education laboratory education

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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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International Russian Automation Conference (RusAutoCon)

作者： Bui Van Huan Alexey A. Margun Artem S. Kremlev Department of Control Systems and Robotics ITMO University St. Petersburg Russia Department of Control Systems and Robotics IPME RAS ITMO University St. Petersburg Russia

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.

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Finite-Time Sensors Diagnosis Based on Unknown Input Observers

Finite-Time Sensors Diagnosis Based on Unknown Input Observe...

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International Russian Automation Conference (RusAutoCon)

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

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

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.

关键词： Fault detection Computer simulation Noise Observers Sensor systems Vectors Sensors Nonlinear dynamical systems Noise measurement Convergence

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PointPillars Backbone Type Selection for Fast and Accurate LiDAR Object Detection

PointPillars Backbone Type Selection for Fast and Accurate L...

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International Conference on Computer Vision and Graphics, ICCVG 2022

作者： Lis, Konrad Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783031220241

3D object detection from LiDAR sensor data is an important topic in the context of autonomous cars and drones. In this paper, we present the results of experiments on the impact of backbone selection of a deep convolutional neural network on detection accuracy and computation speed. We chose the PointPillars network, which is characterised by a simple architecture, high speed, and modularity that allows for easy expansion. During the experiments, we paid particular attention to the change in detection efficiency (measured by the mAP metric) and the total number of multiply-addition operations needed to process one point cloud. We tested 10 different convolutional neural network architectures that are widely used in image-based detection problems. For a backbone like MobilenetV1, we obtained an almost 4x speedup at the cost of a 1.13% decrease in mAP. On the other hand, for CSPDarknet we got an acceleration of more than 1.5x at an increase in mAP of 0.33%. We have thus demonstrated that it is possible to significantly speed up a 3D object detector in LiDAR point clouds with a small decrease in detection efficiency. This result can be used when PointPillars or similar algorithms are implemented in embedded systems, including SoC FPGAs. The code is available at https://***/vision-agh/pointpillars-backbone. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

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Modern Approaches for Equipment's Technical State Prediction

Modern Approaches for Equipment's Technical State Prediction

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Information, control, and Communication Technologies (ICCT), International Conference on

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

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.

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Description and fault diagnosis in autonomous underwater vehicles based on ontologies

Description and fault diagnosis in autonomous underwater veh...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Alexander, Timoshenko Alexander, Zuev Eduard, Mursalimov Valeria, Gribova Alexander, Inzartsev Far Eastern Federal University Institute of Marine Technology Problems Feb Ras Laboratory of Intelligent Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia Institute of Automation and Control Feb Ras Laboratory of Intelligent Systems Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Control Systems Vladivostok Russia

ISBN: (纸本)9781665473729

The paper proposes new ontologies for describing and diagnosing malfunctions of subsystems of autonomous underwater vehicles (AUV) as a part of the development of a previously created approach to the intelligent diagnosis of these vehicles using knowledge bases. To implement this approach, it is proposed to use two knowledge bases, one of which describes malfunctions, features for their identification and actions necessary to adapt to the negative consequences caused by the appearance of these malfunctions. The other database contains information about the main subsystems of the AUV, devices and replaceable modules, as well as the states they may be in. Knowledge bases are used in the work of the intelligent control-emergency system (ICES) on board the AUV, which allows for comprehensive functional diagnostics of all subsystems of the device, including payload modules, as well as adaptation to the consequences of emerging malfunctions, taking into account the actual cause-and-effect relationships between them. To test the system's operability, a prototype was developed. The results of the prototype simulation showed that ICES performs the tasks and can be implemented on the onboard computers of existing AUV using well-known programming technologies. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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