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1st IEEE International Conference on Industrial Cyber-Physical systems, ICPS 2018

作者： Afanasev, Maxim Ya. Fedosov, Yuri V. Krylova, Anastasiya A. Shorokhov, Sergey A. Faculty of Control Systems and Robotics Instrumentation Technologies Department ITMO University 49 Kronverksky Pr. St. Petersburg197101 Russia

ISBN: (纸本)9781538665312

Blockchain, which is a new technology of distributed data storage in the form of a chain of blocks, has become one of the most popular topics in the field of information technology for today. Although the term 'blockchain' is often associated with operations in cryptocurrencies (Bitcoin, for example), its application is not limited to this area. The algorithm for automatic confirmation of transactions has already been successfully applied in accounting, postal services, and smart devices. Additionally, people can participate in the confirmation of transactions. This article considers the possibility of using the technology in creating distributed networks of industrial equipment, i.e. creation of a backbone network for cyber-physical production systems. The proposed approach is detailed and discussed with the support of relevant use cases. A number of architectures of support networks based on blockchain technology are proposed, the positive and negative aspects of this approach are considered. © 2018 IEEE.

关键词： Blockchain

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied control and Automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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The Synchronization of Reading and Writing in Implementation of TDOA Estimator on a Single Board Computer 15

The Synchronization of Reading and Writing in Implementation...

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15th International IEEE Scientific and Technical Conference Dynamics of systems, Mechanisms and Machines, Dynamics 2021

作者： Faerman, Vladimir Avramchuk, Valeriy Shvetsvov, Mikhail Tomsk State University of Control Systems and Radioelectronics Faculty of Security Tomsk Russia Tomsk Polytechnic University Department of Robotics and Automation Tomsk Russia

ISBN: (纸本)9781665431729

This paper discusses the topic of synchronizing the reading in writing in an application to real-time TDOA estimation. The paper gives a brief lay down on the classic TDOA estimation algorithm and specifically addresses the peculiarities of its implementation in a real-time environment. There are two main factors that should be considered in the stage of design: the processing time is dependent on the settings and some random factors affect processing time in an unpredictable way. The buffer can be introduced to deal with these factors. However, this solution requires a clear and efficient algorithm of synchronization of reading and writing data. In this paper, we propose a simple and small set of variables that is sufficient to synchronize processes to implement real-time TDOA estimation. The solution supports the various overlap coefficients and time windows that exceed the actual size of the input buffer. The proposed solution is installed on the Raspberry Pi, tested, and proved to be functional. Some practical details of the implementation are also discussed. © 2021 IEEE.

关键词： Time difference of arrival

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Combined Filters Design, Using the Principle of Internal Models

Combined Filters Design, Using the Principle of Internal Mod...

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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Gaiduk, Anatoly Denisenko, Darya Prokopenko, Nikolay Southern Federal University Scientific Design Office Robotics and Control Systems Department of Automatic Control Systems Rostov-on-Don Taganrog Russia Department of scientific research Don State Technical University Rostov-on-Don Russia Department of Automatic Control Systems Southern Federal University Rostov-on-Don Russia Don State Technical University Department of Information Systems and Radio Engineering Rostov-on-Don Russia

To design active analog, discrete-analog and digital filters a new method is suggested, taking into account the conditions of selective invariance and using the internal models principle of the dynamic systems. For this purpose, the structure of each basic filter ensures the presence of an explicit spectral model of the filtered signal. Such a filter is selectively invariant, and this property depend only on the spectrum-setting parameters and do not depend on other parameters. It is suggest-ed to carry out the design of the combined selective filters by integration of the suggested basic second-order filters, focusing on the log magnitude plot of the latter. This makes possible to minimize the order of the combined both analog and digital filters. The combined selective filters are distinguished by high stability of selective properties and can be used in the systems for measurement, signal processing, data transmission, as well as automatic and automated control of various social, production and special facilities. © 2024 IEEE.

关键词： Wiener filtering

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Optimization of Cylindrical Blades for Wind Turbine Based on Magnus Effect

Optimization of Cylindrical Blades for Wind Turbine Based on...

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2023 International Conference on Electromechanical and Energy systems, SIELMEN 2023

作者： Lukin, Aleksandr Demidova, Galina Lukichev, Dmitry Poliakov, Nikolai Anuchin, Alecksey ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Moscow Power Engineering Institute Electric Drives Department Moscow Russia

ISBN: (纸本)9798350315240

Wind turbines based on the Magnus effect open new prospects in terms of energy generation for areas with low average wind speeds. The main feature of these turbines is rotating cylinders which are used to create lift instead of blades. Due to this unconventional design, different parameters of the cylinder, such as mass and moment of inertia, can greatly affect the dynamic characteristics of such energy systems. The goal of this paper was to present an approach to structural optimization of a cylinder flange of the experimental Magnus effect-based wind turbine. The proposed approach, presented as an algorithm, allows us to determine input data for the preferred structural optimization software and achieve lightweight, low-inertia parts. control simulation has shown that optimized parts ensure a high enough factor of safety while also significantly reducing the moment of inertia. © 2023 IEEE.

关键词： Finite element method

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Determination of circular waits in multiple-reentrant flowlines based on machine-job incidence matrix 10

Determination of circular waits in multiple-reentrant flowli...

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2009 10th European control Conference, ECC 2009

作者： Petrovic, Tamara Bogdan, Stjepan Sindicic, Ivica Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Exor D.o.o Bani 72 Zagreb10000 Croatia

ISBN: (纸本)9783952417393

As the first step in resolving stability of a manufacturing system in the sense of deadlock, calculation of circular waits might involve time and memory consuming calculations. In this paper we propose an efficient method for determination of circular waits in multiple-reentrant flowline class (MRF) of manufacturing systems. We introduce machine-job incidence (MJI) matrix that can be obtained from Steward sequencing matrix and Kusiak machine-part incidence matrix. The method uses index vector and MJI matrix in order to allocate circular wait auxiliary vector. Resources involved in the circular wait are directly computed from the auxiliary vector. Although efficiency of the proposed method has been demonstrated on examples involving single- and multi- part type manufacturing workcells, the method can be used for other discrete event systems as well, as long as the system under study belongs to MRF class. © 2009 EUCA.

关键词： Manufacture

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Intelligent real-time control of a multifingered robot gripper by learning incremental actions

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Annual Review in Automatic Programming 1992年 17卷 303-309页

作者： K. Kleinmann M. Hormel W. Paetsch Darmstadt University of Technology Department of Control Systems Theory and Robotics Darmstadt Germany

Learning control systems are expected to have several advantages over conventional approaches when dealing with complex, high-dimensional processes. One example is the task of controlling grasping operations of a multifingered, mul-tijoined robot gripper, which has been designed and implemented at our robotics lab (the Darmstadt-Hand). The Advanced Gripper control with Learning Algorithms-AGRICOLA- presented in this paper is able to maintain a stable grasp even if disturbances are applied. Also it works for objects of different sizes for which the grasping has not been learned. Compared to the conventional stiffness approach the performance of the learning system is equal but the design is much easier, since less knowledge about the gripper-hardware has to be taken into account. The main part of the learning control loop is an associative memory storing the grasping behaviour as determined by the choice of an objective function.

关键词： high-dimensional nonlinear process stable grasp object manipulation associative memories learning control loop

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Intelligent Real-Time control of a Multifingered Robot Gripper by Learning Incremental Actions

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IFAC Proceedings Volumes 1992年第10期25卷 303-309页

作者： K. Kleinmann M. Hormel W. Paetsch Darmstadt University of Technology Department of Control Systems Theory and Robotics Darmstadt Germany

Learning control systems are expected to have several advantages over conventional approaches when dealing with complex, high-dimensional processes. One example is the task of controlling grasping operations of a multifingered, mul-tijoined robot gripper, which has been designed and implemented at our robotics lab (the Darmstadt-Hand). The Advanced Gripper control with Learning Algorithms -AGRICOLA- presented in this paper is able to maintain a stable grasp even if disturbances are applied. Also it works for objects of different sizes for which the grasping has not been learned. Compared to the conventional stiffness approach the performance of the learning system is equal but the design is much easier, since less knowledge about the gripper-hardware has to be taken into account. The main part of the learning control loop is an associative memory storing the grasping behaviour as determined by the choice of an objective function.

关键词： high-dimensional nonlinear process stable grasp object manipulation associative memories learning control loop

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Traffic Sign Detection With Event Cameras and DCNN 25

Traffic Sign Detection With Event Cameras and DCNN

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25th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2022

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Agh University of Science and Technology Computer Vision Laboratory Department of Automatic Control and Robotics Kraków Poland Silesian University of Technology Department of Digital Systems Gliwice Poland

ISBN: (数字)9788362065424

ISBN: (纸本)9788362065424

In recent years, event cameras (DVS - Dynamic Vision Sensors) have been used in vision systems as an alternative or supplement to traditional cameras. They are characterised by high dynamic range, high temporal resolution, low latency, and reliable performance in limited lighting conditions - parameters that are particularly important in the context of advanced driver assistance systems (ADAS) and self-driving cars. In this work, we test whether these rather novel sensors can be applied to the popular task of traffic sign detection. To this end, we analyse different representations of the event data: event frame, event frequency, and the exponentially decaying time surface, and apply video frame reconstruction using a deep neural network called FireNet. We use the deep convolutional neural network YOLOv4 as a detector. For particular representations, we obtain a detection accuracy in the range of 86.9-88.9% mAP@0.5. The use of a fusion of the considered representations allows us to obtain a detector with higher accuracy of 89.9% mAP@0.5. In comparison, the detector for the frames reconstructed with FireNet is characterised by an accuracy of 72.67% mAP@0.5. The results obtained illustrate the potential of event cameras in automotive applications, either as standalone sensors or in close cooperation with typical frame-based cameras. © 2022 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Cameras

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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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