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Trust Consensus Protocol for Heterogeneous Underwater Robotic systems

IFAC-PapersOnLine 2016年第23期49卷 341-346页

作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems MATLAB Robots Topology Communication graphs Communication topologies Direct communications Environmental property Heterogeneous multi agent systems Limited communication range Switching topology trust consensus

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Development of an Algorithm for Calculating the Parameters of the Primary Sensor Transducer for a Dynamic Indentation Device 7

Development of an Algorithm for Calculating the Parameters o...

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

作者： Kolganov, Oleg Egorov, Roman Ilyinsky, Alexander Khoshev, Alexander Kinzhagulov, Igor Fedorov, Alexey Lukyanov, G.N. Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia

ISBN: (纸本)9798350340945

This paper considers the issue of developing an algorithm for calculating the parameters of the primary transducer based on the magnetic induction method with differential inductors. A general algorithm for calculating the primary transducer and, in particular, the geometric parameters of the inductor and indenter has been developed. © 2023 IEEE.

关键词： Parameter estimation

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Development of the Design of the Sensor and the Elements of Software Data Processing of the Dynamic Indentation Device 6

Development of the Design of the Sensor and the Elements of ...

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6th International Scientific Conference on Information, control, and Communication Technologies, ICCT 2022

作者： Kolganov, Oleg Egorov, Roman Ilyinsky, Alexander Khoshev, Alexander Kinzhagulov, Igor Fedorov, Alexey Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia

ISBN: (数字)9781665493673

ISBN: (纸本)9781665493673

In this paper, the question of the possibility of using the magnetic induction method with differential inclusion of inductors for recording the motion parameters of a striker during dynamic indentation is considered. A prototype of the primary transducer is presented. A computer model has been developed for recording the movement of the striker during the flight and the sinusoidal movement of the magnet inside the coil. Experimental testing and comparative analysis of the results of computer simulation and experimental testing have been carried out © 2022 IEEE.

关键词： Data handling

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Compensation of External Disturbances for Linear MIMO systems Using Balanced Model Representation 5

Compensation of External Disturbances for Linear MIMO System...

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5th International Conference on control in Technical systems, CTS 2023

作者： Hoang, Duc Long Dudarenko, Natalia Itmo University Faculty of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9798350304664

The compensation problem of external disturbances for MIMO systems with feedforward control (combined control) is considered in the paper. The compensation problem is solved using balanced model representation, and the compensator is designed with measured or unmeasured state variables based on the Sylvester equation and the state observer. The effectiveness of the proposed method is illustrated by examples. © 2023 IEEE.

关键词： MIMO systems

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Research of Signal Adaptive Filtering Algorithms

Research of Signal Adaptive Filtering Algorithms

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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Shabanov, Kirill A. Vlasov, Sergey M. Arustamov, Sergey A. ITMO University Control Systems and Robotics Faculty Saint-Petersburg Russia

ISBN: (纸本)9798350395044

The article aims to research the existing signal adaptive filtering algorithms. The task of filtering signals from noise and distortion is an important scientific and technical problem. In this paper, white noise filtering using an adaptive filter is considered. Classical adaptive filtering algorithms have been chosen to solve the problem. The efficiency of the least mean squares and the recursive least squares with forgetting factor algorithms was compared for the white noise filtering tasks. As a result of this work, it turned out to filter a multiharmonic signal from the white noise using the least mean squares and the recursive least squares with forgetting factor algorithms. © 2024 IEEE.

关键词： Adaptive filters

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Development of an Algorithm for Searching for a Mark, Determining its Center and Shift from the Initial Position for Software and Hardware for Processing Signals for Video Inspection of a Vision System 6

Development of an Algorithm for Searching for a Mark, Determ...

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6th International Scientific Conference on Information, control, and Communication Technologies, ICCT 2022

作者： Konyashov, Vyacheslav V. Sergeev, Alexey S. Fedorov, Alexey V. Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia

ISBN: (数字)9781665493673

ISBN: (纸本)9781665493673

The study deals with the development and experimental testing of the algorithm for the software for collecting and processing the results of the movement of a control point (marker) from the initial position. The analysis of existing methods for searching for objects in the image is carried out. The main principles and approaches to the development of an image processing algorithm are presented, and the preferred solutions for its implementation are outlined. © 2022 IEEE.

关键词： Video signal processing

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Development of Complex Surfaces Adaptive Polishing Method for Robotic Cell

Development of Complex Surfaces Adaptive Polishing Method fo...

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2019 International Russian Automation Conference, RusAutoCon 2019

作者： Iuvshin, Alexander M. Tretyakov, Sergey D. Egorov, Sergey V. Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (纸本)9781728102658

This paper presents the solutions adopted for an automated robotic polishing cell for processing complex surfaces of parts, such as turbine blades. Turbine blade is frequently carried out manually, and these operations are iterative, time consuming and require experience. Automation can provide cost reduction minimizing production times on such manual finishing operations. The authors presented a step-by-step plan for the implementation of a robotized installation for adaptive polishing of complex surface profiles and a method for control the geometry of the complex surfaces. The research shown in this paper provides an overall solution without discarding aspects that could be relevant to the task considered in the turbine blade making environment. The application of this solution will allow increasing labor productivity, repeatability of the result and significantly reduce the cost of the finished product. © 2019 IEEE.

关键词： Turbomachine blades

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Development of an Algorithm for the Movement and Adjusting Measuring Transducers of an Automated Non-Destructive Testing System 7

Development of an Algorithm for the Movement and Adjusting M...

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

作者： Malyy, Valeriy V. Gubin, Maxim S. Kostyukhin, Alexandr S. Fedorov, Alexey V. Kinzhagulov, Igor Y. Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9798350340945

This paper discusses the issues of development of an algorithm for the movement of the measuring module of an automated system for non-destructive quality testing of the solder joints of the engine nozzle. The object of testing is identified as a one with a complex geometric shape, the flaws in soldered joints of the test object occur during the manufacturing process. Defects studied in this paper are: dry joint», partial dry joint» and cold lap». The relevance of the development, as well as the problems of production and testing of engine nozzles, which do not allow to identify the required defects at the early stages of manufacturing assembly units without destroying the integrity of the engine nozzle, are substantiated. The existing approaches are described in terms of the choice of methods and means for non-destructive testing of engine nozzles of complex geometric shapes, their advantages and disadvantages are identified. The existing problems in terms of automation of the pulse-echo and through-transmission methods of ultrasonic testing are analysed, the advantages and disadvantages of the proposed methods are identified. The main factors that reduce the probability of detecting defects are determined, namely, the instability of the acoustic contact between the transducer and the test object, as well as the deviation of the acoustic axis of the transducer from the normal to the surface of the test object. The requirements for the motion algorithm of the measuring module of an automated non-destructive testing system with feedback based on the signal amplitude measured during scanning from the structural elements of the internal structure of the engine nozzle are determined. © 2023 IEEE.

关键词： Nondestructive examination

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A New Approach to Build Industrial Internet of Things (IIoT) systems Based on Digital Twin's Technologies

A New Approach to Build Industrial Internet of Things (IIoT)...

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2022 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2022

作者： Mikhailov, Aleksei Tretyakov, Sergey Andreev, Yuriy Faculty of Control Systems and Robotics Itmo University Saint Petersburg Russia

ISBN: (纸本)9781665483698

Many studies have been made on the attitudes of Digital Twin, Industrial Internet of Things and cloud services. Indeed, there are positive results in the application of new ways of using these technologies. But separately each of these technologies is limited by its capabilities. So there is a way to use them in collaboration. Computer numerical control (CNC) machines and sensors, Industrial Internet of Things platform and Digital Twin on the one hand, cloud computing on the other. The synergistic effect of the application of those technologies provides new opportunities and could increase manufacturing efficiency. In this research Digital Twin works with IIoT platform Winnum combined with cloud services came to a concept of Digital Twin as Service. The research shows development from classical Digital Twin model to modernized model with a concept of Digital Twin as Service. © 2022 IEEE.

关键词： Industry 4.0

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Development of Technology for Automated Non-Destructive Quality Testing of Soldered Joints of Heat Exchangers 6

Development of Technology for Automated Non-Destructive Qual...

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6th International Scientific Conference on Information, control, and Communication Technologies, ICCT 2022

作者： Malyy, Valeriy V. Kostyukhin, Alexandr S. Fedorov, Alexey V. Kinzhagulov, Igor Y. Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (数字)9781665493673

ISBN: (纸本)9781665493673

This article discusses the issues of creating a technology for non-destructive quality testing of soldered joints of heat exchangers for the development of an automated non-destructive testing system. The object of testing (having a complex geometric shape) is described, the relevance of the development and the problems of manufacturing and testing by existing testing methods are substantiated. Typical defects (cold lap, dry joint) that occur in soldered joints during the manufacture of heat exchangers are described. Applicable methods of non-destructive testing (pulse-echo and through-transmission methods) are analyzed, existing solutions are analyzed, advantages and disadvantages of each of the methods are identified. The problems of manual implementation of ultrasonic testing methods are analyzed, the need to automate the testing process is substantiated, and solutions to the main issues that arise when creating automated non-destructive testing systems for objects of complex geometric shape are presented. © 2022 IEEE.

关键词： Nondestructive examination

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