检索结果-内蒙古大学图书馆

International Russian Automation Conference (RusAutoCon)

作者： Aleksandr Laptev Sergey Tretyakov Yuri Andreev Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

In recent years, there has been an active introduction of digital and automated technologies in Russian mechanical engineering and instrumentation industries. Such systems are CAD, CAPP, MES systems, which allow to automate many processes in production. This study is devoted to CAPP (computer-aided process design systems), paying special attention to the methods used for the design of technological processes. The study showed that the search systems of existing CAPP are all based on manual entry of attributes and subsequent time-consuming analysis of search results, technological processes are dialogue mode. And one of the main factors determining the efficiency and competitiveness of the enterprise is a timely developed and established technological process. In order to increase the efficiency of the technological preparation stage of production, it is proposed a new method for designing technological processes in CAPP through the use of machine learning. Thus, the study made possible the development of a new automated process search system for analogue detail. Also the carried out study provides the algorithm, describing a new process engineering method with machine learning tools.

关键词： Process design Industries Machine learning algorithms Automation Instruments Production Machine learning Manuals Mechanical engineering

来源：评论

学校读者我要写书评

暂无评论

Preprocessing Digital Images for Enhanced Detection and Classification of Surface Defects in Cold-Rolled Sheet Metal

Preprocessing Digital Images for Enhanced Detection and Clas...

引用

International Conference on control, Decision and Information Technologies (CoDIT)

作者： Oleg Evstafev Sergei Shavetov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

The article addresses the application of Deep Learning (DL) methods and Computer Vision (CV) for the recognition and classification of surface defects in sheet metal. A specialized image preprocessing method has been developed, based on calculating statistical characteristics and subtracting them from averaged values. This method enhances defect detection, especially on low-contrast images, without requiring significant computational resources. The preprocessing algorithm includes considerations for image merging, the use of sliding windows with filters of various sizes, and image segmentation for input into the neural network. A defect detection model based on the Faster R-CNN Convolutional Neural Network (CNN) ensures high sensitivity in Automated Optical Inspection systems (AOIS), detecting defects as small as 0.5×0.5 mm in real-time.

关键词： Optical filters Sensitivity Metals Lighting Optical imaging Real-time systems Classification algorithms Optical sensors Convolutional neural networks Defect detection

来源：评论

学校读者我要写书评

暂无评论

Brain over Brawn: Using a Stereo Camera to Detect, Track, and Intercept a Faster UAV by Reconstructing the Intruder's Trajectory

Field Robotics

引用

Field robotics 2025年 2卷 222-240页

作者： Antonella Barišić Frano Petric Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb Croatia

This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target tracking is based on image processing by a YOLOv3 Tiny convolutional neural network, combined with depth calculation using a gimbal-mounted ZED Mini stereo camera. We use RGB and depth data from the camera, devising a noise-reducing histogram-filter to extract the target's 3D position. Obtained 3D measurements of target's position are used to calculate the position, orientation, and size of a figure-eight shaped trajectory, which we approximate using a Bernoulli lemniscate. Once the approximation is deemed sufficiently precise, as measured by the distance between observations and estimate, we calculate an interception point to position the interceptor UAV directly on the intruder's path. Our method, which we have significantly improved based on the experience gathered during the MBZIRC competition, has been validated in simulation and through field experiments. Our results confirm that we have developed an efficient, visual-perception module that can extract information describing the intruder UAV's motion with precision sufficient to support interception planning. In a majority of our simulated encounters, we can track and intercept a target that moves 30% faster than the interceptor. Corresponding tests in an unstructured environment yielded 9 out of 12 successful results.

关键词： Autonomous aerial vehicles Trajectory Target tracking Cameras Three-dimensional displays Robots Radar tracking Image reconstruction Estimation Detectors

来源：评论

学校读者我要写书评

暂无评论

Autonomous, Mobile Manipulation in a Wall-Building Scenario: Team LARICS at MBZIRC 2020

Field Robotics

引用

Field robotics 2025年 2卷 201-221页

作者： Ivo Vatavuk Marsela Polic Ivan Hrabar Frano Petric Matko Orsag Stjepan Bogdan Laboratory for Robotics and Intelligent Control systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team of UAVs and a single UGV collaborate in an autonomous, wall-building scenario, motivated by construction automation and large-scale robotic 3D printing. The robots must be able, autonomously, to detect, manipulate, and transport bricks in an unstructured, outdoor environment. Our control approach is based on a state machine that dictates which controllers are active at each stage of the Challenge. In the first stage our UGV uses visual servoing and local controllers to approach the target object without considering its orientation. The second stage consists of detecting the object's global pose using OpenCV-based processing of RGB-D image and point-cloud data, and calculating an alignment goal within a global map. The map is built with Google Cartographer and is based on onboard LIDAR, IMU, and GPS data. Motion control in the second stage is realized using the ROS Move Base package with Time-Elastic Band trajectory optimization. Visual servo algorithms guide the vehicle in local object-approach movement and the arm in manipulating bricks. To ensure a stable grasp of the brick's magnetic patch, we developed a passively-compliant, electromagnetic gripper with tactile feedback. Our fully-autonomous UGV performed well in Challenge 2 and in post-competition evaluations of its brick pick-and-place algorithms.

关键词： Robots Robot kinematics Navigation Manipulators Cameras Buildings Grippers Automation Service robots Laser radar

来源：评论

学校读者我要写书评

暂无评论

Accuracy and cross-sensitivity analysis of the PMS5003 formaldehyde sensor 27

Accuracy and cross-sensitivity analysis of the PMS5003 forma...

引用

27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Poznan University of Technology Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznań Poland

ISBN: (纸本)9788362065486

Measurement data produced with the PMS5003 electrochemical sensor, allegedly selective for formaldehyde, were analyzed. The amounts of formaldehyde released from heated standard solutions were measured. At the same time, samples were sorbed into sorption tubes with an XAD-2 cartridge, which enabled chromatographic analysis - gas chromatography coupled with an electron capture detector (GC-ECD). A susceptibility of the PMS5003 sensor to cross-sensitivity associated with the presence of other low-molecular-weight carbonyl compounds, such as acetaldehyde and acetone in the sample, was also tested. The conducted research clearly indicates poor selectivity/accuracy of the PMS5003 sensor in relation to formaldehyde and its sensitivity to the presence of other carbonyl compounds in the sample, with a structure similar to formaldehyde. © 2024 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Acetone

来源：评论

学校读者我要写书评

暂无评论

Electrochemical determination of pollutants from various passenger car engines 27

Electrochemical determination of pollutants from various pas...

引用

27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

ISBN: (纸本)9788362065486

This paper presents measurements of the concentrations of particulate matter (PM1, PM2.5, and PM10), carbon dioxide (CO2), total organic compounds (TVOCs), and formaldehyde as pollutants released during fuel combustion. For this purpose, a suitable measuring device containing selective electrochemical sensors was prepared. The influence of fuel type and engine speed on the amount of pollutants released into the environment, was studied. Based on the achieved results, it can be concluded that the factor influencing the amount of pollutants released is mainly the type of fuel. Gasoline-powered cars can pollute the environment in a particularly negative way. A relationship was also noted between the increase in engine speed and the concentration of released carcinogenic formaldehyde. © 2024 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Electrochemical sensors

来源：评论

学校读者我要写书评

暂无评论

Maintaining a Wireless Sensor Network Structure in a Variable Dynamic Environment

Maintaining a Wireless Sensor Network Structure in a Variabl...

引用

International Russian Smart Industry Conference (SmartIndustryCon)

作者： Daria Galkina Stanislav Tomashevish Oleg Borisov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This article discusses a wireless sensor network, in which elements are attached to a group of robots located on the surface of the water. Due to the group being exposed by constant and unpredictable environmental influences such as wind, waves and swell, the structure of the wireless sensor network can be disrupted to complete failure. Because of this, there is a need to synthesize a control algorithm that could support a predetermined structure of a wireless sensor network on the surface of the water. The proposed algorithm is quite simple to implement, is distinguished by its flexibility and allows to accurately specify the desired shape of the network structure in advance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Yaw control of A Surface Vessel

Yaw Control of A Surface Vessel

引用

International Conference on control, Decision and Information Technologies (CoDIT)

作者： Alexandr D. Panin Dmitrii N. Zakharov Andrei Yu. Zhivitskii Artem M. Kurovskii Oleg I. Borisov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

In this article proposes methods for synthesizing control algorithms to solve the problem of tracking the course of a surface vessel. The problem of maintaining the vessel's course was solved using various algorithms. The proposed algorithms can be used in the future to solve dynamic positioning problems and route control problem.

关键词： Analytical models Regulators Adaptive systems Accuracy Heuristic algorithms control systems Steady-state Information technology

来源：评论

学校读者我要写书评

暂无评论

ML-Based Inertial Navigation System Diagnosis for Underwater Vehicle

ML-Based Inertial Navigation System Diagnosis for Underwater...

引用

International Russian Automation Conference (RusAutoCon)

作者： Daria Galkina Alexey Margun Radda Iureva Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

This paper investigates ML methods for diagnosing failures in an integrated Inertial Navigation System (INS) of the underwater vehicle ODIN UAV. Using dynamic equations of motion and considering measurement noise, a dataset was generated during normal operation and during various failures. Data preprocessing, exploratory analysis and feature engineering were conducted. To solve the problem of INS technical state classification, multiple machine learning models were evaluated and optimized using training data and techniques to reduce the number of dimensions. A comparative analysis of the obtained results was carried out. The paper contributes insights into effective ML-based diagnostics for enhancing navigation system reliability in autonomous underwater robots.

关键词： Training Autonomous underwater vehicles Accuracy Training data Inertial navigation Robot sensing systems Mathematical models Data models Vehicle dynamics Random forests

来源：评论

学校读者我要写书评

暂无评论

One-Stage Adaptive Observer For Induction Motors *

One-Stage Adaptive Observer For Induction Motors *

引用

International Conference on control, Decision and Information Technologies (CoDIT)

作者： Alexey Ovcharov Alexey Vedyakov Madina Sinetova Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

The paper introduces a new state observer for the non-linear model of a voltage-fed induction motor (IM) with unknown rotor resistance and load torque. The only measurements available are the stator current and the control voltage. Compared to the recently introduced observer for IM, which is based on the Dynamic Regressor Extension and Mixing Adaptive Observer (DREMBAO) approach, the proposed observer estimates rotor speed and magnetic flux simultaneously, eliminating the need for a two-stage sequential estimation process. Additionally, the proposed solution considers viscous friction in the motor model, which is not taken into account in the aforementioned approach or other similar ones. The problem is solved using the Generalized Parameter Estimation-Based Observer (GPEBO) approach, which transforms the observer problem into a parameter estimation task. Simulations are also presented to support the theoretical claims and illustrate the performance of the solution.

关键词： Adaptation models Induction motors Voltage measurement Friction Linear regression Rotors Transforms Observers Voltage control Load modeling

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：