This paper shows a general concept of establishing student advising services at ITMO University for students majoring in control Systems and robotics. The work covers a few topics related to these services, which are ...
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This paper shows a general concept of establishing student advising services at ITMO University for students majoring in control Systems and robotics. The work covers a few topics related to these services, which are personalized education, project-oriented training, and curriculum design and redesign. Detailed list of expected duties of advisors and their role in professional career planning are discussed. The paper shows the vision of the way how advisors can be recruited and trained by means of the special course of additional professional education.
The paper is devoted to computer vision education for ITMO University students specializing in control systems and robotics. The set of laboratory works are attached. Several examples of finished works are provided. T...
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The paper is devoted to computer vision education for ITMO University students specializing in control systems and robotics. The set of laboratory works are attached. Several examples of finished works are provided. The topics of the laboratory course consists of histograms, profiles, projections, image geometric transformations, filtering and edges detection, images segmentation, Hough transformation, image morphologic analysis.
This paper addresses the experience of implementing a presentation skills module in an English for Specific Purposes (ESP) course at ITMO University for students from the Faculty of control Systems and robotics. This ...
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This paper addresses the experience of implementing a presentation skills module in an English for Specific Purposes (ESP) course at ITMO University for students from the Faculty of control Systems and robotics. This work reveals the importance and relevance of presentation competency for the future professional careers of graduates. The paper thoroughly addresses the presentation mistakes inherent in the domain of control systems and robotics. The interdisciplinary approach to developing presentation skills discussed in the article is based on the fusion of English-language study, soft skills and professional content. The developed presentation skills module includes peer-based evaluation of presentations in order to teach students to provide feedback and take into account comments received from their colleagues.
Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed f...
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Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different *** by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this *** the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of *** optimal joint torque is calculated by the controller combined with Virtual Model control(VMC)and Whole-Body control(WBC)to realize the desired *** gait and step frequency of the robot can automatically adapt to the change of *** experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/*** ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the *** have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.
The aim of this article is to analyze the impact of adaptive histogram equalization of the human eye OCT B-scans on the effectiveness of the classification of pathological changes. Tests were performed on two datasets...
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Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-toler...
Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.
Thanks to the emerging integration of algorithms and simulators, recent Driving Simulators (DS) find enormous potential in applications like advanced driver-assistance devices, analysis of driver’s behaviours, resear...
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Thanks to the emerging integration of algorithms and simulators, recent Driving Simulators (DS) find enormous potential in applications like advanced driver-assistance devices, analysis of driver’s behaviours, research and development of new vehicles and even for entertainment purposes. Driving simulators have been developed to reduce the cost of field studies, allow more flexible control over circumstances and measurements, and safely present hazardous conditions. The major challenge in a driving simulator is to reproduce realistic motions within hardware constraints. Motion Cueing Algorithm (MCA) guarantees a realistic motion perception in the simulator. However, the complex nature of the human perception system makes MCA implementation challenging. The present research aims to improve the performance of driving simulators by proposing and implementing the MCA algorithm as a control problem. The approach is realized using an actual vehicle model integrated with a detailed model of the human vestibular system, which accurately reproduces the driver’s perception. These perception motion signals are compared with simulated ones. A 2-DOF stabilized platform model is used to test the results from the two proposed control strategies, Proportional Integrator and Derivative (PID) and Model Predictive control (MPC).
Potential field-based collision avoidance algorithms for mobile robots frequently assume vehicles and obstacles to have circular or spherical shapes. This assumption not only simplifies the analysis but also limits th...
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Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the...
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Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the linear quadratic Gaussian(LQG) control cost of WNCSs by optimizing the activation probability of subsystems, the number of uplink repetitions, and the durations of uplink and downlink phases. Simulation results show that PSRA achieves smaller LQG control costs than existing works.
In this paper, a SCARA robot was modeled and properly simulated. It was implemented in the Matlab/Simulink environment, together with appropriate PID controllers. The process of tuning the PID controller parameters wa...
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