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检索条件"机构=Control and Robotics"

共 6643 条记录，以下是151-160 订阅

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Real-Time UAV Fault Detection and Classification Using Measurement Data from the PADRE Database

Real-Time UAV Fault Detection and Classification Using Measu...

引用

2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Puchalski, Radoslaw Giernacki, Wojciech Ha, Quang Institute of Robotics and Machine Intelligence University of Technology Faculty of Control Robotics and Electrical Engineering of Poznan Poznan Poland School of Electrical and Data Engineering University of Technology Sydney Faculty of Engineering and Information Technology UltimoNSW2007 Australia

ISBN: (纸本)9798350312072

The growing number of applications for unmanned aerial vehicles operating in close proximity to humans calls for strict safety requirements. To ensure reliability and safety, fast and effective diagnosis of possible drone faults is needed. In this paper, a study on the detection of damage to the propellers of a multirotor using inertial sensors was conducted. Measurement data from the publicly available PADRE repository were used. Frequency features and raw measurement data applicability were tested. Two different approaches to data processing during fault detection and classification were tested. The first is to analyze the signals after collecting the entire set of data needed for treatment by the neural network. The second approach processes the data after every single acquisition of sensor measurements. The performance results and processing time of each solution are recorded for analysis. By effectively selecting parameters of the proposed approaches, the processing time and accuracy of UAV fault classification can be significantly improved, as verified over different classes of propeller defects. Early fault detection is essential for safe operations of multirotor drones. © 2024 IEEE.

关键词： Drones

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6-DOF AUV Identification with MIMO-NARX

6-DOF AUV Identification with MIMO-NARX

引用

2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Kabanov, Aleksey A. Lipko, Ivan Y. Dementiev, Kirill V. Sevastopol State University Department of Informatics and Control in Technical Systems Sevastopol Russia Sevastopol State University Robotics and Intelligent Control System Laboratory Sevastopol Russia

ISBN: (纸本)9781665475952

This paper applies the MIMO NARX neural model to identify AUV with six degrees of freedom. Strongly nonlinear dependencies are modeled using a MIMO NARX model trained using «input-output» experimental data. This results in a grey box model with a partially known internal structure that can be supervised. This is achieved by specifying a certain regressors type, which is feedback to the model input. Obtained results show that the neural model trained by the Levenberg-Marquardt numerical algorithm provides acceptable performance and accuracy. Validation of the model was performed using data from full-scale experiments, which allowed to identify the weaknesses and advantages of the resulting system more accurately. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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Keypoints Estimation on Partial Point Clouds 6

Keypoints Estimation on Partial Point Clouds

引用

6th International Conference on robotics and Automation in Industry, ICRAI 2024

作者： Saleem, Maryam Zohaib, Mohammad Naqvi, Syed Abbas Zilqurnain UET Human Centered Robotics Lab Department of Mechatronics and Control Engineering Lahore Pakistan SIGMA Clermont University of Clermont Auvergne Aubiere France

ISBN: (纸本)9798350355703

Estimating 3D keypoints of an object has achieved considerable interest, especially in computer graphics and ma-chine vision. The complexity of the problem increases when the object is noisy, decimated, or partially occluded. To this end, we present an approach to estimate 3D keypoints from the partial PCDs such that they also highlight the object's missing parts. It is based on two modules: shape completion and keypoints estimation. The first module computes the object's missing parts and generates a dense shape which is used by the second module to estimate semantically and geometrically consistent keypoints. The approach also estimates confidence scores that allow the selection of valid keypoint considering the object's structure. We evaluate the proposed method for four different backbones and observe that we get better results using PointNet. Furthermore, the presented results show that the Percentage of Correct Keypoints (PCK) and Dual Alignment Score (DAS) for the keypoints estimated from the dense shapes (36.61 and 76.29) are 23.51 % and 12.14% higher, respectively, compared to those estimated from the partial objects (13.10 and 64.15). © 2024 IEEE.

关键词： 3D modeling

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Modeling of passive cooling systems for building-applied photovoltaics panels (BAPV) 26

Modeling of passive cooling systems for building-applied pho...

引用

26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Holovko, Oleh Konieczka, Adam Dabrowski, Adam Poznan University of Technology Division of Signal Processing and Electronic Systems Institute of Automatic Control and Robotics Poznan Poland

ISBN: (纸本)9798350304985

This article analyzes the effectiveness of passive solar panel cooling systems in building-applied photovoltaics (BAPV) installations. Emphasis was placed on the ribbed heat sinks. Using CFD (Computational Fluid Dynamics) simulation, the movement of air in the cooling system and the dependence of the heat sink temperature on wind speed and direction, ambient temperature and distance to surrounding objects were analyzed. A mathematical analysis of the decrease in the average temperature of the solar panel was carried out. Experimental temperature measurements of the real panel were also made. They confirmed the simulation results. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Cooling systems

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Indirect adaptive admittance control based on position synchronization of robot-assisted nasopharyngeal surgery 2

Indirect adaptive admittance control based on position synch...

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2nd International Conference on Electrical, Electronics, and Information Engineering, EEIE 2023

作者： Hu, Zhi Liu, Yueling Song, Aiguo School of Instrument Science and Engineering Southeast University Nanjing China Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai China

ISBN: (纸本)9781510672840

In the surgery of nasopharyngeal cancer, the surgeon operates through natural channels within small room. In its robot-assisted surgery, collisions between two manipulators and parameter variation of local tissue may lead to contact force change, It may cause target position offset. As the vessels and nerves were distributed densely in head and neck. The control system needs to ensure the operating contact force is within the safety threshold. It can avoid soft tissue tearing caused by changing of relative position over the limits. The research studies indirect adaptive admittance control based on position synchronization, which adjust the damping compensation rate. It improves the force control precision and system robustness of robot-assisted surgery through alleviating the effect of stiffness variation and collisions. And it can improve surgery security. © 2024 SPIE.

关键词： Compliance control

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Adaptive observer for a LTV system with partially unknown state matrix and delayed measurements 14

Adaptive observer for a LTV system with partially unknown st...

引用

14th International Congress on Ultra Modern Telecommunications and control Systems and Workshops, ICUMT 2022

作者： Bobtsov, Alexey Nikolaev, Nikolay Slita, Olga Kozachek, Olga Oskina, Olga Itmo University Institute of Problems of Mechanical Engineering Laboratory 'Control of Complex Systems' Department of Control Systems and Robotics Saint-Petersburg Russia Itmo University Department of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (数字)9798350398663

ISBN: (纸本)9798350398663

Problem of adaptive state observer synthesis for linear time-varying (LTV) system with unknown time-varying parameter and delayed output measurements is considered. State observation problem has attracted the attention of many researchers [1]. In this paper the results proposed in the [2]-[4] are developed. It is supposed that the state matrix can be represented as sum of known and unknown parts. Output vector is measured with known constant delay. An adaptive identification algorithm which reconstructs unknown state and unknown time-varying parameter is proposed. © 2022 IEEE.

关键词： Time varying control systems

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Tightly-Coupled LiDAR-Visual SLAM Based on Geometric Features for Mobile Agents

Tightly-Coupled LiDAR-Visual SLAM Based on Geometric Feature...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Cao, Ke Liu, Ruiping Wang, Ze Peng, Kunyu Zhang, Jiaming Zheng, Junwei Teng, Zhifeng Yang, Kailun Stiefelhagen, Rainer Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Germany Hunan University School of Robotics China Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology China

ISBN: (纸本)9798350325706

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to dynamic and challenging situations, such as poor lighting conditions and motion blur. To tackle this issue, we propose a tightly-coupled LiDAR-visual SLAM based on geometric features, which includes two sub-systems (LiDAR and monocular visual SLAM) and a fusion framework. The fusion framework associates the depth and semantics of the multi-modal geometric features to complement the visual line landmarks and to add direction optimization in Bundle Adjustment (BA). This further constrains visual odometry. On the other hand, the entire line segment detected by the visual subsystem overcomes the limitation of the LiDAR subsystem, which can only perform the local calculation for geometric features. It adjusts the direction of linear feature points and filters out outliers, leading to a higher accurate odometry system. Finally, we employ a module to detect the subsystem's operation, providing the LiDAR subsystem's output as a complementary trajectory to our system while visual subsystem tracking fails. The evaluation results on the public dataset M2DGR, gathered from ground robots across various indoor and outdoor scenarios, show that our system achieves more accurate and robust pose estimation compared to current state-of-the-art multi-modal methods. © 2023 IEEE.

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Analysis of Dielectric Electroactive Polymer Actuator Displacements in Resonance States Using 2D Laser Sensor 22

Analysis of Dielectric Electroactive Polymer Actuator Displa...

引用

22nd IEEE International Symposium on Intelligent Systems and Informatics, SISY 2024

作者： Kolota, Jakub Bernat, Jakub Czopek, Pawel Marcinkowska, Agnieszka Gajewski, Piotr Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland Institute of Chemical Technology and Engineering Poznan University of Technology Poznan Poland

ISBN: (纸本)9798350385601

In this work, the experimental analysis of a rectangular Dielectric Electroactive Polymer (DEAP) actuator is proposed. The actuators based on the electroactive membrane have been recently widely developed for various applications, especially in soft robotics. Dielectric Electroactive Polymers are a group of smart materials that allow the exploitation of new interesting features such as softness, flexibility, and silent work. In this work, a three-layer dielectric electroactive membrane preparation method and its characterization are presented. The produced actuator is analyzed by a set of measurements to obtain information about its working in multi-dimensional space. © 2024 IEEE.

关键词： Conducting polymers

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Fault Detection in Electric Drives Based on LSTM Autoencoder Model Machine Learning Approach 25

Fault Detection in Electric Drives Based on LSTM Autoencoder...

引用

25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Demidova, Galina Privalov, Daniil Semenov, Denis Lukichev, Dmitry Liu, Zhitao Anuchin, Alecksey Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Electric Drives Moscow Power Engineering Institute Moscow Russia

ISBN: (纸本)9798350389234

Fault detection in electric drives is crucial for ensuring operational reliability and minimizing downtime. This paper provides a brief overview of the methods based on machine learning used for fault detection in electric drives. Additional this research presents a machine learning approach that utilizes the Long Short-Term Memory Autoencoder model for fault detection deal with bearing faults. A flowchart illustrating the implementation steps of the Long Short-Term Memory Autoencoder algorithm is included. Additionally, a case study on bearing faults in an electric drive system is presented to demonstrate the advantage of the proposed approach. By training the Long Short-Term Memory Autoencoder on operational data, accurate prediction of bearing faults is achieved, enabling timely maintenance interventions. It is shown that in the 7th epoch of training, the model achieved a notably high accuracy more than 99%. The results highlight the potential of Long Short-Term Memory Autoencoder models as a valuable tool for fault detection in electric drives, thereby improving system reliability and performance. © 2024 IEEE.

关键词： Machine learning

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A control Strategy for Bidirectional Buck Converter with Combining Continuous and Active Discontinuous Conducting Modes 25

A Control Strategy for Bidirectional Buck Converter with Com...

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Stolyarov, Evgeniy Lashkevich, Maxim Kulik, Egor Ali, Yousef Demidova, Galina Anuchin, Alecksey Department of Electric Drives Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint Petersburg Russia

ISBN: (纸本)9798350389234

The hybrid electric powertrains can utilize bidirectional buck converters to charge the battery while driving and discharge it when extra power is required. In order to increase the power density, the wide-bandgap switches should be used. These switches have bidirectional conductivity mode as they are metal–oxide–semiconductor field-effect transistors (MOSFET) and the utilization of the freewheeling diode is undesirable due to high voltage drop across it and much higher losses in conducting mode. This paper proposes the combined control strategy which implements continuous conducting mode at high and active discontinuous conducting mode at low currents. The use of model predictive control allows to minimize the conducting losses by means of reverse conductivity mode of the switches. The paper provides derivation of the combined control strategy. Then, the simulation results show the effectiveness of the proposed method. Finally, the simulation was performed with various errors in the definition of the system parameters. © 2024 IEEE.

关键词： Buck converter

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