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IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing systems: Technology and Applications

作者： Alexey A. Bobtsov Alexandr S. Borgul Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russia Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Saint Petersburg Russia

A paper describes the multiagent system of aerial vehicles for difficult to access area's ecological monitoring. The main object of this systems applying is exploration of locality in case of technogenic accident and catastrophe, elemental calamity. The system is able to keep the formation during the movement on the optimal trajectory for the fastest exploration of locality. The group of agents is able to be controlled both manually and full-automatically as a result of composite navigational system applying which allows global positioning and local navigation each of agents. All of agents are equipped with the system of sensors and cameras and the data from them can be saved in local agent's memory as well as can be transmitted to the base station in real time. Because of aerial vehicles configuration with high maneuverability and the speed below 24 km/h the system shows high mobility and allows monitor the state of the natural environment as well as indoor area.

关键词： Sensors Trajectory Vehicles Monitoring Robots Temperature measurement Navigation

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Fast Compensation of Unknown Multiharmonic Disturbance for Nonlinear Plant with Input Delay

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IFAC Proceedings Volumes 2013年第11期46卷 546-551页

作者： Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Alexey A. Vedyakov Oleg I. Borisov Vladislav S. Gromov Alexey A. Margun Dmitriy N. Bazylev Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics St. Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russia

In this paper a new approach for fast rejection of unknown multiharmonic disturbance is proposed. To design this algorithm the method of cascade reduction is used that allows to accelerate the process of convergence of unknown frequencies estimates. Additionally, the proposed approach differs from the known results. In this article we consider the case of disturbance rejection, when a relative degree of the plant can be arbitrary and only an output is variable, the control signal is measured and the control channel is characterized by delay.

关键词： Rejection reduction nonlinear plant multiharmonic signal disturbance identification delay

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Simple Output Stabilization Approach for Robotic systems

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IFAC Proceedings Volumes 2013年第9期46卷 1873-1878页

作者： Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Maxim O. Surov Sergey V. Shavetov Oleg I. Borisov Vladislav S. Gromov Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics St. Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St.Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

The problem of control design for a class of nonlinear system is considered. It is assumed that the linear part is unknown and minimum phase. The nonlinear part is known inaccurately, it is irreducible to an input of the linear block, and generally does not satisfy sector restrictions. A regulator ensuring semiglobal stability is designed. The output of a plant, but not its derivatives is used as a measured variable. Some application results of proposed output control algorithm for a number of Lego Mindstorms NXT mobile robots (track, wheel and walking ones) are presented in the paper.

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Dynamic Positioning System for Nonlinear MIMO Plants and Surface Robotic Vessel

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IFAC Proceedings Volumes 2013年第9期46卷 1867-1872页

作者： Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Maxim O. Surov Alexey A. Vedyakov Alexey D. Feskov Sergey M. Vlasov Alexandr Y. Krasnov Oleg I. Borisov Vladislav S. Gromov Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics St. Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St.Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

In this paper the new control approach for a class of nonlinear MIMO systems with unknowns is proposed. The mathematical model is divided on two parts: static MIMO transformation and a few SISO channels that allows to design the control law in two steps. At the first step we design the virtual controls for each SISO channel and then after the inverse MIMO transformation we propose the control law for considered system. In the paper the recent advantages in the development of adaptive output control approach using high-gain principle named by the authors as “consecutive compensator” is applied for SISO channels. We present the robotic research setup designed for analysis of control algorithms oriented to complex technical objects. This setup is a model of real plant with similar constraints for developers: parametric uncertainty, delay, disturbances, and bounded control.

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Design and control of a robotic system for minimally invasive vascular interventional surgery

Design and control of a robotic system for minimally invasiv...

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Chinese control Conference (CCC)

作者： Zhenqiu Feng Xiao-Liang Xie Gui-bin Bian Peng Wei Zeng-Guang Hou Min Tan Hongbo Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China College of Mechanical Engineering Yanshan University Qinhuangdao 066004 China

The design and control methods of robotic system for vascular interventional surgery is studied in this paper. By considering the characteristics of vascular interventional surgery and operation habits of surgeon, a master-slave remote control catheter system is presented. The system consists of three parts: the operation handle, the catheter manipulator and the host computer. The operation handle is designed to simulate the surgeon's surgical procedure, and the catheter manipulator tracks the handle's movements in both translation and rotation directions. Real time communication between the operation handle and the catheter manipulator has been built based on the host computer. Effectiveness and speed tracking performance between the catheter manipulator and the handle was validated by simulation experiments on a human vascular model.

关键词： Catheters Surgery Manipulators Electronic mail control systems Educational institutions

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Human-Machine Interface for Mechatronic Devices control

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IFAC Proceedings Volumes 2013年第9期46卷 614-618页

作者： Alexey A. Bobtsov Alexandr S. Borgul Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

This article presents a system of intuitive control of any mechatronic devices with EMG and EEG. It can be used both as in rehabilitation devices and in manufacturing as a human-machine interface. The technology allows to control device mentally. Various identification methods for control signals like neural networks, wavelet analysis, fastICA, Fourier series are given. Algorithms were tested on real objects and simulator.

关键词： human-machine interface neural network intuitiv control robotics

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Motion control of the six-legged walking robot with unknown inertia matrix *

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IFAC Proceedings Volumes 2013年第9期46卷 234-238页

作者： Maksim O. Surov Anton A. Pyrkin Alexey A. Bobtsov Department of Control Systems and Informatics Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St.Petersburg Russia

We propose a new control approach to solve the problem of motion control of six-legged walking robot. Obtained control law does not require knowledge of inertia matrix of the robot. A proof of the asymptotic stability of the robot motion has been provided. To illustrate the effectiveness of the controller a numerical example is shown.

关键词： six-legged robot attitude control velocity control

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control Approaches for Complicated Self-Unstable Plants with Applications for Two-Wheel Mobile System

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IFAC Proceedings Volumes 2013年第9期46卷 609-613页

作者： Alexey A. Bobtsov Alexandr S. Borgul Konstantin A. Zimenko Anton A. Pyrkin Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

In this paper a model of autonomous mobile robot “Motobot” is described. There is the model of two-wheeled motorbike. The mathematical model of motion of two-wheeled single-track robot on the horizontal flat is analyzed and the automatic control algorithms are designed. problem can be solved by controlling the steering wheel and the speed of the driving wheel.

关键词： Mobile robots autonomous bike unstable systems output control educational robots

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Rotation Estimation for Mobile Robot Based on Single-axis Gyroscope and Monocular Camera

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International Journal of Automation and computing 2012年第3期9卷 292-298页

作者： Yang, Ke-Hu Yu, Wen-Sheng Ji, Xiao-Qiang School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing 100083 China Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai 200062 China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.

关键词： Rotation matrix estimation quaternion extended Kalman filter (EKF) monocular camera gyroscope.

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Lego Mindstorms NXT for students' research projects in control field

Lego Mindstorms NXT for students' research projects in contr...

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9th IFAC Symposium on Advances in control Education, ACE 2012

作者： Bobtsov, Alexey A. Pyrkin, Anton A. Kolyubin, Sergey A. Kapitonov, Alexander A. Feskov, Alexey D. Vlasov, Sergey M. Krasnov, Alexander Y. Khovanskiy, Aleksey V. Shavetov, Sergey V. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St. Petersburg 199178 Russia

ISBN: (纸本)9783902823014

Nowadays scientific community faces challenging problem on how to make science popular among young people and attract students' attention to applied and fundamental research. In this article we share our personal experience of organization of the student research and development laboratory in the field of automatic control for robotics. Paper describes how Lego Mindstorms NXT technology can be used to engage students in the research process. Examples of students' research projects embodying results obtained by elder colleagues at the control systems and Informatics Department of St. Petersburg National Research University ITMO are described here. © 2012 IFAC.

关键词： Students

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