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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Boris Andrievsky Nikolay V. Kuznetsov Iuliia Zaitceva dep. Control of Complex Systems Institute of Problems in Mechanical Engineering of RAS dept. Applied Cybernetics St. Petersburg State University St. Petersburg Russia dep. Information and Control Systems Institute of Problems in Mechanical Engineering of RAS

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

The development of automation is characterized by the increasing complexity of control tasks associated with various technical objects. However, this does not exclude the human element from the control process. Manual control has certain drawbacks that negatively impact the quality of management, primarily arising from the interaction between the operator and the nonlinear dynamics of the robot. This study examines a manual control system for a robotic manipulator, taking into account nonlinear constraints that may manifest as limitations on the power of the actuating mechanism or as part of a local regulator. The parameters of the operator's control actions exhibit a certain range due to individual characteristics of the human operator or the control technique employed. Additionally, signal transmission delays may be present in the control loop. Considering these system characteristics provides a more comprehensive understanding of control quality and allows for the establishment of acceptable control techniques for the human operator. dep.nding on the frequency of input disturbances, this work analyzes the closed-loop system comprising the operator and manipulator using methods based on harmonic linearization of nonlinearity and harmonic balance equations: locus of a perturbed relay system and harmonic stabilization. The results of calculations and simulations using these methods indicate that there exists a parameter space within which oscillations may arise. Thus, when designing manual control systems for robotic manipulators, it is essential to pay attention to the control techniques employed by the human operator and to overall delays in order to avoid undesirable operational modes of the system.

关键词： Training Service robots System performance Human factors Harmonic analysis Mathematical models Delays Relays Oscillators Remote control

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An approach for determining phong reflectance parameters from real objects

An approach for determining phong reflectance parameters fro...

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15th International Conference on Pattern Recognition, ICPR 2000

作者： Aparicio, Javier Iglesia García-Bermejo, Jaime Gómez University of Valladolid ETSIT Dep. of Systems Engineering and Automatic Control Spain

ISBN: (纸本)0769507506

Modeling reflectance properties from real objects is useful for solving many practical problems, ranging from industrial inspection to computer graphics. In particular, building computer graphics models directly from real objects has recently received increased attention, because it is useful in many important fields such as CAD, entertainment (3-D games, movies) and virtual museums. This paper describes an automatic way to recover actual reflectance parameters, from range and intensity (or color) data acquired from objects. The proposed approach is based on Phong reflection model, since this model is usually preferred for computer graphics. © 2000 IEEE.

关键词： Reflection

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Efficient News Synopsis Generation with T5 Transformers 12

Efficient News Synopsis Generation with T5 Transformers

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12th IEEE International Conference on Intelligent systems, IS 2024

作者： António, João Mihaylova, Lyudmila Georgieva, Petia Aveiro Portugal University of Sheffield Dep. of Automatic Control and Systems Engineering Sheffield United Kingdom Institute of Telecommunications Aveiro Portugal

ISBN: (纸本)9798350350982

In this paper we propose a Text-To-Text Transfer Transformer-based (T5) model to generate concise, human-like synopses of Merger and Acquisition (M&A) economic news. Leveraging recent advancements in artificial intelligence and natural language processing, we have focused our resources on the creation of a specific summarizer, opting for a translation of all news into English to ensure consistency and mitigate complexity. The implementation of Graphics processing unit (GPU) resources for model training played a crucial role in optimizing the learning process, allowing us to effectively utilize the time window provided by platforms such as Google Colab Pro and Free. Through iterative fine-tuning, our model was trained to generate high-quality, human-like synopses of M&A events. Our findings underscore the enhanced transparency and interpretability of the proposed generative AI-driven text summariser, suggesting promising avenues for future exploration and development in this field. © 2024 IEEE.

关键词： Graphics processing unit

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World Modeling and Position Estimation for a Mobile Robot using Self-Organizing Networks

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IFAC Proceedings Volumes 2000年第25期33卷 113-118页

作者： R. Marqués E. Zalama J.G. García-Bermejo J.R. Perán Dep. of Systems Engineering and Automatic Control University of Valladolid (Spain)

In this paper a system for estimating position and orientation of a mobile robot in a non-structured environment, by means of self-organizing neural networks, is described. After perfonning an initiat learning phase, the system is able to incrementally build a representation of the environment. Position and orientation of the robot can then be obtained, upon data coming from the odometric system and sensors (ultrasound sensors, infrared sensors and 2D-Iaser sensor). The system has been implemented and tested on a NOMAD 200 robot. Experimental results are reported, which show the robot to be able to navigate without losing its way, and to adapt to changes in the environment.

关键词： Mobile Robots Navigation Learning systems Neural Networks

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dominguez, Salvador Zalama, Eduardo Garcia-Bermejo, Jaime G. Pulido, Jaime CARTIF Foundation Robotics Computer Vision and Real Time Division Boecillo Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Spain

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisen is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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Wavelet transform based technique for text image localization

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Karbala International Journal of Modern Science 2016年第2期2卷 138-144页

作者： Ali, Suhad A. Hashim, Ashwaq T. Babylon University Science College for Women Computer Science Dep. Babylon Iraq Technology University Control and Systems Engineering Dep. Baghdad Iraq

In this paper, a robust technique based on discrete wavelet transform, edge detection, and morphology operation for scene text detection is proposed. There are several stages in the proposed method. In the first stage, a single wavelet decomposition LH, HL and HH subbands are applied for detecting edges in original scene text image. The projection technique is applied in the second stage to preliminary detect text and non-text pixels. In third stage, 4-connected components are applied, and then area geometric feature is used as threshold to remove non-text region. At last stage, morphological operations are applied to connect isolated text components and to remove non-text regions. The proposed method is applied on a various images such as images of low contrast, complex background images and images of different fonts and size of text. The experimental results show that the proposed method can detect regions of the text perfectly. © 2016 The Authors

关键词： Connected components DWT Image projection Morphological operator

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Algorithm for efficient 3D reconstruction of outdoor environments using mobile robots

Algorithm for efficient 3D reconstruction of outdoor environ...

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2011 IEEE International Conference on Robotics and Automation, ICRA 2011

作者： Fentanes, Jaime Pulido Zalama, Eduardo Gómez-García-Bermejo, Jaime CARTIF Foundation Spain Universidad de Valladolid Spain CARTIF Centro Tecnológico Dep. Of Robotics and Computer Vision Boecillo Valladolid Spain Dep. Of Systems Engineering and Automatic Control Industrial Engineering School Spain

ISBN: (纸本)9781612843865

In this paper, an algorithm for the reconstruction of an outdoor environment using a mobile robot is presented. The focus of this algorithm is making the mapping process efficient by capturing the greatest amount of information on every scan, ensuring at the same time that the overall quality of the resulting 3D model of the environment complies with the specified standards. With respect to existing approaches, the proposed approach is an innovation since there are very few information based methods for outdoor reconstruction that use resulting model quality and trajectory cost estimation as criteria for view planning. © 2011 IEEE.

关键词： Mobile robots

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3D UAV Registration of Large Scale Environment Using Structure From Motion Based Approach 28

3D UAV Registration of Large Scale Environment Using Structu...

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28th International Conference on Information, Communication and Automation Technologies, ICAT 2022

作者： Velagic, Jasmin Balta, Haris Faculty of Electrical Engineering Dep. of Automatic Control and Electronics Sarajevo Bosnia and Herzegovina Siemens Energy Nuremberg Germany

ISBN: (纸本)9781665466929

This paper treats the problem of 3D outdoor environment mapping using images acquired by Unmanned Aerial Vehicle (UAV). The main focus is on the generation of 3D model for large scale environments. In order to perform 3D model reconstruction and mapping from 2D aerial images we employed a Structure from Motion (SfM) based approach. The obtained results using this approach for different scenarios, the rubble field and village, are presented. The generated UAV 3D point cloud data are compared with the ground truth using the least square method, where the ground truth represents a reference model with high accuracy geodetic precision. The comparison of the 3D environment models with the rubble field and village scenarios and the ground truth data is also given. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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High stiffness fixation and thermal insulation in a superconducting planar motor 18

High stiffness fixation and thermal insulation in a supercon...

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18th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2018

作者： Koolmees, H.B. Vermeulen, J.P.M.B. Eindhoven University of Technology Dep. of Mechanical Engineering Control Systems Technology - Mechatronic Systems Design Netherlands

ISBN: (纸本)9780995775121

A superconducting planar motor is being investigated to provide higher acceleration potential compared to existing planar motors. Currently used permanent magnets are replaced by superconducting electromagnets, at a temperature below 20 K, providing a higher magnetic field density. Fixation of superconductors is a challenge due to the requirements on stiffness and thermal conductivity, which are conflicting in existing fixation designs. In contrast, an electromagnetic position actuator in closed loop control provides stiffness without a path for thermal conduction. The radiative heat flow through such an actuator is analyzed. Furthermore, a thin thermal insulation is required to achieve a high magnetic field density at the location of the warm motor coils. Two insulation concepts are analyzed and compared based on the remaining heat flow. First order heat transfer equations are solved and the results show the potential of the solutions proposed. Further work entails detailed design and experimental verification. © 2018 CURRAN-CONFERENCE. All rights reserved.

关键词： Stiffness

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Indirect solution for optimal control problems with a pure state constraint 19

Indirect solution for optimal control problems with a pure s...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Van Keulen, Thijs Eindhoven University of Technology Dep. of Mechanical Engineering Control Systems Technology Group Netherlands

ISBN: (纸本)9783902823625

This paper presents an algorithm that provides a regularization for the costate dynamics of state constrained optimal control problems with a scalar constraint under the assumption that the Hamiltonian is convex in the control and the state dynamics equation of the constrained state is monotonically increasing in the control variable. The algorithm is demonstrated with a classical optimal control problem. © IFAC.

关键词： Equations of state

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