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2022 IEEE International Multi-Conference on Engineering, Computer and Information Sciences, SIBIRCON 2022

作者： Timofeev, Konstantin A. Shornikov, Yury V. Novosibirsk State Technical University Automated Control Systems Department Novosibirsk Russia Automated Control Systems Department Institute of Automation and Electrometry The Siberian Branch of the Russian Academy of Sciences Novosibirsk State Technical University Novosibirsk Russia

ISBN: (纸本)9781665464802

The numerical simulation of electronic devices is associated with the solution of stiff differential-algebraic equations systems. An important factor in effective numerical simulation is the count of calculations of the Jacobi matrix, as well as ensuring the necessary accuracy of calculations without the need for a significant reduction in the integration *** article presents a model of a ring modulator in the SimInTech software package. A comparative analysis of the effectiveness of explicit adaptive methods and Diagonally Implicit Runge-Kutta methods implemented in the software systems SimInTech and LISMA has been carried *** is concluded that the DIRK4 method in SimInTech is effective on the example of essentially stiff problems that arise when modeling electronic devices. Compared to the Gear method (in the SimInTech version), the DIRK4 method has almost 3 times fewer decompositions of the Jacobi matrix, which has a good effect on performance with an increase in the system dimension. © 2022 IEEE.

关键词： Integration

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Temperature sensor research as a part of a microprocessor system by statistical analysis methods 3

Temperature sensor research as a part of a microprocessor sy...

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3rd IEEE KhPI Week on Advanced Technology, KhPI Week 2022

作者： Hryhorenko, Ihor Tverytnykova, Elena Hryhorenko, Svitlana Krylova, Viktoria National Technical University 'Kharkiv Polytechnic Institute' Information Measuring Technologies and Systems Department Kharkiv Ukraine National Technical University 'Kharkiv Polytechnic Institute' Department of Computer and Radio-Electronic Control Systems and Diagnostics Kharkiv Ukraine National Technical University 'Kharkiv Polytechnic Institute' Department of Automation and Control in Technical Systems Kharkiv Ukraine

ISBN: (数字)9798350399202

ISBN: (纸本)9798350399202

The paper considers the solution of the scientific and practical problem of assessing the accuracy and stability of the sensors working as part of the microprocessor control system for the parameters of the microclimate of an artificial ecosystem by using statistical methods for analyzing measurement results using the example of a temperature sensor. The importance of this task lies in the fact that the organization of accurate control of the parameters of the microclimate will ensure optimal climatic conditions for the development of plants and fish, and create an environment as similar as possible to the natural one by timely control of parameters and a quick reaction to the output of parameters at critical values. For the analysis, three series of measurement results of the control indicator (water temperature) were used. The analysis confirmed the hypothesis that there are no violations of the stability of the temperature sensor, which makes it possible to recognize the metrological sensor as reliable. It is proved that the problems of increasing the likelihood of controlling objects with stochastic parameters, and controlling their metrological reliability are relevant and are important for the development of the theory and practice of non-dismantling control. © 2022 IEEE.

关键词： Reliability theory

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Development of a UAV-based System for technical Diagnostics of Overhead Power Lines 24

Development of a UAV-based System for Technical Diagnostics ...

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24th International Conference on Computational Problems of Electrical Engineering, CPEE 2023

作者： Kozlovskyi, Oleksandr Trushakov, Dmitro Rendzinyak, Serhiy Korud, Vasyl Central Ukrainian National Technical University Department of Electrical Systems and Energy Management Kropyvnytskyi Ukraine Central Ukrainian National Technical University Department of Automation and Control in Technical Systems Kropyvnytskyi Ukraine Ivan Franko National University of Lviv Faculty of Electronics and Computer Technologies Lviv Ukraine Lviv Polytechnic National University Institute of Power Engineering and Control System Lviv Ukraine

ISBN: (纸本)9798350330342

The problems associated with the operation of overhead power lines and ways of improving control over their condition with the help of UAVs are considered. A structural diagram of the system of technical diagnostics of overhead lines based on UAVs was developed, for which the necessary diagnostic parameters were selected according to informative criteria. An analysis of types of UAVs was carried out in order to determine their suitability and efficiency of use for diagnosing the condition of overhead lines. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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The Training Set Automating for a Neural Network Model of an Industrial Robot control System

The Training Set Automating for a Neural Network Model of an...

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IEEE Conference on Quality Management, Transport and Information Security, Information Technologies (IT&MQ&IS)

作者： Vyacheslav I. Voronov Victor A. Smolnikov Lily I. Voronova Olga L. Antonycheva Nikita V. Belov Department of Intelligent Control Systems and Automation Moscow Technical University of Communications and Informatics Moscow Russia

ISBN: (数字)9798350367522

ISBN: (纸本)9798350367539

The industrial robot control system solves a large number of tasks that affect the ease of integration and efficiency of the manipulator in the technological process. One of its main tasks is to calculate in real time the trajectory of the manipulator flange movement taking into account the selected type of movement. In particular, this task can be solved using a neural network model. The article describes the solution of the problem of automating the creation of a training set for a neural network model that forms the trajectory of movement of an industrial manipulator. The source of data for the set is a KUKA KR4 R600 manipulator and its digital twin created in the “Rational Production” software. The training set includes many sets of the manipulator joint angle vectors (generalised coordinates) that uniquely define the current position of the robot and its flange in space.

关键词： Training Service robots Robot kinematics Neural networks Training data Manipulators control systems Industrial robots Data models Trajectory

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Development of a Method for Robotic Sorting of Metal Objects

Development of a Method for Robotic Sorting of Metal Objects

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Intelligent Technologies and Electronic Devices in Vehicle and Road Transport Complex (TIRVED)

作者： Nikita V. Belov Liliya I. Voronova Mariya V. Khokhlova Department of Intelligent Control Systems and Automation Moscow Technical University of Communications and Informatics Moscow Russia

ISBN: (数字)9798331518707

ISBN: (纸本)9798331518714

This paper presents a method for the robotic sorting of objects in automatic mode, which makes use of the Kuka industrial manipulator. The method proposed in this work performs the segmentation of objects using a neural network, the selection and the determination of the spatial coordinates of the picking object, and the movement of the manipulator and control of the picking device. The results of the tests demonstrated that the proposed method was able to accurately determine the spatial coordinates of the object with minimal error. Furthermore, the Euler angles of the object centre were calculated with an error of 1.73° on the X-axis and 1.77° on the Y-axis. The findings indicate the potential for extending the scope of applications for industrial manipulators. The results demonstrate the feasibility of employing these manipulators in intricate and congested environments, enabling the sorting of object.

关键词： Performance evaluation Accuracy Uncertainty Service robots Robot kinematics Roads Neural networks Metals Manipulators Sorting

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Adaptive control System for the Process of Sorting Objects Using a Robotic Arm

Adaptive Control System for the Process of Sorting Objects U...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Nikita V. Belov Andrey G. Vovik Department of Intelligent Control Systems and Automation Moscow Technical University of Communications and Informatics Moscow Russia

The paper describes the implementation of a software-hardware complex that implements the sorting of objects by colour using computer vision. The algorithm for determining the working area of the robot-manipulator is given. The control action on the executive mechanism is formed by an algorithm implemented in Python using the C3 Bridge Interface, OpenShowvar and OpenCV software libraries for interaction with the robot and computer vision. A Kuka KR4 6-axis industrial robot manipulator with pneumatic gripper is used as an actuator that performs direct object movement. The developed hardware and software system can serve as a basis for creating flexible robotised manufacturers.

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Fractional Order PID control of Propofol Dosage and Optimization in Lean and Obese Patients

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IFAC-PapersOnLine 2024年第7期58卷 228-233页

作者： Amani R. Ynineb Marcian-David Mihai Erhan Yumuk Hamed Farbakhsh Ghada Ben Othman Robin De Keyser Cristina Muresan Isabela Birs Dana Copot Clara M. Ionescu Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 9052 Zwijnaarde Belgium Technical University of Cluj-Napoca Department of Automation Cluj-Napoca Romania Istanbul Technical University Department of Control and Automation Engineering Maslak 34469 Istanbul Turkey

This paper outlines the design of a fractional-order proportional–integral–derivative controller for regulating the induction phase of Propofol infusion in lean and obese patients. The obtained controller is implemented within the pharmacokinetic-pharmacodynamic model and the nonlinear Hill function to conduct closed-loop simulations. The latter are employed using a dataset comprising 24 patients to obtain clinical evaluation results. The design of the controller relies on a generic second-order plus dead time approximation model, which characterizes interpatient variability in response to Propofol infusion within the studied population. The fractional-order proportional–integral–derivative is tuned to achieve sufficient robustness margins ie phase margin, cutoff frequency, and the consideration of the iso-damping properties. The results show no undershoot and a smooth convergence to the desired value of the bispectral index, which indicates the depth of hypnosis.

关键词： Closed-Loop control of Anesthesia Obese Patients Fractional-Order PID control

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Neural Network Concept of Ukrainian-Language Text Embedding 13

Neural Network Concept of Ukrainian-Language Text Embedding

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13th International Conference on Advanced Computer Information Technologies, ACIT 2023

作者： Bisikalo, Oleg Kovtun, Oksana Kovtun, Viacheslav Vinnytsia National Technical University Department of Automation and Intelligent Information Technologies Vinnytsia Ukraine Vasyl' Stus Donetsk National University Department of Theory and Practice of Translation Vinnytsia Ukraine Vinnytsia National Technical University Department of Computer Control Systems Vinnytsia Ukraine

The main contribution of the research is the neural network concept of Ukrainian-language text embedding with a two-level architecture. Basic embedding is implemented based on main lexical structures (Noun-Verb, Noun-Adjective, Verb-Adverb). To preserve the semantic component of complex, long sentences characteristic of the Ukrainian language, the post-embedding procedure is analytically defined. Both levels of the concept are implemented as autoencoder-type neural networks with appropriate topologies. To evaluate the complexity of the proposed conglomerate training process, a generalized loss function was formalized. Testing of the proposed concept in comparison with classic (BOW, Word2Vec) and progressive (MCB BERT) analogues showed that the author's solution prevails over the former and lags behind the latter in the selected quality metric. © 2023 IEEE.

关键词： Embeddings

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Kinematic model and analysis of an anthropomorphic robotic finger

Kinematic model and analysis of an anthropomorphic robotic f...

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2021 International Conference Automatics and Informatics, ICAI 2021

作者： Mihalev, Georgi Yordanov, Stanimir Information and Control Systems Technical University of Gabrovo Department of Automation Gabrovo Bulgaria Information and Control Systems Technical University of Gabrovo Department of Automation Gabrovo Bulgaria

ISBN: (纸本)9781665426619

The article represents developed anthropomorphic robotic finger and its ability to perform complex manipulations as a part of a robotic arm. The advantages and disadvantages of this type of manipulators are defined. Using a hybrid approach, a kinematic model of the system is derived. The main functional dependences of the forward and inverse kinematic model are derived. The analysis is made on the basis of differential kinematics and the workspace of the manipulator. The developed system has been tested while performing various tasks and graphical results for some of them are presented, proving the peculiarities of the control of this type of robotic systems. © 2021 IEEE.

关键词： Manipulators

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An Event-Triggered Tracking control Scheme Based on Predictive control Method and its Application 42

An Event-Triggered Tracking Control Scheme Based on Predicti...

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42nd Chinese control Conference, CCC 2023

作者： Cao, Lei Yumuk, Erhan Ionescu, Clara-Mihaela Liu, Guo-Ping Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Ghent University Dynamical Systems and Control Research Group Department of Electromechanical Systems and Metal Engineering Ghent9052 Belgium Center for Control Science and Technology Southern University of Science and Technology Shenzhen518055 China Istanbul Technical University Department of Control and Automation Engineering Istanbul34467 Turkey

ISBN: (纸本)9789887581543

In this paper, the tracking control problem for networked control system (NCS) under communication delays is investigated. In order to realize the tracking of the NCS, an event-triggered predictive control strategy is provided to compensate for the delays and achieve stability. Both tracking performance and input increments are considered in the proposed cost function. Based on the incremental inputs, an event-triggered mechanism is established to reduce the communication costs. The efforts of different parameters are illustrated through the results of the simulation, and the effectiveness of the proposed control scheme is also validated from the application of the networked lighting setup. © 2023 technical Committee on control Theory, Chinese Association of automation.

关键词： Networked control systems

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