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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Hossein Karami Kourosh Darvish Fulvio Mastrogiovanni Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Dynamic Interaction Control Istituto Italiano di Tecnologia Genova Italy

ISBN: (数字)9781728160757

ISBN: (纸本)9781728160764

The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the involved robot functionalities, it is of the utmost importance to design strategies allowing for the concurrent and/or sequential allocation of tasks related to object manipulation and assembly. In this paper, we extend the FLEXHRC framework presented in [1] to allow a human operator to interact with multiple, heterogeneous robots at the same time in order to jointly carry out a given task. The extended FLEXHRC framework leverages a concurrent and sequential task representation framework to allocate tasks to either operators or robots as part of a dynamic collaboration process. In particular, we focus on a use case related to the inspection of product defects, which involves a human operator, a dual-arm Baxter manipulator from Rethink robotics and a Kuka youBot mobile manipulator.

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Finite-time Frequency Estimator for Harmonic Signal

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IFAC-PapersOnLine 2020年第2期53卷 584-589页

作者： Alexey A. Bobtsov Anastasiia O. Vediakova Nikolay A. Nikolaev Olga V. Slita Anton A. Pyrkin Alexey A. Vedyakov Department of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Department of Computer Applications and Systems Saint Petersburg State University Saint Petersburg Russia

This paper is devoted to a frequency estimation of a pure sinusoidal signal in finite-time. The parameterization is based on applying delay operators to a measurable signal. The result is the first-order linear regression model with one parameter, which depends on the signal frequency. The proposed method of finite-time estimation consists of two steps. On the first step, the standard gradient descent method is used to estimate the regression model parameter. On the next step using algebraic equations, finite-time frequency estimate is found. The described method does not require measuring or calculating derivatives of the input signal and uses one integrator for the gradient method and another one for the finite-time estimation. The efficiency of the proposed approach is demonstrated through the set of numerical simulations.

关键词： parameter estimation observers frequency estimation finite-time estimation

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Estimation of International Standards for Unconventional Wind Turbine Testing

Estimation of International Standards for Unconventional Win...

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International Universities Power engineering Conference (UPEC)

作者： Aleksandr Lukin Anton Rassõlkin Galina L. Demidova Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia

ISBN: (数字)9781728110783

ISBN: (纸本)9781728110790

There is a quantum leap in the design of new types of wind turbines in connection with the transformation of energy systems around the world which goes to be distributed. It's need not only be certified but also be analyzed by using international standards to verify the designed prototype quality. Recent study compares technical standards maintained by the Euro-Asian Council for Standardization, Metrology and Certification (EASC) known as GOST with International Electrotechnical Commission (IEC) regulations for wind generators. The motivation for such standardization study is the development of Magnus effect-based wind turbine, which requires special attention as any unconventional wind turbine. This paper presents an analytical review of industry standards applicable to the experimental Magnus effect-based wind turbine. The main groups of the standard that regulates the field of wind energy generation are identified.

关键词： Wind turbines IEC Standards Wind speed Rotors Wind energy generation Testing

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3D Hierarchical Refinement and Augmentation for Unsupervised Learning of Depth and Pose from Monocular Video

arXiv

引用

arXiv 2021年

作者： Wang, Guangming Zhong, Jiquan Zhao, Shijie Wu, Wenhua Liu, Zhe Wang, Hesheng Department of Automation Institute of Medical Robotics Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Engineering Mechanics Shanghai Jiao Tong University Shanghai200240 China Department of Computer Science and Technology University of Cambridge CambridgeCB2 1TN United Kingdom

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video. A novel unsupervised training framework is proposed with 3D hierarchical refinement and augmentation using explicit 3D geometry. In this framework, the depth and pose estimations are hierarchically and mutually coupled to refine the estimated pose layer by layer. The intermediate view image is proposed and synthesized by warping the pixels in an image with the estimated depth and coarse pose. Then, the residual pose transformation can be estimated from the new view image and the image of the adjacent frame to refine the coarse pose. The iterative refinement is implemented in a differentiable manner in this paper, making the whole framework optimized uniformly. Meanwhile, a new image augmentation method is proposed for the pose estimation by synthesizing a new view image, which creatively augments the pose in 3D space but gets a new augmented 2D image. The experiments on KITTI demonstrate that our depth estimation achieves state-of-the-art performance and even surpasses recent approaches that utilize other auxiliary tasks. Our visual odometry outperforms all recent unsupervised monocular learning-based methods and achieves competitive performance to the geometry-based method, ORB-SLAM2 with back-end optimization. Copyright © 2021, The Authors. All rights reserved.

关键词： Robots

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Simulation of Wind Turbine Vibrations

Simulation of Wind Turbine Vibrations

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Ekaterina Andriushchenko Ants Kallaste Toomas Vaimann Anton Rassõlkin Hamidreza Heidari Galina L. Demidova Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

In recent years, there has been an increasing interest in renewable energy. Particularly, wind energy is gaining more and more popularity in many countries. However, the main obstacles to wind turbines usage are the vibration and noise close to wind farms. Therefore, this paper is focused on developing a new method for mathematical simulation of vibrations of a wind turbine in order to find out and reduce the vibration level. Particularly, low-frequency vibration of a wind turbine, composed of a tower and rotor in the out-of-balance condition is considered. The proposed method of vibration simulation is based on the theory of elastic beams and the general vibration theory. The calculations are made for a wind turbine VTR 50 Arctic. The results of the calculations are the displacement of the tower top and the stress at the tower foundation. Furthermore, it is worth emphasizing that the method is quite flexible. It allows adding complexity into the system, for instance, external loads such as wind pressure, aerodynamic loads, seismic loads or operational loads.

关键词： Wind turbines Poles and towers Vibrations Rotors Mathematical model Stress Blades

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Possibilities of Changing the Transport Characteristics of the TEP70 Locomotive

Possibilities of Changing the Transport Characteristics of t...

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Viktor Rjabtšikov Anton Rassõlkin Toomas Vaimann Ants Kallaste Dmitry V. Lukichev Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

The research concentrates on the modernization issues of diesel-electric passenger locomotives TEP70. There is number of TEP70 locomotives in Baltic region that are used very rarely by their direct application but may as well be usable as freight locomotives. The main goal of the study is to change the tractive force of a TEP70 locomotive to be able to transport cargo in the Baltic region. Analysis of TEP70 working principles and load characteristics are presented. Based on the analytical model of locomotive, suggestion to replace the gearbox to increase locomotive pulling capability is proposed. Moreover, the paper presents calculation of the traction effort of TEP70. That kind of calculations are very important for motion planning and it should be done in order to avoid overloading during the working mode of the locomotive.

关键词： Force Traction motors Generators Gears Roads Windings Resistance

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Comparison of Synchronous Reluctance Machine and Permanent Magnet-Assisted Synchronous Reluctance Machine Performance Characteristics

Comparison of Synchronous Reluctance Machine and Permanent M...

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Hamidreza Heidari Ekaterina Andriushchenko Anton Rassõlkin Ants Kallaste Toomas Vaimann Galina L. Demidova Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

Since the dominant induction machines and permanent magnet synchronous machines are well-established in the industry, the reluctance machines require more research work and investigation to substitute the conventional technologies. This paper analyzes the synchronous reluctance machines and permanent magnet-assisted synchronous reluctance machines in terms of the effect of permanent magnets in the model and the performance characteristic of the machines. The machines are designed and the parameters are measured. The vector diagrams of the machines and the equivalent circuits of the machines are analyzed. A comparison of the machines in terms of power factor, efficiency, and torque of the machines is provided based on the measurements. The study presents a notable improvement in power factor and efficiency in the case of inserting permanent magnets in the synchronous reluctance machine's rotor.

关键词： Rotors Torque Reactive power Electrical resistance measurement Magnetic flux Reluctance machines Stators

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Symbolic Regression Driven by Training Data and Prior Knowledge

arXiv

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arXiv 2020年

作者： Kubalík, Jiří Derner, Erik Babuška, Robert Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague16000 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Prague16000 Czech Republic Cognitive Robotics Delft University of Technology Delft2628 CD Netherlands

In symbolic regression, the search for analytic models is typically driven purely by the prediction error observed on the training data samples. However, when the data samples do not sufficiently cover the input space, the prediction error does not provide sufficient guidance toward desired models. Standard symbolic regression techniques then yield models that are partially incorrect, for instance, in terms of their steady-state characteristics or local behavior. If these properties were considered already during the search process, more accurate and relevant models could be produced. We propose a multi-objective symbolic regression approach that is driven by both the training data and the prior knowledge of the properties the desired model should manifest. The properties given in the form of formal constraints are internally represented by a set of discrete data samples on which candidate models are exactly checked. The proposed approach was experimentally evaluated on three test problems with results clearly demonstrating its capability to evolve realistic models that fit the training data well while complying with the prior knowledge of the desired model characteristics at the same time. It outperforms standard symbolic regression by several orders of magnitude in terms of the mean squared deviation from a reference model. Copyright © 2020, The Authors. All rights reserved.

关键词： Genetic programming

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State Observation of Affine-in-the-States Time-Varying Systems with Unknown Parameters and Delayed Measurements

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IFAC-PapersOnLine 2021年第14期54卷 108-113页

作者： Alexey Bobtsov Nikolay Nikolaev Romeo Ortega Denis Efimov Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg 197101 Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México México INRIA Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia

In this paper we address the problem of adaptive state observation of affine-in-the-states time-varying systems with delayed measurements and unknown parameters. The case with known parameters has been studied by many researchers—see [Sanz et al. 2019, Bobtsov et al. 2021] and references therein—where, similarly to the approach adopted here, the system is treated as a linear time-varying system. We show that the parameter estimation-based observer (PEBO) design proposed in [Ortega et al. 2015, 2020] provides a very simple solution for the unknown parameter case. Moreover, when PEBO is combined with the dynamic regressor extension and mixing (DREM) estimation technique [Aranovskiy et al. 2016, Ortega et al. 2019], the estimated state converges in fixed-time with extremely weak excitation assumptions.

关键词： Nonlinear time-varying systems state observer delay systems parameter estimation

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Main Faults and Diagnostic Possibilities of BLDC Motors

Main Faults and Diagnostic Possibilities of BLDC Motors

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Karolina Kudelina Bilal Asad Toomas Vaimann Anton Rassõlkin Ants Kallaste Dmitri V. Lukichev Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

This paper presents the main faults of brushless DC motors and their diagnostic possibilities. Due to the popularity gain of such devices in the past decade, the maintenance and diagnostic of such machines is getting more important. As the machines are used in various applications, they are often critical parts of devices. Due to this, the unexpected failures of such machines are undesired and are to be avoided. The main faults of the machines are listed, some possibilities of their monitoring and diagnostics have been addressed. The necessity of further study has been pointed out.

关键词： Permanent magnet motors Induction motors Reluctance motors Brushless DC motors

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