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5th International Youth Conference on Radio Electronics, Electrical and Power Engineering, REEPE 2023

作者： Ivan, Shubin Shilin, Denis National Research University MPEI Department of Control Systems and Intelligent Technologies Moscow Russia

ISBN: (纸本)9798350399523

To the actual date, computer vision and neural network data analysis are actively developing and finding more and more applications in the industrial control engineering. These technologies are now used to deal with important problems that previously could not be solved without the help of a human as an operator. This study is devoted to the selection and configuration of a convolutional neural network for recognizing unsuitable marble samples on a conveyor belt, as well as creating an application for defining the position of these objects. Software for the classification of marble stones based on the YOLOv5 neural network model has been developed. The value of the precision and recall metric in the final experiment reached 0.957 and 0.947, respectively. © 2023 IEEE.

关键词： Object detection

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Development of the digital twin for a multi-purpose processing plant training simulator 5

Development of the digital twin for a multi-purpose processi...

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5th International Youth Conference on Radio Electronics, Electrical and Power Engineering, REEPE 2023

作者： Zabarin, Ilya Shilin, Denis National Research University MPEI Department of Control Systems and Intelligent Technologies Moscow Russia

ISBN: (纸本)9798350399523

Integration of digital twin in the form of a virtual copy of a physical object or process that helps to simulate various processes, emergency situations, receive certain statistics on the operation of devices and manage the control plant in real time can be considered as excellent and efficient solution for modern industrial manufacturing enterprises. Digital twins greatly expand the possibilities in the training of automated control system engineers, allowing them to interact with virtual simulators of any scale without risk to real equipment. This paper introduces the possibility of using such systems as a simulator for training control engineers is considered. A modern game engine and simulation platform were used to develop a similar training complex, which is a virtual control object for training engineers in the field of process control systems. An application with a virtual control plant has been developed, which allows debugging the project under development. The process of developing an object control program is significantly simplified, as it helps to visually control and test the program being developed. © 2023 IEEE.

关键词： Personnel training

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Data-driven consensus control of fully distributed event-triggered multi-agent systems

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Science China(Information Sciences) 2023年第5期66卷 147-161页

作者： Yifei LI Xin WANG Jian SUN Gang WANG Jie CHEN School of Automation Beijing Institute of Technology The State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adaptive event-triggered control strategy involving only local information is proposed and a model-based stability condition is derived that guarantees the asymptotic consensus of MASs. Furthermore,a data-based consensus condition for unknown MASs is established by combining a data-based system representation with the model-based stability condition, using only pre-collected noisy input-state data instead of the accurate system information a priori. Specifically, both model-based and data-driven event-triggered controllers can be utilized without requiring any global information. The validity and correctness of the controllers and associated theoretical results are demonstrated via numerical simulations.

关键词： distributed control event-triggered control data-driven control discrete-time MASs

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A new adaptive Kalman filter for navigation systems of carrier-based aircraft

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Chinese Journal of Aeronautics 2022年第1期35卷 416-425页

作者： Lifei ZHANG Shaoping WANG Maria Sergeevna SELEZNEVA Konstantin Avenirovich NEUSYPIN Department of Informatics and Control Systems Bauman Moscow State Technical University Moscow 101000Russia School of Automation Science and Electrical Eingineering Beihamng University Beijing 100083China

The features of carrier-based aircraft’s navigation systems during the approach and landing phases are investigated.A new adaptive Kalman filter with unknown state noise statistics is proposed to improve the accuracy of the INS/GNSS integrated navigation *** adaptive filtering algorithm aims to estimate and adapt the unknown state noise covariance Q in high dynamic conditions,when the measurement noise covariance R is assumed to be known empirically in *** new adaptive Kalman filter based on the innovation sequence and pseudo-measurement vector approach makes it more effective to estimate and adapt *** simulation results and semi-physical experiments show that the application of the proposed adaptive Kalman filter can guarantee a higher estimation accuracy of the state variables.

关键词： Adaptive filters Apriori statistics Deck landing aircraft Innovation sequence State noise covariance

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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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Data-Driven control of Distributed Event-Triggered Network systems

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 351-364页

作者： Xin Wang Jian Sun Gang Wang Frank Allgower Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China IEEE the Institute for Systems Theory and Automatic Control University of StuttgartStuttgart 70550Germany the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(*** systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional *** the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is ***,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input ***,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure.

关键词： Data-driven control distributed event-triggered network system(ETS) linear matrix inequalitie(LMI) looped-functional stability

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A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

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control of 2-D Semi-Markov Jump systems:A View from Mode Generation Mechanism

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 258-260页

作者： Yunzhe Men Jian Sun Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different *** criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method.

关键词： Markov mode system

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