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Fast Method for Triangulation of Point Clouds Obtained from Computer Vision Systems of Industrial Robotic Complexes

Fast Method for Triangulation of Point Clouds Obtained from ...

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2019 International Russian automation Conference, RusAutoCon 2019

作者： Anisimov, Sergey Gubankov, Anton Yukhimets, Dmitry Mursalimov, Eduard Dept. of Automation and Control Far Eastern Federal University Vladivostok Russia Innopolis University Innopolis Russia Institute of Automation and Control Processes Vladivostok Russia Institute of Marine Technology Problem Vladivostok Russia

ISBN: (纸本)9781728102658

In summary, the paper proposed an algorithm for the fast triangulation of point clouds obtained using computer vision systems based on profile-type laser scanner. The proposed method uses the features of the formed point clouds. The incoming at each scanning step data from laser scanners is formed as a point cloud representing the profile of the surface falling into the scanning plane. These profiles are located one behind the other with a given step and allow to easily detect points for constructing triangles that form a polygonal model. This fact makes it possible to reduce the computational complexity of converting these points to polygonal models tenfold compared with traditional triangulation algorithms. Because of polygonal model usage, it is possible to correctly set the working tools movement trajectory and their desired orientation in the process of movement. © 2019 IEEE.

关键词： Computer vision

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Self-diffraction of recording beams in a 90° photorefractive crystal geometry

Self-diffraction of recording beams in a 90° photorefractiv...

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Conference on Lasers and Electro-Optics Europe (CLEO EUROPE)

作者： Salvatore Di Girolamo Roman V. Romashko Yuri N. Kulchin Alexei A. Kamshilin University of Kuopio Dept. of Physics Kuopio Finland Institute of Automation & Control Processes Russia Institute of Automation & Control Processes Vladivostok Russia

ISBN: (纸本)9781424440801

In this paper, we study self-diffraction of differently polarized waves in the geometry when the reference and object beams propagate the orthogonal directions. It was found that this configuration of photorefractive wave mixing supports the linear phase-to-intensity transformation when the object beam is unpolarized. It occurs because the horizontally polarized component does not interfere with the reference beam in the 90deg-geometry but the diffraction of this component from the hologram recorded by the vertically polarized component does not satisfy the quadrature condition.

关键词： Photorefractive materials Geometry Optical fiber polarization Partial response channels Demodulation Diffraction Optical surface waves Optical fibers Photorefractive effect Optical coupling

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Development of Method for Generating Trajectories of Movement of End Effectors and control Programs for Industrial Robots in an Uncertain Working Environment

Development of Method for Generating Trajectories of Movemen...

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2021 International Russian automation Conference, RusAutoCon 2021

作者： Yukhimets, Dmitry Gubankov, Anton Mursalimov, Eduard Institute of Automation and Control Processes Robotic Laboratory Vladivostok Russia Far Eastern Federal University Dept. of Automation and Robotics Vladivostok Russia Institute of Marine Technology Problems Laboratory of Intelligent Information Systems for Marine Robots Vladivostok Russia

ISBN: (纸本)9780738131566

the deals with the implementation of the method of the trajectories generating for end effectors and control programs for industrial robots in an uncertain working environment. To generate correct trajectories, it is proposed to sequentially process data from vision systems, correct them in the human-machine interface, generate a control program in a generalized form using universal commands and then translate it into the form that a specific industrial robot requires. Experimental studies of the proposed method were carried out, which confirmed the operability and effectiveness of the proposed method. © 2021 IEEE.

关键词： Trajectories

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Design of a consensus based flocking control of multiple autonomous underwater vehicles using sliding mode approach 28

Design of a consensus based flocking control of multiple aut...

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28th DAAAM International Symposium on Intelligent Manufacturing and automation, DAAAM 2017

作者： Subudhi, Bidyadhar Rayguru, Madan Mohan Filaretov, Vladimir Zuev, Aleksandr Dept. of Electrical Engineering National Institute of Technology Rourkela769008 India Far Esatern Federal University Vladivostok Russia Institute of Automation and Control Processes FEB RAS Vladivostok Russia

ISBN: (纸本)9783902734112

This paper proposes a flocking control algorithm for a team of autonomous underwater vehicles (AUVs) deployed for group motion in a network where only local communication exists among the participating AUVs. The control scheme is proposed with two levels where the inner level utilizes agreement or consensus protocol to derive reference positions for the follower AUVs whereas the outer loop employs a sliding mode controller (SMC) to reduce the tracking error to zero. SMC being a suitable candidate for handling is chosen because of its inherent robustness to any uncertainties and disturbances, it is intended to design a SMC to address the problem of handling uncertainties in the hydrodynamic parameters of the AUV dynamics and has been used to steer each AUV in the flock to their desired states. By exploiting the consensus protocol and SMC, it can be ensured that once an AUV comes into the neighbour zone (maximum range for information exchange for a member AUV outside which no communication is possible) cannot be separated from the group. Therefore, this controller structure is suitable for flocking of multiple AUVs where communication constraints play a vital role in efficient performance of control algorithms. The effectiveness of the proposed controller scheme is demonstrated through MATLAB simulation.

关键词： Autonomous underwater vehicles

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Self-diffraction of recording beams in a 90° photorefractive crystal geometry

Self-diffraction of recording beams in a 90° photorefractiv...

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The European Conference on Lasers and Electro-Optics, CLEO_Europe 2009

作者： Girolamo, Salvatore Di Romashko, Roman V. Kulchin, Yuri N. Kamshilin, Alexei A. University of Kuopio Dept. of Physics P.O. Box 1627 FIN-70211 Kuopio Finland Institute of Automation and Control Processes FEB RAS 5 Radio str Vladivostok 690041 Russia

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Modeling of the control System of the Temperature Field in the Carbon-Graphite Thermal Node During the Growth of Leucosapphires

Modeling of the Control System of the Temperature Field in t...

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2024 Conference of Young Researchers in Electrical and Electronic Engineering, ElCon 2024

作者： Yaromich, Elizaveta A. Fedorov, Mikhail S. St. Petersburg Mining University Dept. of Management and Systems Analysis St. Petersburg Russia St. Petersburg Electrotechnical University 'LETI'. Dept. of Automation and Control Processes St. Petersburg Russia

ISBN: (纸本)9798350360646

The paper is devoted to exploration of thermal processes during the growth of leucosapphire by the horizontal directional crystallization method. A mathematical and computer model of the technological process has been developed to predict the dynamics of temperature field in the carbon-graphite thermal node. To solve the problem of providing the required temperature field, the synthesis of a distributed high-precision regulator has been performed, the settings of which allow to provide a given temperature distribution at the crystallization front by controlling the heat flow at the sections of the lower heater. The analysis of transient graphs obtained by modeling of the closed-loop automatic control system confirmed the compliance of the developed system with the requirements of the technological process in terms of temperature field distribution in the leucosapphire. © 2024 IEEE.

关键词： computer modeling distributed high-precision controller mathematical modeling temperature field

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Self-diffraction of recording beams in a 90° photorefractive crystal geometry

Self-diffraction of recording beams in a 90° photorefractiv...

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CLEO/Europe - EQEC 2009 - European Conference on Lasers and Electro-Optics and the European Quantum Electronics Conference

作者： Di Girolamo, Salvatore Romashko, V. Roman Kulchin, N. Yuri Kamshilin, A. Alexei University of Kuopio Dept. of Physics P.O. Box 1627 FIN-70211 Kuopio Finland Institute of Automation and Control Processes FEB RAS 5 Radio str. Vladivostok 690041 Russia

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Design and Development of Cascade Heating control for a «smart» Residential Housing

Design and Development of Cascade Heating Control for a «sm...

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2020 International Russian automation Conference, RusAutoCon 2020

作者： Akimov, Valeriy I. Polyakov, Sergey I. Polukazakov, Aleksey V. Voronezh State Technical University Dept. of Control Systems and Information Technologies in Construction Voronezh Russia Dept. of Automation Production Processes Voronezh State Forestry University Named after G.F. Morozov Voronezh Russia

ISBN: (纸本)9781728161303

The article discusses the issues of modeling and control of heating systems in a residential building. The results of the analysis, selection of parameters of the cascade control system are presented. An algorithm is presented that implements the operation of a virtual object. The modeling of typical life support structures in the CX-Programmer environment is carried out. A virtual object control program has been developed in the language of ladder diagrams (relay-contact circuits). The multi-circuit management of residential building infrastructure facilities in the light of the requirements of Smart City has been proposed. The selection and justification of the method of controlling the heating system with cascade temperature control is considered. A heating system stand has been created to test the proposed automation systems. The description of the hydraulic, electrical and software parts of the stand. To control the operation of the stand, a controller is proposed, implemented on the Arduino platform. The results confirming the attainability of the proposed structural changes. The results of experimental studies are presented. © 2020 IEEE.

关键词： Ladders

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Design and Development of Cascade Heating control for a «Smart» Residential Housing

Design and Development of Cascade Heating Control for a «Sm...

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International Russian automation Conference (RusAutoCon)

作者： Valeriy I. Akimov Sergey I. Polyakov Aleksey V. Polukazakov Dept. of Control systems and Information technologies in Construction Voronezh State Technical University Voronezh Russia Dept. of Automation Production Processes Dept. of Automation Production Processes Voronezh Russia

ISBN: (数字)9781728161303

ISBN: (纸本)9781728161310

关键词： Temperature measurement automation Buildings Water heating

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Software Life Management Systems for «smart» Residential Houses

Software Life Management Systems for «smart» Residential H...

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2020 International Russian automation Conference, RusAutoCon 2020

作者： Akimov, Valery I. Polyakov, Sergey I. Polukazakov, Aleksey V. Voronezh State Technical University Dept. of Control Systems and Information Technologies in Construction Voronezh Russia Voronezh State Forestry University Named after G.F. Morozov Dept. of Automation Production Processes Voronezh Russia

ISBN: (纸本)9781728161303

The article discusses the issues of modeling and managing the housing life support systems. The liquid level model in the tank has been developed, which makes it possible to establish the relationship between the level and the liquid flow rate. The selection and justification results of liquid level control structure are presented. An algorithm is presented that implements a virtual object's operation. The technical structure of the automatic control liquid level system is implemented in an open type. The results confirming the attainability of the proposed structural changes. The experimental studies results are presented. The method of controlling the heating system and the liquid level in the tank. Its choice and justification are considered. The programs for managing subsystems of a residential building in Assembler and staircase diagrams are given. The mathematical model of liquid level control is implemented in the Multisim environment. The simulation results obtained. Smart home subsystem management programs actualized. This allows realizing adaptive control for implementation at a real facility. © 2020 IEEE.

关键词： automation

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