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2024 International Conference on Industrial engineering, Applications and Manufacturing, ICIEAM 2024

作者： Kolosova, Zoya A. Abdullin, Vildan V. Shnayder, Dmitry A. South Ural State University Dept. Of Autimatics And Control Chelyabinsk Russia South Ural State University The Industrial Automation Systems And IoT Laboratory Chelyabinsk Russia

ISBN: (纸本)9798350395013

In the rapidly evolving realm of technology, the Industrial Internet of Things (IIoT) has gained prominence, including vibrodiagnostics and industrial equipment health monitoring. Integrating wireless networks within IIoT introduces challenges, notably in a balance between the desired amount of data transmitted and the technical limitations dictated by the issue of autonomy of IIoT devices. When implementing vibration signal-based equipment monitoring, a critical decision arises: transmitting the entire signal for cloud computation or conducting local computations on the sensor for selective data transmission. This paper explores three frequency estimation methods - parabolic interpolation, demodulation, and the harmonic series - in the context of IIoT technologies. Demonstrating their efficacy on synthetic signals, we highlight their suitability for vibrodiagnostics, considering the computational constraints of decentralized IIoT systems. Parabolic interpolation offers efficiency, demodulation excels in real-time processing, and the harmonic series method proves robust in scenarios with limited resolution. The comparative analysis showcases their strengths and limitations, emphasizing the importance of informed decision-making in choosing a frequency estimation method tailored to the specific constraints of the evolving IIoT environment. This study empowers practitioners to enhance the reliability and performance of IIoT-enabled devices and systems through efficient frequency estimation methods. © 2024 IEEE.

关键词： Frequency estimation

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Design of Output and Impacts control systems

Design of Output and Impacts Control Systems

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2023 International Russian automation Conference, RusAutoCon 2023

作者： Gaiduk, Anatoly Prokopenko, Nikolay Chumakov, Vladislav Southern Federal University Scientific Design Office Robotics and Control Systems Taganrog Dept. of Automatic Control Systems Rostov-on-Don Russia Don State Technical University Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Rostov-on-Don Russia

ISBN: (纸本)9798350345551

To design linear control systems a new method is suggested on the basis of the principle of output and impacts control. The main difference of this principle consists in the use of only measurable variables and separate operators for each input signal of the control device. The design problem has a solution if the plant is completely controllable, and at least the controllable variable is measured. The suggested approach makes it possible to eliminate the well-known contradiction between the accuracy and stability of systems with control on deviation, and to provide the required astatism orders or selective invariance to the external actions. At the same time, the conditions of ensuring the direct indicators of the transient quality and the physical implementation of the control device are taken into account. The coefficients of the equation of the output and impacts control device are determined by solving a system of linear algebraic equations. The control device can be implemented on the basis of either operational amplifiers or sufficiently high-speed digital automation tools. The suggested method can be applied for designing high-quality linear control systems for various purposes. © 2023 IEEE.

关键词： Operational amplifiers

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Towards the Development of Telepresence Applications with TIAGo and TIAGo++ Using a Virtual Reality Headset 25

Towards the Development of Telepresence Applications with TI...

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25th IEEE International Conference on Autonomous Robot systems and Competitions, ICARSC 2025

作者： Lukawski, Bartek Montesino, Ignacio Oña, Edwin Daniel Victores, Juan G. Balaguer, Carlos Jardon, Alberto Universidad Carlos III de Madrid RoboticsLab Dept. of Systems Engineering and Automation Leganés Spain

ISBN: (纸本)9798331538606

TIAGo and TIAGo++ have proved to be valuable robotic platforms for human-robot interaction and assistance-oriented scenarios, among others. Their single and dual manipulation capabilities combined with a careful choice of peripherals and the open-source Robot Operating System (ROS) middleware framework make them well suited for teleoperation tasks. By fully leveraging TIAGo's integrated sensors and through the programming of a virtual reality application for the Meta Quest 2 headset through the Unity3D engine, this work aims to pave the way for telepresence tasks. A software architecture is presented and implemented using tools developed by the open source community. A kinematic study is conducted to determine the Denavit-Hartenberg parameters of TIAGo's arm, and it is translated to the product of exponentials formalism used in the field of screw theory. Inverse kinematics is solved using the latter, accounting for the challenges a redundant chain poses. Trajectory smoothing using B-splines is explored. The application was tested in the Gazebo simulator and on the real robots. © 2025 IEEE.

关键词： Inverse kinematics

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Nonlinear optimal control for the 4-DOF underactuated robotic tower crane

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Autonomous Intelligent systems 2022年第1期2卷 1-30页

作者： Rigatos, G. Abbaszadeh, M. Pomares, J. Unit Industrial Automation Industrial Systems Institute Patras26504 Greece Dept. ECS Engineering Rensselaer Polytechnic Inst. NY12065 United States Dept. of Systems Engineering University of Alicante Alicante03690 Spain

Tower cranes find wide use in construction works, in ports and in several loading and unloading procedures met in industry. A nonlinear optimal control approach is proposed for the dynamic model of the 4-DOF underactuated tower crane. The dynamic model of the robotic crane undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the system a stabilizing optimal (H-infinity) feedback controller is designed. To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis. The proposed control approach is advantageous because: (i) unlike the popular computed torque method for robotic manipulators, the new control approach is characterized by optimality and is also applicable when the number of control inputs is not equal to the robot’s number of DOFs, (ii) it achieves fast and accurate tracking of reference setpoints under minimal energy consumption by the robot’s actuators, (iii) unlike the popular Nonlinear Model Predictive control method, the article’s nonlinear optimal control scheme is of proven global stability and convergence to the optimum. © 2022, The Author(s).

关键词： Jacobian matrices

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Analysis of the PV Energy Potential in the Bulgarian Danube River Region between Ruse and Silistra 5

Analysis of the PV Energy Potential in the Bulgarian Danube ...

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5th IEEE International Conference on Communications, Information, Electronic and Energy systems, CIEES 2024

作者： Gabrovska-Evstatieva, Katerina Stoyanov, Ivaylo Kaneva, Tsvetelina Valov, Nikolay Tsankov, Vladimir Evstatiev, Boris Mihailov, Nicolay University of Ruse Dept. of Computer Science Ruse Bulgaria University of Ruse Dept. of Electric Power Engineering Ruse Bulgaria University of Ruse Dept. of Computer Systems and Technologies Ruse Bulgaria University of Ruse Dept. of Automation and Electronics Ruse Bulgaria

ISBN: (纸本)9798350352863

The goal of the study is to assess and compare the photovoltaic energy potential in the central-eastern part of the Bulgarian Danube region between the cities of Ruse and Silistra. To achieve this the solar radiation and the temperature of the environment should be obtained and analyzed. The goal of the study is to assess and compare the photovoltaic energy potential in the central-eastern part of the Bulgarian Danube region between the cities of Ruse and Silistra. To achieve this the solar radiation and the temperature of the environment should be obtained and analyzed. The goal of the study is to assess and compare the photovoltaic energy potential in the central-eastern part of the Bulgarian Danube region between the cities of Ruse and Silistra. To achieve this the solar radiation and the temperature of the environment should be obtained and analyzed. © 2024 IEEE.

关键词： Solar irradiance

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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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Intelligent System For Adapting Typical Laws Of Automatic control Based On Neural Networks

Intelligent System For Adapting Typical Laws Of Automatic Co...

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2022 International Conference on Industrial engineering, Applications and Manufacturing, ICIEAM 2022

作者： Lusenko, Dmitry Samara State Technical University Dept. Automation and Control at Technical Systems Samara Russia

ISBN: (纸本)9781665483698

The structure of an intelligent system for adapting typical automatic control laws with the function of identifying parameters and the structure of an object has been developed and described. The developed system solves a complex of interrelated tasks: identification of the structure and parameters of the object, setting and selection of the controller type, identification of parametric disturbances. The intelligent system consists of three levels: the identification level, the control system design level, and the executive level. The tasks of the identification level include: identification of the parameters and structure of the object by observing the transient response of the object with a step action at the input, identification of a parametric disturbance by the method of comparative assessment of the transient processes of the reference model and the real control object. As a result of identifying the parameters and the structure of the object, the controller is designed - setting the parameters and choosing the type of controller. The executive circuit is rearranged by a closed control system. Neural networks were chosen as a tool for implementing the system for identifying parameters and the structure of an object, for designing a control system. As a prototype of the control object, typical dynamic links and their connections were chosen. The article provides a general description of the structure of an intelligent system for adapting standard control laws, a description of individual functions, structural and graphical diagrams, and simulation results. © 2022 IEEE.

关键词： controllers

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Waste Heat Boiler control System Based on Neural network Technology and Fuzzy Logic

Waste Heat Boiler Control System Based on Neural network Tec...

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2022 International Russian automation Conference, RusAutoCon 2022

作者： Lusenko, Dmitry Samara State Technical University Dept. Automation and Control at Technical Systems Samara Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

The experience of developing an intelligent system for controlling the temperature of network water at the outlet of a waste heat boiler is considered. When developing an intelligent control system, a number of sequential control tasks were solved: creating a model of a waste heat boiler based on neural network technologies, studying the frequency characteristics of a neural network model, identification of the structure and parameters of a control object, synthesizing a typical controller, creating an algorithm for adapting parameters of a typical controller based on a fuzzy logic apparatus. The waste heat boiler was chosen as the control object. The control object is represented by a multidimensional thermodynamic system with non-linear parameters. Training and verification of the neural network model took place on the data of the technological process of gas energy utilization. Frequency identification methods were used to identify the structure and parameters of the control object. The algorithm for adapting the parameters of a typical controller contains sets of parameters of a typical controller for different system states with different bandwidths. The article presents a description of the stages of synthesis of an intelligent control system, the results of studying a neural network model in the frequency domain, the result of identifying the structure and parameters of a control object, calculating the parameters of a typical controller for different system states, description a fuzzy adaptation algorithm, and modeling results. © 2022 IEEE.

关键词： Intelligent control

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NIS Test for Selecting the Order of Local Polynomial Model 3

NIS Test for Selecting the Order of Local Polynomial Model

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3rd International Conference on Communications, Information, Electronic and Energy systems, CIEES 2022

作者： Nikovski, Plamen Titova, Tanya Mihov, Vasil University of Food Technologies Dept. of Electronics And Electrical Engineering Plovdiv Bulgaria University of Food Technologies Dept. of Automation Information And Control Systems Plovdiv Bulgaria

ISBN: (数字)9781665491495

ISBN: (纸本)9781665491495

This work presents an approach that uses normalized innovations squared (NIS) test to determine the order of a local polynomial trend model of a humidity sensor signal. Compared to the classical Akaike information criterion which balances model fit and model complexity NIS test allows to determine the lowest order of the model at which a consistent Bayesian estimation is possible. This approach is useful when signal processing algorithms, such as those for data fusion in multi-sensor systems, contain a Kalman filter, because a successful NIS test is a prerequisite for normal filter operation. The results of the study show that the response of the SHT31-DIS sensor under a step change in humidity is adequately described by a second-order local polynomial model, and this implies a consistent estimation for other input variations. © 2022 IEEE.

关键词： Polynomials

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Local Polynomial Models for Real-Time Tracking of Humidity Sensor Signals 3

Local Polynomial Models for Real-Time Tracking of Humidity S...

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3rd International Conference on Communications, Information, Electronic and Energy systems, CIEES 2022

ISBN: (数字)9781665491495

ISBN: (纸本)9781665491495

Sensor signal tracking has great practical importance for solving a number of problems such as data fusion and sensor integration in multi-sensor systems (MSS), robotics, fault detection (FD), and diagnosis, etc. The Kalman filter is a widely used algorithm that can be applied in these cases if an appropriate model of the signal is available. The present study shows that under a step change in humidity, the filter can estimate the signal from a humidity sensor by means of a second-order local polynomial model. This gives a reason to expect similar behavior not only for sudden but also for all other changes. The proposed online signal tracking solution is simple to implement and can be used not only for humidity sensors, but also for sensors that measure quantities such as temperature, pressure, level, etc. © 2022 IEEE.

关键词： Polynomials

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