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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Oleg Evstafev Sergei Shavetov Anton Pyrkin Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

The paper focuses on using Deep Learning (DL) and Computer Vision (CV) techniques to detect surface defects in rolled metal products. By utilizing a Convolutional Neural Network (CNN), various surface defects can be detected and recognized, ultimately improving production standards and certification of the metal products. Two types of lighting, diffuse and side, are used to improve defect detection, and image preprocessing methods are employed to enhance the quality of the input data. The purpose of this work is to develop a method for recognizing and classifying defects in metal surfaces from their images in real time.

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Descriptive Analysis and Acoustic Emission Signals Parameters Assessments: Signal Processing Data

Descriptive Analysis and Acoustic Emission Signals Parameter...

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Seminar on Signal Processing

作者： Yedos A. Altay Dmitry O. Kuzivanov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

This article presents the results of processing full-scale acoustic emission signals obtained at selective laser melting (SLM) process. During the recording of acoustic emission signals during the SLM process, electrical noise and continuous noise arise. For filtering these noises, their frequencies are identified. Noise suppression was carried out on the basis of the previously developed and proposed method for filtering the acoustic emission signal. The scheme of bi-directional filtering and their convolution in the frequency domain is presented. An increase in the efficiency of acoustic emission signal processing has been established. Descriptive analysis of the results before and after filtering the signal parameter shows a statistically significant difference. This difference characterizes the increase in the information content of the measurement results.

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Input-to-State Stability Analysis for Descriptor Homogeneous systems

Input-to-State Stability Analysis for Descriptor Homogeneous...

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International Russian Automation Conference (RusAutoCon)

作者： Dmitry Konovalov Konstantin Zimenko Artem Kremlev Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

The paper is devoted to the problem of Input-to-State Stability (ISS) analysis for descriptor (singular) homogeneous systems. In particular, sufficient conditions for descriptor homogeneous systems to be ISS are proposed. It is shown that to verify the ISS property it is enough to establish asymptotic stability of a homogeneous descriptor system in disturbance-free case and check provided algebraic conditions. Based on this result it was shown that existing homogeneity-based finite-time controls and observers for linear descriptor systems provide the ISS property with respect to additive disturbances and measurement noise. The results are supported with numerical simulations of the generator system.

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Computer Simulation of Registration of Indenter Motion in the Process of Contact-Impact Interaction

Computer Simulation of Registration of Indenter Motion in th...

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Information, control, and Communication Technologies (ICCT), International Conference on

作者： Alexander Khoshev Oleg Kolganov Roman Egorov Alexey Fedorov Igor Kinzhagulov Faculty of Control Systems and Robotics ITMO University ST Petersburg Russia

The theoretical foundations of the dynamic indentation method for assessing the mechanical characteristics of a material are presented. Computer simulations were performed using the Solid Mechanics, AC/DC, and Moving Mesh interfaces in the Comsol Multiphysics software. When modeling the process of registering the motion of an indenter in the course of contact-impact interaction, a primary transducer with a differential circuit for switching on inductors was taken as the basis, which implements the magnetic induction method and the elastic-plastic model of the deformation of the test object. The obtained results were processed, conclusions were drawn about the efficiency of the model, ways of further optimization of the model were proposed, and goals for future research were formulated.

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DEGAS - Deformation Estimation based on Magnetic Gradient Tensor Contraction for Soft Robot Shape Servoing

DEGAS - Deformation Estimation based on Magnetic Gradient Te...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Jelena Vuletić Bruno Marić Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

This work proposes the first derivation, implementation, and experimental validation of magnetic-based proprioceptive sensing method for soft robotic applications. In our proposed approach, the magnetic sensing system measures gradient tensor contractions that can be directly related to the shape of a deformable plastering tool. Custom-designed and 3D-printed plastering tool embeds two identical permanent magnets that generate a non-symmetric magnetic field tracked by the proposed sensor. Seamless real-time control is enabled with the sensor sampling rate of 1 kHz. Classical linear control is synthesized for the scraper bending angle and orientation control. The tool, sensor, and the proposed control system are validated on robotic plastering and painting tasks.

关键词： Magnetic field measurement Tensors Deformation Shape Propioception Estimation Bending Soft robotics Sensors Painting

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Graph-Based Decentralized Exploration and Semantic Inspection for Multi-Robot systems

Graph-Based Decentralized Exploration and Semantic Inspectio...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Nada E. Abbas Tamara Petrovic Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This paper presents a decentralized graph-based exploration and inspection framework for Multi-Robot systems, designed to address challenges in subterranean and largescale environments. Unlike prior works that focus solely on exploration or inspection, this framework integrates volumetric exploration, semantic inspection, and dynamic task allocation into a unified decentralized system. A key novelty of this work is the seamless integration of these modules in a multi-robot setting, allowing UAVs to autonomously coordinate their tasks without relying on centralized control. The framework employs a hierarchical graph structure, utilizing a dense local graph for immediate navigation and a sparse global graph for long-term planning and repositioning. Extensive simulations in large-scale complex-shaped environments demonstrate that the proposed approach improves the completeness of the generated maps, reduces inconsistencies in the constructed mesh, and accelerates the overall exploration-inspection process compared to existing decentralized strategies.

关键词： Semantics Inspection Prediction algorithms Dynamic scheduling Aircraft navigation Robustness Planning Multi-robot systems Resource management Centralized control

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Two approaches (GC-ECD and electrochemical sensors signals processing) to the determination of carbonyl compounds as markers of air pollution 26

Two approaches (GC-ECD and electrochemical sensors signals p...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Institute of Automatic Control and Robotics Poznan University of Technology Division of Signal Processing and Electronic Systems Poznań Poland

ISBN: (纸本)9798350304985

This article presents the application possibilities of unmanned aerial vehicles (UAVs) for the rapid and efficient determination of carbonyl compounds: formaldehyde and acetaldehyde concentrations in gaseous environmental samples. One of the described methods is the use of special electrochemical sensors (PMS5003 and SEN0231) to measure air pollution in real time (every 10 seconds). The second method involves adsorbing gas samples into sorption tubes with XAD-2 cartridges and uses chromatographic analysis: gas chromatography coupled with a selective electron capture detector (GC-ECD). The proposed analytical technique allows the determination of carbonyl compounds at low concentration levels (μg/m3) using pre-derivatization of samples with the reagent 2,3,4,5,6-pentafluorobenzyl-hydroxylamine (PFBOA). Comparing the results obtained from electrochemical sensors and chromatographic analysis, we can conclude that there are discrepancies between the determined concentrations of formaldehyde in the analyzed gas samples. © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Formaldehyde

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Cascade LTI System for Acoustic Emission Digital Signal Processing: Result Visualization via Scalogram for Defect Pattern Representation

Cascade LTI System for Acoustic Emission Digital Signal Proc...

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Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Yeldos A. Altay Alexey V. Fedorov Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation

ISBN: (数字)9798331518752

ISBN: (纸本)9798331518769

Modern acoustic emission (AE) diagnostic systems are sensitive instruments for detecting developing defects. A significant limitation of the AE method is the difficulty of isolating signals against the background of interference, which significantly reduces the signal-to-interference ratio. Therefore, in this article a cascade filtering scheme for visualizing acoustic signatures through a scalogram is proposed to isolate AE signals that characterize the process of defect formation. Acoustic portraits of the isolated signals characterizing the process of defect formation are given. It is shown that the amplitude of the AE signal from a defective structure during crack formation is characterized by the highest values of the signal amplitude and has a rich frequency-time structure, the signal shape of which is determined by discrete AE.

关键词： Linear systems Visualization Time-frequency analysis Filtering Shape Instruments Interference Digital signal processing Acoustic emission Signal to noise ratio

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Adaptive Consensus control for Linear Multi-Agent System with Unknown Sinusoidal Disturbances

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IFAC-PapersOnLine 2023年第2期56卷 1198-1203页

作者： Sokrat Aldarmini Sergey Kolyubin Alexey Vedyakov Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia

This paper deals with consensus control for a multi-agent system, where agents are represented via state-space models. It is assumed that they are subjected to sinusoidal disturbances with unknown parameters in the input channel. The connections between the agents are represented by a cycle-free graph containing a spanning tree. An adaptive distributed control algorithm is proposed, guaranteeing asymptotic convergence of the agents’ states towards consensus, provided that the agent model satisfies the controllability condition. The control algorithm consists of a distributed observer, a distributed control law, and an adaptation law. The theoretical results are proven using LaSalle's invariance principle. Finally, a simulation example is presented to demonstrate the theoretical findings.

关键词： Consensus Adaptive control of multi-agent systems Distributed control and estimation

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Optimal control for Discrete-Time systems under Bounded Disturbances

arXiv

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arXiv 2024年

作者： Dogadin, Egor Peregudin, Alexey Shirokih, Dmitriy The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly observable sets. We provide exact solutions for state-feedback control and filtering problems, aligning with existing methods while offering improved computational efficiency. Moreover, our main contribution is the optimal solution to the output-feedback control problem for discrete-time systems which was not known before. Numerical simulations demonstrate the superiority of this result over previous sub-optimal ones. © 2024, CC BY.

关键词： Discrete time control systems

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