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Study of the Applicability of the Method of Optical Triangulation for Evaluation of the Geometric Parameters and Cleanliness of the Surface of Products of Complex Shapes

Study of the Applicability of the Method of Optical Triangul...

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

作者： Vyacheslav V. Konyashov Alexey S. Sergeev Oleg A. Kolganov Alexey V. Fedorov Kseniya A. Konyashova Vladimir V. Bychenok Faculty of Control Systems and Robotics ITMO University ST Petersburg Russia Scientific and technical center “Etalon” ST Petersburg Russia Institution of Science “IKCSEKT” ST Petersburg Russia

The results of experimental studies of the applicability of the method of optical laser triangulation for constructing the profile of conical and cylindrical products with a ribbed surface, made by milling, are reflected. An algorithm for constructing a geometric profile of products of complex shape based on a system of triangulation sensors is proposed. The results of experimental approbation of the proposed algorithm on the stand for automated control of the geometry of complex-profile parts using a laser triangulation 2-D scanner are presented. The sensitivity of a laser triangulation 2-D scanner to the roughness parameters during milling the surface of products is evaluated. The accuracy characteristics of the triangulation method for determining the surface roughness parameters for different orientations of laser radiation with respect to the test object are estimated.

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Machine Learning in Predicting the Impact of Filter Parameters on the Accuracy of Biosignal Measurement

Machine Learning in Predicting the Impact of Filter Paramete...

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

作者： Yeldos A. Altay Raisa K. Uskenbayeva Abu-Alim E. Ayazbay Alexey V. Fedorov Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Institute of Automation and Information Technologies Vice-Rector Satbayev University Almaty Kazakhstan Electronic engineering Almaty University of Power Engineering and Telecomunications Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation

ISBN: (数字)9798331518752

ISBN: (纸本)9798331518769

In this scientific article under consideration, a machine learning model has been developed that allows predicting the impact of filter parameters on the accuracy of measuring a biosignal - an ECG (electrocardiography) signal. For the first time, quantitative results have shown the degree of influence and the error introduced into the measured biosignal and described through dependence. The results of assessing the obtained relationship of indicators demonstrate an inverse correlation relationship that characterizes a decrease in the accuracy of measurement at the output of a high-order digital filtering system. The machine learning model is based on the linear regression method the dependence of which is approximated by the method based on least squares and visualized using a scattergram. The adequacy of the developed machine learning model was confirmed by calculating the coefficient of determination and checking its statistical significance. The developed model can be used to create new or improve existing biomedical data processing systems to increase the reliability of the results.

关键词： Accuracy Shape Filtering Biological system modeling Machine learning Biomedical measurement Electrocardiography Distortion Distortion measurement Digital filters

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On Small-Gain Theorem for Interconnected Finite/Fixed-Time Input-to-State Stable systems*

On Small-Gain Theorem for Interconnected Finite/Fixed-Time I...

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IEEE Conference on Decision and control

作者： K. Zimenko D. Efimov A. Polyakov X. Ping Faculty of Control Systems and Robotics ITMO University 49 Kronverkskiy av Saint Petersburg Russia Inria Univ. Lille CNRS UMR 9189 - CRIStAL Lille France Xidian University Xi’an Shaanxi China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

The paper addresses the problem of input-to-state stability analysis for interconnected systems with accelerated convergence, namely, for interconnected nonlinear systems composed of two finite-time or (nearly) fixed-time input-to-state stable subsystems. Under additional mild restrictions, small-gain theorems are proposed for a class of such systems that guarantee the preservation of accelerated convergence for the interconnection.

关键词： Interconnected systems Stability analysis Nonlinear systems Convergence

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Achieving of magnus effect with agros suite

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2021年第2期65卷 131-137页

作者： Lukin, Aleksandr Demidova, Galina Rassõlkin, Anton Faculty of Control Systems and Robotics Itmo University 49 Kronverksky Pr. St. Petersburg197101 Russia Department of Electrical Power Engineering and Mechatronics School of Engineering Tallinn University of Technology 5 Ehitajate tee Tallinn19086 Estonia

When the rotating body gets into the ambiance flow appears the lifting force, called Magnus Effect. That lifting force may be controlled by changing the revolution speed of the body. That phenomenon uses in many engineering applications like wind turbines and marine ships. In this paper, the Magnus Effect simulation is achieved with Agros Suite, a multiplatform application for the solution of physical problems. The article presents the nature of the Magnus Effect and discusses possible applications in engineering. The research question is focused on demonstrating the Magnus Effect with Agros Suite and evaluating the computational power of the personal computer that runs the simulation. The simulation is made keeping in mind the possible application of the Agros Suite tools for Magnus-Effect-based wind generator control algorithms optimization. The simulation result analysis shows that Agros Suite is a reliable tool in accessing and simulation of such phenomena. © 2021 Budapest University of Technology and Economics. All rights reserved.

关键词： Personal computers

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Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

arXiv

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arXiv 2023年

作者： Changoluisa Caiza, Iván D. Milas, Ana Montes Grova, Marco A. Pérez-Grau, Francisco Javier Petrovic, Tamara The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia Aerospace Technology Park of Andalusia Seville Spain

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment. © 2023, CC BY-NC-SA.

关键词： Iterative methods

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Machine Vision for Auto Positioning in the Modular Industrial Equipment: A Case Study 3

Machine Vision for Auto Positioning in the Modular Industria...

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3rd IEEE Conference on Industrial Cyberphysical systems, ICPS 2020

作者： Afanasev, Maxim Ya. Fedosov, Yuri V. Andreev, Yuri S. Krylova, Anastasiya A. Shorokhov, Sergey A. Zimenko, Kseniia V. Kolesnikov, Mikhail V. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728163895

The unification principle of industrial equipment involves splitting the installation into interchangeable components, from which the required type of equipment is assembled for specific production tasks according to the order. For the common industrial equipment, zero position setting usually causes no issues. However, for the modular machines with different sizes of modules, the mounting error can be appeared and it has to be corrected automatically. In addition, due to a possible frequent change of equipment during the production process, clamps can wear out, increasing the error. It is necessary to introduce an automatic adjustment of tool position relative to the carriage suspension, implemented using machine vision systems. The cost of video capture equipment and computing tools decreases, and their characteristics, on the contrary, grow. Moreover, algorithms for recognizing markers' position and angle together with augmented reality development tools are also constantly being improved with their application complexity being significantly reduced, which emphasizes the practicability of their use. The paper describes the problem of eliminating the installation error of instrumental modules on a three-axes platform. The proposed method involves the use of a number of reference markers on the platform, its suspension, and on the plug-in modules. © 2020 IEEE.

关键词： Computer vision

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Method of control System Design with Predetermined Overshoot for Optical Axis Servo Drives of SLR Station

Method of Control System Design with Predetermined Overshoot...

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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Shustov, Ilya V. Tolmachev, Valery A. Lovlin, Sergey Yu. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728157610

The paper considers the method of control system design for optical axis servo drives of SLR station. The method allows to improve accuracy of optical axis servo drives by mean of increasing performance of the inner velocity control loop. The represented analytical equations allow to tune up regulator that provide maximum performance of control system with predetermined overshoot. The obtained analytical equations take into account both elasticity and internal damping of an actuating axis mechanism. The simulation results of the control system of the elevation axis servo drive of the SLR station "Stajer-2 OPU LIK" verify the method. © 2020 IEEE.

关键词： Friction

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Adaptive Nonlinear Tracking Approach for Motion Tracking Applications

Adaptive Nonlinear Tracking Approach for Motion Tracking App...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Gromov, Vladislav S. Meshkov, Aleksei V. Pyrkin, Anton A. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728187631

The problem of output regulation for systems affected by nonlinear reference signal, which is caused by exosystem with parametric uncertainties, is addressed. The control law for a nonlinear trajectory is proposed with the design of an adaptive internal model. The efficiency of the proposed algorithm was proved by experiments using the setup that includes an articulated robot. The experimental results are presented. © 2020 IEEE.

关键词： Nonlinear analysis

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RSSI-Based Evaluation of Wireless Personal Area Networks Nodes Noise Immunity in Industrial Buildings

RSSI-Based Evaluation of Wireless Personal Area Networks Nod...

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2020 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2020

作者： Krylova, A.A. Kolesnikov, M.V. Afanasev, M.Ya. Fedosov, Yu.V. Andreev, Yu.S. Shorokhov, S.A. Zimenko, K.V. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728169514

Results of a study of the influence of manufacturing environment factors on wireless personal networks are presented in the paper. A classification of such factors is proposed, and the noise immunity of wireless personal networks is determined using a real production as an example. A method for evaluating noise immunity based on a received signal strength indicator (RSSI) is proposed. RSSI values can be obtained natively from almost any receiver and transmitter, which makes this method affordable compared to using network analyzers and other specialized equipment. In the conducted experiment the receiver and transmitter were located at a distance ranging from 0.5 to 25 m from each other. The act of signal transfer was carried out alternately under the influence of each production environment factor. Then measured RSSI values were analyzed and converted into the maximum permissible distance between the receiver and the transmitter in accordance with the proposed method. As a result, data on the influence of a production environment on the noise immunity of wireless personal networks was obtained. Nevertheless, it is concluded that the influence is not significant enough to decide against the use of wireless personal networks, since the influence of many factors can be offset by the use of mesh topology and a dense arrangement of receivers and transmitters. The results are particularly interesting in the context of manufacturing digitalization, where the wireless method of data transmission from field level sensors becomes preferable to the wired due to the requirement for flexibility and mobility of a production process. © 2020 IEEE.

关键词： Transmitters

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Comparative Analysis of Modeling of a Magnus Effect-Based Wind Energy System

Comparative Analysis of Modeling of a Magnus Effect-Based Wi...

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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Babayeva, Marina Abdullin, Artur Polyakov, Nikolay Konstantin, Gorshkov IFMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728157610

In the present work, we consider a model of the electric drive of a wind generator based on the Magnus effect with a load. A brief explanation of the use of the Magnus effect for electricity-generating is presented. The physical implementation of a wind generator based on the Magnus effect is explained. The integration of the developed 3D model of the generator into the Matlab environment is carried out. An analytical mathematical model is developed using Matlab Simulink. A comparative analysis of the work of two variants of mathematical models is carried out. An analysis of the performance of the electrical generator and the minimum required wind flow to cover the generator's own costs is made. © 2020 IEEE.

关键词： Energy efficiency

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