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共 517 条记录，以下是61-70 订阅

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Bond-Graph Simulation Toolbox

Bond-Graph Simulation Toolbox

引用

International Russian Automation Conference (RusAutoCon)

作者： Islam Bzhikhatlov Daniil Kotov Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

In the modeling of such dynamic systems as robots, the energy flow across multiple physical domains is challenging and frequently leads to difficulties, making model-based control methods less efficient. This software enables the efficient creation of multi-domain models in terms of bond graph methodology, allowing users to instantiate elements, ports, and bonds and seamlessly interconnect them. the internal algorithms automate the derivation of equations for each system component with respect to energy variables. the software supports the formulation of system equations in both Cauchy and state-space forms. by specifying system parameters and input signals, software performs numerical simulation, providing comprehensive insights into system dynamics. the powerful tool for multi-domain tools could help in the design and co-design of new multi-domain systems as well as in the synthesis of control algorithms in the energy domain for a wide range of applications.

关键词： Automation System dynamics Heuristic algorithms Software algorithms Numerical simulation Mathematical models Software Dynamical systems Robots

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A New Modular Adaptive Backstepping control of Nonlinear systems with Unknown control Coefficients*

A New Modular Adaptive Backstepping Control of Nonlinear Sys...

引用

IEEE Conference on Decision and control

作者： Dmitry Gerasimov Artem Pashenko Oleg Suzdalev Vladimir O. Nikiforov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

The paper addresses the problem of design of a modular adaptive backstepping controller for a class of nonlinear strict-feedback systems with unknown virtual and actual control gains. By involving the high-order time derivatives (HOTD) of the adjustable parameters into the virtual and actual control laws, the backstepping procedure is reduced to a relatively simple static error model. This model is used for design of the recently proposed adaptation algorithm with memory regressor extension which ensures two key properties. First, it is used for calculation of the HOTD of the adjustable controller parameters. Second, the algorithm provides a systematic technique for accelerating the controller parameters and, as a result, improves the transient performance of the closed-loop system.

关键词： Adaptation models Backstepping Adaptive systems Systematics Closed loop systems Transient analysis Nonlinear systems

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Application of Machine Learning Tools in Computer-Aided Design of Technological Processes (CAPP)

Application of Machine Learning Tools in Computer-Aided Desi...

引用

Neural Networks and Neurotechnologies (NeuroNT), II International Conference on

作者： Aleksandr A. Laptev Sergey D. Tretyakov Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9798350363739

ISBN: (纸本)9798350363746

In this work, various methods of designing technological processes are highlighted, their comparative analysis is conducted and general stages are highlighted. Special attention was paid to the analysis of solutions in the information retrieval subsystem, where the search of parts-analogues in the existing systems of automated design of technological processes (CAD TP) is realized. On the basis of the conducted analysis, a new approach to the search for parts-analogues and unification of details with the use of tools and algorithms of machine learning has been proposed. The use of a new database format in CAD TP is also proposed, which allows to significantly simplify the process of search and unification of details. And also to improve the efficiency of the search by reducing the time and qualitative results. The obtained results and proposals can become the basis for improving the process design procedure in industry and increasing the efficiency of the use of computer-aided process design systems.

关键词： Process design Machine learning algorithms Databases Machine learning Manuals Proposals Task analysis

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Signal Adaptive Filtering Algorithm to Eliminate White Noise of Stationary and Non-Stationary Signals

Signal Adaptive Filtering Algorithm to Eliminate White Noise...

引用

International Russian Automation Conference (RusAutoCon)

作者： Kirill A. Shabanov Sergey M. Vlasov Control Systems and Robotics Faculty ITMO University Saint-Petersburg Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

This article aims to research and evaluate existing adaptive signal filtering algorithms. Filtering of signals removes noise and distortion, which is a crucial scientific and technical challenge. the authors specifically consider the problem of white noise filtering using an adaptive filter approach. To address this problem, classical adaptive filtering algorithms are selected as the primary techniques for investigation. the efficiency of the least mean squares and recursive least squares with forgetting factor algorithms is compared in white noise filtering tasks for stationary and non-stationary signals. As a result, the authors have successfully filtered multi-harmonic signals from white noise using both the least mean squares and recursive least squares with forgetting factor algorithms.

关键词： Automation Filtering Simulation Adaptive filters Interference Filtering algorithms White noise Distortion

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Tuning Parameters of Backstepping control Using TLBO Algorithm for Inverted Pendulum

Tuning Parameters of Backstepping Control Using TLBO Algorit...

引用

IEEE NW Russia Young Researchers in Electrical and Electronic Engineering Conference (EIConRusNW)

作者： Hoang Duc Long Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

In this paper, a method to tune the parameters of a backstepping controller using the Teaching Learning Based Optimization (TLBO) algorithm for an inverted pendulum on a cart is introduced. Inverted Pendulum on Cart is an unstable high-order nonlinear system that is used to test the performance and effectiveness of control algorithms. Besides, backstepping control is an effective method to design robust controllers for nonlinear systems affected by external disturbances. However, choosing the parameters of the backstepping controller to guarantee that the control law is bounded is difficult. To solve this problem, an optimization method can be used, such as the TLBO algorithm, to find the parameters that guarantee both the convergence of outputs and the limitation of the control law. This method is applied to an inverted pendulum on a cart, and the simulation results are illustrated to show the effectiveness of the proposed method.

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Deep Visual-inertial odometry using adaptive visual data selection and External Memory Attention

Deep Visual-inertial odometry using adaptive visual data sel...

引用

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

作者： Abdul Rahman Samra Oleg Evstafev Sergey Shavetov Faculty of Control Systems and Robotics ITMO University Saint Peterburg Russia

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

In recent years, many models based on deep learning have been proposed to accomplish the visual-inertial odometry (VIO) task, but these methods rely on combining visual and inertial data in each prediction. Processing visual data is considered computationally expensive, so this work will focus on relying on implementing VIO on inertial data in the first place, then using a reduced form of the visual data, and finally using the full form of the visual data, by training a policy network to control the selection of the visual data. Experimental results indicate a significant saving in the necessary computational power while maintaining close accuracy if the full form of visual data is used.

关键词： Training Visualization Adaptation models Accuracy Computational modeling Process control Predictive models Robustness Sensors Odometry

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Automation of Ultrasonic Testing Technology for Soldered Joints of Heat Exchanger Elements

Automation of Ultrasonic Testing Technology for Soldered Joi...

引用

Intelligent Technologies and Electronic Devices in Vehicle and Road Transport Complex (TIRVED)

作者： Valeriy V. Malyy Igor Y. Kinzhagulov Vladimir E. Prokhorovich Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9798331518707

ISBN: (纸本)9798331518714

This article discusses the automation of ultrasonic echo-pulse method technology for testing soldered joints of heat exchanger elements. The article describes a test object with a complex geometric shape and defects in soldered joints that occur during manufacturing, such as "non-soldering" and "partial non-soldering". The article describes the problems of existing solutions for quality control of soldered joints, which consist in the complexity of positioning the piezoelectric transducer, which leads to insufficient efficiency and reliability of the testing results, which justifies the relevance of the work. Finite element modeling was carried out to establish the dependencies of geometric displacements during positioning of the piezoelectric transducer, based on the results of which an algorithm was developed that allows increasing the efficiency and reliability of the testing results. An experimental testing of the created automated ultrasonic testing system was carried out, which confirmed that the proposed method for automating the technology of ultrasonic testing of soldered joints of heat exchanger elements is more efficient and reliable compared to existing solutions.

关键词： Heating systems Automation Shape Roads Piezoelectric transducers Quality control Acoustics Finite element analysis Reliability Testing

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Research of Signal Adaptive Filtering Algorithms

Research of Signal Adaptive Filtering Algorithms

引用

International Russian Smart Industry Conference (SmartIndustryCon)

作者： Kirill A. Shabanov Sergey M. Vlasov Sergey A. Arustamov Control Systems and Robotics Faculty ITMO University Saint-Petersburg Russia

The article aims to research the existing signal adaptive filtering algorithms. The task of filtering signals from noise and distortion is an important scientific and technical problem. In this paper, white noise filtering using an adaptive filter is considered. Classical adaptive filtering algorithms have been chosen to solve the problem. The efficiency of the least mean squares and the recursive least squares with forgetting factor algorithms was compared for the white noise filtering tasks. As a result of this work, it turned out to filter a multiharmonic signal from the white noise using the least mean squares and the recursive least squares with forgetting factor algorithms.

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The Effect of Changing-Lane Prediction Algorithms on the Performance of ACC System Model in Matlab/Simulink

The Effect of Changing-Lane Prediction Algorithms on the Per...

引用

International Russian Smart Industry Conference (SmartIndustryCon)

作者： Leila Suleiman Sergei Vlasov Control Systems and Robotics Faculty ITMO University Saint-Petersburg Russia

Self-driving vehicles are capturing the attention of numerous researchers, companies, and car enthusiasts. The automation of vehicles varies across multiple levels, depending on the tasks they perform and the techniques they employ. The Adaptive Cruise control (ACC) system is an automated vehicle at the first level. It checks the presence of other vehicles in its lane to adapt its velocity accordingly or maintain a constant speed. However, it does not include lane-changing capabilities. Nevertheless, the presence of other neighboring vehicles can affect the performance of the ACC based Model Predictive controller (MPC) system, leading to discomfort or collisions. In this paper, we will provide a brief description of the ACC system and the MPC controller. Subsequently, we will discuss the challenges that affect the performance of the ACC based MPC system and propose potential solutions using the Variable Time Headway (VTH) strategy or changing-lane prediction algorithms, such as Random Forest (RF), K- Nearest Neighbor (KNN) and Support Vector Machine (SVM). Simulation results of applying these methods to a sufficiently dangerous driving scenario will be illustrated, followed by a brief conclusion.

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Direct Adaptive control of LTV Discrete-time systems with Uncertain Periodic Coefficients*

Direct Adaptive Control of LTV Discrete-time Systems with Un...

引用

IEEE Conference on Decision and control

作者： Dmitry N. Gerasimov Dang Hien Ngo Vladimir O. Nikiforov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

The paper considers the problem of the state-feedback adaptive control of a class of discrete linear time-varying plant with multisinusoidal parameters. The plant is representable in the strict-feedback form, in which the parameters are on the main diagonal of the state matrix. The amplitudes, frequencies, and the phases of the multisinusoids are not known a priori, however the maximum numbers of sinusoids (harmonics) in each parameter are available. The problem is solved by design of periodic parameters observers recovering the parameters dynamics, the plant parameterization, and developing a discrete-time adaptive backstepping controller. In order to tune the controller parameters and improve the closed-loop transient performance, an adaptation algorithm with memory regressor extension is applied. The main results of the paper are demonstrated by simulation.

关键词： Discrete-time systems Backstepping Heuristic algorithms Observers Harmonic analysis Adaptive control Transient analysis

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