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Analysis of Digital Filtering with the Use of STM32 Family Microcontrollers 1

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20th Polish control Conference, PCC 2020

作者： Marciniak, Tomasz Podbucki, Kacper Suder, Jakub Dąbrowski, Adam Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznan University of Technology Jana Pawla II 24 Poznan60-965 Poland

ISBN: (数字)9783030509361

ISBN: (纸本)9783030509354

The paper presents an analysis of the realization of digital signal processing algorithms with the use of STM32F4 microcontrollers. Various programming techniques have been demonstrated focusing on the implementation of FIR filters and FFT calculations based on Cortex Microcontroller Software Interface Standard. During the tests we use STM32F407 Discovery module with WM5102 Wolfson Audio Card. The speed of algorithms and the accuracy of calculations were checked. The quality of digital filters were tested using LMS adaptive filter or Analog Discovery 2 device. © 2020, Springer Nature Switzerland AG.

关键词： Microcontrollers

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A Real-Time Fail-Safe Algorithm for Decoding of Myoelectric Signals to control a Prosthetic Arm 21

A Real-Time Fail-Safe Algorithm for Decoding of Myoelectric ...

引用

21st IEEE International Carpathian control Conference, ICCC 2020

作者： Unanyan, Narek N. Belov, Alexey A. V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Laboratory of Dynamics of Control Systems Moscow Russia Faculty of Control Systems and Robotics Itmo University St. Petersburg Russia

ISBN: (数字)9781728119519

ISBN: (纸本)9781728119519

In this article a real-Time self-Tuning algorithm of detecting fingers movements based on the electromyographic (EMG) sensors is developed. A multi-level input data processing from the EMG sensor with self diagnosis is suggested. It provides the identification of muscle tension, which corresponds of several types of finger movements. This solution enables to use the lowbit controllers to manipulate the prosthetic hand. The results of system modeling and testing on the Arduino nano microcontroller demonstrated that the system identifies finger movements with high accuracy. © 2020 IEEE.

关键词： Prosthetics

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Camera-based light source localization for precise luminous intensity measurement of airport lamps 27

Camera-based light source localization for precise luminous ...

引用

27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Podbucki, Kacper Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

Measuring luminous intensity using electronic sensors requires their precise positioning. In the case of mobile measurement platforms, it is important to detect the light source and thus determine the correct direction of movement of the measuring device. This article presents research on a solution for the initial detection of glowing airport lamps based on camera images. The impact of the selection of parameters and image processing methods on the prepared data set was assessed. The histogram filtration method was introduced to improve the effectiveness of airport lamp localization. The proposed solution was investigated in different weather and daytime conditions. The overall accuracy of the proposed solution is more than 90%. © 2024 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Image enhancement

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Analysis of Scanning Schemes of Complex-Profile Products with Automated Complex Non-Destructive Quality control of Coating of Complex-Profile Product 7

Analysis of Scanning Schemes of Complex-Profile Products wit...

引用

7th International Conference on Information, control, and Communication Technologies, ICCT 2023

作者： Gubin, Maksim S. Malyy, Valeriy V. Fedorov, Alexey V. Kinzhagulov, Igor Y. Sergeev, Dmitriy S. Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia The Institute of Science of the Icc Sect ST Petersburg Russia

ISBN: (纸本)9798350340945

In this paper, the existing problems of non-destructive testing of defects in the surface and subsurface coating layers of complex profile products are considered. The main factors influencing the choice of the scanning scheme are determined. For the implementation of non-destructive testing, several scanning schemes were proposed, which were analyzed in order to determine the necessary trajectory and step of movement of the transducer relative to the surface of a complex profile product. As a result, an optimal scanning scheme was selected. © 2023 IEEE.

关键词： Coatings

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Foreign Object Debris detection at aerodromes using YOLOv5 27

Foreign Object Debris detection at aerodromes using YOLOv5

引用

27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Suder, Jakub Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

The latest EASA recommendations from 2024 indicate the possibility of using machine learning techniques in aerodrome monitoring. The aim of the work was to analyze solutions and prepare FOD (Foreign Object Debris) object detection software on aerodromes. In order to implement the issue, a dataset of photos and video recordings for testing algorithms was developed. The dataset consists of 1480 photos showing FOD at aerodromes and photos of the runway itself, according to EASA and FAA recommendations. FOD detection was implemented using a classical, k-means method and effective YOLOv5. © 2024 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Video recording

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Parameter identification of a class of nonlinear systems with structure uncertainly using controlled symmetric motions 4

Parameter identification of a class of nonlinear systems wit...

引用

4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Alyshev, Aleksandr Gafurov, Salimzhan Dudarenko, Natalia Innopolis Univeristy Autonomous Driving Lab Innopolis Russia ITMO Univeristy Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9781728172866

This paper proposes the generalization of the nonlinear models for which the identification method based on symmetric motions can be applied with high efficiency. We chose two symmetric motion intervals which helps to simplify the calculations. We also propose a new iterative-adaptive algorithm for a high accuracy tracking control. Based on the symmetry criteria we iteratively calculate estimations and use them in the control algorithm. © 2020 IEEE.

关键词： Iterative methods

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Trust Consensus Protocol for Heterogeneous Underwater Robotic systems

Trust Consensus Protocol for Heterogeneous Underwater Roboti...

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作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems

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Machine Learning Approaches for Failures Detection in Inertial Navigation systems

Machine Learning Approaches for Failures Detection in Inerti...

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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Margun, Alexey Iureva, Radda Antonov, Daniil ITMO University Faculty of Control Systems and Robotics Saint Petersburg Russia ITMO University Csri Electropribor Saint Petersburg Russia

ISBN: (纸本)9798350395044

Inertial Navigation systems (INS) are essential for the navigation of both surface and underwater crafts, playing a critical role particularly in autonomous and automated control systems. The reliability of these systems is paramount for ensuring the safe maneuvering of such vessels. Monitoring the technical condition of INS is crucial for operational safety. However, traditional diagnostic approaches often fall short in effectively tackling INS challenges due to dynamic uncertainties, external interferences, and susceptibility to informational disruptions. This paper presents a comparative study on the application of various machine learning strategies for diagnosing failures in INS. It specifically examines gyroscope and accelerometer data from surface vessels, employing the Nomoto model to describe their dynamics. The paper suggests methods for feature engineering and evaluation of their significance. Multiple machine learning algorithms were developed, refined, and evaluated to address the diagnostic challenge. An analysis comparing the effectiveness of these models is also included. © 2024 IEEE.

关键词： Inertial navigation systems

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Method for Improvement of Biosignal Measurement Accuracy in the IoB System 27

Method for Improvement of Biosignal Measurement Accuracy in ...

引用

27th International Conference on Soft Computing and Measurements, SCM 2024

作者： Altay, Yeldos A. Uskenbayeva, Raisa K. Fedorov, Alexey V. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan Satbayev University Almaty Kazakhstan Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9798350363708

This paper presents filtering methods for improvement of biosignal measurement accuracy - an ECG signal under the influence of electromagnetic interference, which has a significant impact on the operation of the IoB system. A single-frequency polynomial notch filter has been synthesized to filter this noise to improve the accuracy of ECG signal measurement. The results of the implementation of the synthesized notch filter demonstrated that the filter makes it possible to separate the informative component from the distorting noise and increase the accuracy of signal measurement during its implementation in comparison with wavelet filters. © 2024 IEEE.

关键词： Notch filters

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Gait Phase Detection for Biped Robots

Gait Phase Detection for Biped Robots

引用

2019 International Russian Automation Conference, RusAutoCon 2019

作者： Bzhikhatlov, Islam Cheloshkina, Kseniia Abramchuk, Mikhail Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia Faculty of Computer Science National Research University Higher School of Economics Moscow Russia

ISBN: (纸本)9781728102658

Gait phase detection is an important task for walking cycle planning because the stability of walking could be estimated by gait phase sequence. The machine learning models were developed for detection of support type and walking gait phase for given posture to be used for stability estimation of walking robots through phases sequence. It was revealed that it is possible to build high quality model based on human motion capture data using only normalized data from a body lower part without toes with the degrees of freedom same as biped robot degrees of freedom. Among different machine learning methods applied to support type prediction by all available motion capture data gradient boosting model showed the highest quality in 7-fold cross-validation having 0.97 accuracy, mean per class precision and recall. Additionally, it was demonstrated that removal of an upper half of body data as well as toes data did not lead to any significant model quality decrease as a final reduced model gives 0.964 accuracy, mean per class precision and recall. Finally, the model for prediction of 5 walking gait phases was developed and showed comparable quality namely 0.95 accuracy, mean per class precision and recall. © 2019 IEEE.

关键词： Degrees of freedom (mechanics)

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