In this paper, we apply the recently developed generalized parameter estimation-based observer design technique for state-affine systems to the practically important case of linear time-varying descriptor systems with...
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This article presents the results of the implementation of a measuring system based on an IoT module for remote transmission of aggregate measurement data obtained during analytical monitoring of five water parameters...
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ISBN:
(数字)9798350388879
ISBN:
(纸本)9798350388886
This article presents the results of the implementation of a measuring system based on an IoT module for remote transmission of aggregate measurement data obtained during analytical monitoring of five water parameters via a wireless communication channel. A model of an experimental setup is presented and discussed, demonstrating the operability and consistency of the model for monitoring physical parameters during aggregate measurements. The obtained results of remote data transmission via a wireless communication channel revealed a statistically significant correlation between spring water parameters and the most influential predictor of acidity, conductivity, turbidity and oxidation-reduction potential is water temperature. The discovered relationship between the measured parameters is mainly associated with the effect of temperature on the processes occurring with an increase and decrease in the temperature of the analyzed water samples.
This paper deals with the consideration of the cutting tools and toolholders information data processing issues caused by the different representation of these tools by their manufacturers and users. This problem comp...
This paper deals with the consideration of the cutting tools and toolholders information data processing issues caused by the different representation of these tools by their manufacturers and users. This problem complicates the interactions between various software systems, thereby increasing the time required for technological production preparation. As a prospective solution to these problems, the cutting tools and toolholders parameters unified database (DB) has been developed. The proposed DB includes the necessary information for performing the key tasks in the technological production preparation regarding cutting tools and toolholders. The developed DB is based on the international standard ISO 13399 and the GTC (Generic Tool Catalog) format, as well as additional tool description parameters required to satisfy the production needs. Therefore, this research aims to improve the processes of technological production preparation and ensure the products manufacturing efficiency.
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 prev...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
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.
This paper addresses formation control for a group of quadrotors interconnected between each other by the Laplacian. The control framework is based on the establishing the consensus protocol and designing the geometry...
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This paper addresses formation control for a group of quadrotors interconnected between each other by the Laplacian. The control framework is based on the establishing the consensus protocol and designing the geometry-based robust controller. The control framework has been simulated showing adequate results.
The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-c...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.
In this paper, we present a finite time convergence (FTC) parameter estimator for a class of non-linear MIMO systems. The designed FTC estimator is based on a continuous-time parameter identification algorithm that wa...
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ISBN:
(数字)9781665406734
ISBN:
(纸本)9781665406741
In this paper, we present a finite time convergence (FTC) parameter estimator for a class of non-linear MIMO systems. The designed FTC estimator is based on a continuous-time parameter identification algorithm that was recently proposed by the authors. Compared to the previous solution the new modified estimator doesn’t require the unobvious to achieve in practice assumptions imposed on regression functions to ensure guaranteed convergence. As a practical example, we use a “Twin Rotor MIMO System” laboratory bench which model is given by a nonlinear multi-channel system with cross-couplings. Significant improvement of the transient behavior for the new parameter estimator is demonstrated via representative simulation results.
The article proposes a new robust tracking control method for UAV systems in roll and pitch angular planes. The main achievement of the obtained controller is a guarantee that the output signal is confined in a suffic...
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ISBN:
(数字)9781665406734
ISBN:
(纸本)9781665406741
The article proposes a new robust tracking control method for UAV systems in roll and pitch angular planes. The main achievement of the obtained controller is a guarantee that the output signal is confined in a sufficiently small prespecified bounded set formed by arbitrary continuously differentiable functions. The method is applied to a multiple-input multiple-output quadrotor model under external bounded disturbances and parametrical uncertainties influence. Results and achieved performance are verified via representative computer simulation results.
This paper shows a general concept of establishing student advising services at ITMO University for students majoring in controlsystems and robotics. The work covers a few topics related to these services, which are ...
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This paper shows a general concept of establishing student advising services at ITMO University for students majoring in controlsystems and robotics. The work covers a few topics related to these services, which are personalized education, project-oriented training, and curriculum design and redesign. Detailed list of expected duties of advisors and their role in professional career planning are discussed. The paper shows the vision of the way how advisors can be recruited and trained by means of the special course of additional professional education.
The quality of products made of carbon-carbon composite materials (CCCM) is influenced by many factors, including the parameters of the technological process and the technical level of equipment for the manufacture of...
The quality of products made of carbon-carbon composite materials (CCCM) is influenced by many factors, including the parameters of the technological process and the technical level of equipment for the manufacture of materials and structures. One of the most important moments in the process of creating products from CCCM is the formation of reinforcing components, matrix and their structural bonds. The efficiency of the system of structural bonds depends on the homogeneity (heterogeneity) of the material structure. The required mechanical and thermal properties of CCCM are ensured by the uniformity (continuity) of the structure, the change of which affects the properties of the material as a whole. In the event of discontinuity, an uneven distribution of mechanical and thermal fields can occur, which will jeopardize the performance of the entire structure, so non-destructive testing (NDT) of CCCM is an important task. The ultrasonic shadow method of control was chosen as the NDT method. This method makes it possible to detect structural inhomogeneities in the material of the test object - accumulations of pores and microcracks (at the microlevel), cracks, zones of low density, local heterogeneity of the structure (at the macrolevel). This article discusses the automation and ultrasonic testing of products from CCCM.
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