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第32届中国过程控制会议(CPCC2021)

作者： Weiyu Lin Ke Yin Botao Zhang Qiang Lu Sergey A.Chepinskiy Anton A.Zhilenkov School of Automation Hangzhou Dianzi University Faculty of Control Systems and Robotics ITMO University Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University

This paper deals with the problem of signal source localization for quadrotors with non-directional ***,the detected signal strength data is used to train the Gaussian process,which can provide the possible locations of signal *** to using the non-directional antenna,the predicted positions of signal sources may appear in any directions such that the quadorots waste searching time to adjudge the movement *** solve this issue and reduce the computational burden,the circle with the radius from the position of the quadrotor to the position of the predicted signal source is drawn in the initial searching *** a given time interval,all the intersections of the drawn circles based on idea of K-nearest neighbor algorithm are used to estimate the locations of signal ***,receding horizon control(RHC) approach is used to enable the quadrotor to move toward the probable position of signal ***,simulation results show the effectiveness of the proposed approach for the problem of signal source localization.

关键词： Source seeking Quadrotors Gaussian process Receding horizon control

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Sim2Air - Synthetic Aerial Dataset for UAV Monitoring

arXiv

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arXiv 2021年

作者： Barisic, Antonella Petric, Frano Bogdan, Stjepan The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

In this paper we propose a novel approach to generate a synthetic aerial dataset for application in UAV monitoring. We propose to accentuate shape-based object representation by applying texture randomization. A diverse dataset with photo-realism in all parameters such as shape, pose, lighting, scale, viewpoint, etc. except for atypical textures is created in a 3D modelling software Blender. Our approach specifically targets two conditions in aerial images where texture of objects is difficult to detect, namely challenging illumination and objects occupying only a small portion of the image. Experimental evaluation of YOLO and Faster R-CNN detectors trained on synthetic data with randomized textures confirmed our approach by increasing the mAP value (17 and 3.7 percentage points for YOLO;20 and 1.1 percentage points for Faster R-CNN) on two test datasets of real images, both containing UAV-to-UAV images with motion blur. Testing on different domains, we conclude that the more the generalisation ability is put to the test, the more apparent are the advantages of the shape-based representation. © 2021, CC BY-NC-SA.

关键词： robotics

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Comparison Study on Event-Triggered Mechanism for Nonlinear Multi-Agent systems with Fixed-Time controller

Comparison Study on Event-Triggered Mechanism for Nonlinear ...

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第32届中国过程控制会议(CPCC2021)

作者： Xudong Tao Ke Yin Botao Zhang Qiang Lu Sergey A.Chepinskiy Anton A.Zhilenkov School of Automation Hangzhou Dianzi University Faculty of Control Systems and Robotics ITMO University Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University

Our previous studies show that,after consensus is arrived,Zeno behaviors still occur for the multi-agent systems with static event-triggered mechanism and the fixed-time ***,event-triggering performance also descends for the multi-agent systems with nonlinear *** paper proposes a dynamical event-triggered mechanism and gives a comparison study of event-triggered mechanism for the multi-agent systems with the nonlinear dynamics under the fixed-time *** results shows that the better results can be obtain by using the proposed dynamical event-triggered mechanism for the nonlinear multi-agent systems with the fixed-time controller.

关键词： Static event-triggered mechanism dynamical event-triggered mechanism multi-agent systems fixed-time control

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Comparison of Synchronous Reluctance Machine and Permanent Magnet-Assisted Synchronous Reluctance Machine Performance Characteristics 27

Comparison of Synchronous Reluctance Machine and Permanent M...

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Heidari, Hamidreza Andriushchenko, Ekaterina Rassolkin, Anton Kallaste, Ants Vaimann, Toomas Demidova, Galina L. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

Since the dominant induction machines and permanent magnet synchronous machines are well-established in the industry, the reluctance machines require more research work and investigation to substitute the conventional technologies. This paper analyzes the synchronous reluctance machines and permanent magnet-Assisted synchronous reluctance machines in terms of the effect of permanent magnets in the model and the performance characteristic of the machines. The machines are designed and the parameters are measured. The vector diagrams of the machines and the equivalent circuits of the machines are analyzed. A comparison of the machines in terms of power factor, efficiency, and torque of the machines is provided based on the measurements. The study presents a notable improvement in power factor and efficiency in the case of inserting permanent magnets in the synchronous reluctance machine's rotor. © 2020 IEEE.

关键词： Permanent magnets

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Possibilities of Changing the Transport Characteristics of the TEP70 Locomotive 27

Possibilities of Changing the Transport Characteristics of t...

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Rjabtsikov, Viktor Rassolkin, Anton Vaimann, Toomas Kallaste, Ants Lukichev, Dmitry V. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

The research concentrates on the modernization issues of diesel-electric passenger locomotives TEP70. There is number of TEP70 locomotives in Baltic region that are used very rarely by their direct application but may as well be usable as freight locomotives. The main goal of the study is to change the tractive force of a TEP70 locomotive to be able to transport cargo in the Baltic region. Analysis of TEP70 working principles and load characteristics are presented. Based on the analytical model of locomotive, suggestion to replace the gearbox to increase locomotive pulling capability is proposed. Moreover, the paper presents calculation of the traction effort of TEP70. That kind of calculations are very important for motion planning and it should be done in order to avoid overloading during the working mode of the locomotive. © 2020 IEEE.

关键词： Engines

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Simulation of Wind Turbine Vibrations 27

Simulation of Wind Turbine Vibrations

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Andriushchenko, Ekaterina Kallaste, Ants Vaimann, Toomas Rassolkin, Anton Heidari, Hamidreza Demidova, Galina L. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

In recent years, there has been an increasing interest in renewable energy. Particularly, wind energy is gaining more and more popularity in many countries. However, the main obstacles to wind turbines usage are the vibration and noise close to wind farms. Therefore, this paper is focused on developing a new method for mathematical simulation of vibrations of a wind turbine in order to find out and reduce the vibration level. Particularly, low-frequency vibration of a wind turbine, composed of a tower and rotor in the out-of-balance condition is considered. The proposed method of vibration simulation is based on the theory of elastic beams and the general vibration theory. The calculations are made for a wind turbine VTR 50 Arctic. The results of the calculations are the displacement of the tower top and the stress at the tower foundation. Furthermore, it is worth emphasizing that the method is quite flexible. It allows adding complexity into the system, for instance, external loads such as wind pressure, aerodynamic loads, seismic loads or operational loads. © 2020 IEEE.

关键词： Wind power

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Main Faults and Diagnostic Possibilities of BLDC Motors 27

Main Faults and Diagnostic Possibilities of BLDC Motors

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Kudelina, Karolina Asad, Bilal Vaimann, Toomas Rassolkin, Anton Kallaste, Ants Lukichev, Dmitri V. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

This paper presents the main faults of brushless DC motors and their diagnostic possibilities. Due to the popularity gain of such devices in the past decade, the maintenance and diagnostic of such machines is getting more important. As the machines are used in various applications, they are often critical parts of devices. Due to this, the unexpected failures of such machines are undesired and are to be avoided. The main faults of the machines are listed, some possibilities of their monitoring and diagnostics have been addressed. The necessity of further study has been pointed out. © 2020 IEEE.

关键词： Brushless DC motors

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Modem mechatronics and robotics education program: Border cooperation between estonia and Russia 11

Modem mechatronics and robotics education program: Border co...

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11th IEEE Global Engineering Education Conference, EDUCON 2020

作者： Rassolkin, Anton Vaimann, Toomas Kudelina, Karolina Demidova, Galina L. Lukichev, Dmitry V. Perepelkina, Svetlana Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728109305

The paper describes the interaction between Tallinn University of Technology (TalTech, Tallinn, Estonia) and ITMO University (St. Petersburg, Russia) based on recently signed agreement. The purpose of the agreement is to record the intention of TalTech and ITMO University to cooperate on implementing a double master's degree program, which involves confirmation of the master's educational level absorption and the award of master's degree and obtention of two diplomas, and to outline the organizational form, principles and terms of the implementation. The double degree Program is a two-year Master's program of 120 ECTS credit points. Its structure and content meets the requirements that both TalTech and ITMO University have established for their master's programs, in accordance with the government standards. Development and approval of the double degree Program is held by the Parties in accordance with the procedures established by them. This paper describes the procedure of implementation of a double-degree master program in mechatronics engineering. © 2020 IEEE.

关键词： Engineering education

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Modeling and control of A Bird-like Flapping Wing Aerial Vehicle Driven by Servos

Modeling and Control of A Bird-like Flapping Wing Aerial Veh...

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Chinese control and Decision Conference, CCDC

作者： Shuangshuang Yu Qiang Lu Lin Fu Botao Zhang Sergey A. Chepinskiy Anton A. Zhilenkov HDU-ITMO Joint Institute Hangzhou Dianzi University Hangzhou School of Automation Hangzhou Dianzi University Hangzhou Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University Russia

ISBN: (纸本)9781665478977

In this paper, dynamics modeling and control scheme of a flapping wing aerial vehicle driven by three servos are investigated. According to the quasi-steady state theorem and the characteristics of flexible wings flapping movement, a simplified aerodynamic modeling scheme is proposed such that the body aerodynamic force and the flapping force of the flapping wing aerial vehicle are calculated and the relationship between its own attitude and aerodynamic force is built. Then, the Lagrangian position and attitude dynamics model are established based on the aerodynamic model. Next, in order to solve the problem of low modeling accuracy and strong disturbance in the flight process of flapping wing aerial vehicle that cannot keep stationary status, a cascaded structural sliding mode control method and the path-tracking scheme are proposed. Finally, the flight control system is simulated in MATLAB, which illustrates that the sliding mode control method has good robustness.

关键词： Target tracking Force Switches Aerodynamics Mathematical models Robustness Trajectory

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Robust energy aware output controller for uncertain plant

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IFAC-PapersOnLine 2019年第13期52卷 259-264页

作者： Dobriborsci, Dmitrii Margun, Alexey Kolyubin, Sergey Control systems and Robotics faculty ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

Nowadays, safety guarantee during physical Human-Robot Interaction (pHRI) is important problem. control over energy becomes very useful approach and provides possibility of safety conditions implementation but requires measurement of energy variables. In this paper we extend our previous results for discrete robust output control algorithm by insertion of energy aware mechanism in the structure of control system. It is proven earlier that this way make the controller aware of the energy that they inject into the plant. By combining this approaches we introduce here a robust discrete-time output controller for uncertain plant that provides exponential convergence of tracking error to the bounded area and passivity of the closed loop system. The proposed approach is validated through simulation and experiments using Ball-and-Plate setup. © 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： controllers Budget control Closed loop systems Human robot interaction Man machine systems Plates (structural components) Power management Robust control Energy aware Energy budgets Exponential convergence Output controllers Passive systems Physical humanrobot interaction (phri) Safety guarantees Uncertain plants

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