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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Kacper Podbucki Tomasz Marciniak Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawła II 24 Poznan University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

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 ${9 0 \%}$.

关键词： Location awareness Histograms Accuracy Filtration Signal processing algorithms Airports Sensors Meteorology Light sources Erosion

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Balancing energy consumption in limited power grid with active front-end and three phase dual active bridge system

Balancing energy consumption in limited power grid with acti...

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Compatibility in Power Electronics (CPE)

作者： Konstantin Vorobev Ryszard Strzelecki Nikolai Poliakov School of Computer Technologies and Control Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdańsk Poland

ISBN: (数字)9781728142180

ISBN: (纸本)9781728142197

Paper deals with simulation analysis of bidirectional power converters system for charging station of electric vehicle in condition of limited power source in city infrastructure. In case of incapability to provide additional power supply through the grid by virtue of historical, architectural and economic reasons it is possible to solve this issue by implementation of mobile battery-powered supply source. The proposed bidirectional power converters system for consist of three-phase dual active bridge two-directional converter and active front end. Bidirectional power converters system operation modes considered in the paper include transmission of energy from both the battery station, and grid and the joint power supply with battery and grid.

关键词： Batteries Power supplies Switches Urban areas Power grids Bridges

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Robust Output Regulation of Permanent Magnet Synchronous Motors by Enhanced Extended Observer ⁎

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IFAC-PapersOnLine 2020年第2期53卷 4881-4886页

作者： Oleg I. Borisov Anton A. Pyrkin Alberto Isidori ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia University of Rome “La Sapienza” Department of Computer Control and Management Engineering “A. Ruberti” Rome Italy

This paper presents an application of the enhanced extended observer design with regard to the problem of robust output regulation of permanent magnet synchronous motors. The control framework is further advanced by means of the internal model so as to cope with disturbances represented by the time-varying load torque. The paper shows simulation of regulating a motor for different cases of torque loads and references and provides an explicit procedure of the recursive calculation of the enhanced extended observer coefficients.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Permanent magnet synchronous motors

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Foreign Object Debris detection at aerodromes using YOLOv5

Foreign Object Debris detection at aerodromes using YOLOv5

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Jakub Suder Tomasz Marciniak Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawła II 24 Poznan University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

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.

关键词： YOLO Reviews Neural networks Software algorithms Signal processing algorithms Software Real-time systems Video recording Monitoring Testing

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Design and Analysis of Individually Demagnetized Power Converter for Switched Reluctance Motors

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 8439-8449页

作者： Liu, Hemiao Chen, Hao Wang, Xing Gorbounov, Yassen Wheeler, Patrick Anuchin, Alecksey Demidova, Galina Korovkin, Nikolay Liudmila, Sakhno Shenzhen Research Institute China University of Mining and Technology Shenzhen515100 China School of Electrical Engineering China University of Mining and Technology Xuzhou221116 China Xinjiang Institute of Engineering Xinjiang Urumqi830000 China International Joint Research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China International Cooperation Joint Laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou221008 China Xuzhou Key Laboratory of New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China Department of Automation Mining Production University of Mining and Geology St. Ivan Rilski Sofia1700 Bulgaria School of Electrical Engineering University of Nottingham University Park Campus Nottingham United Kingdom Moscow111250 Russia Faculty of Control Systems and Robotics Engineer Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg197101 Russia Institute of Energy Peter the Great Saint-Petersburg Polytechnic University Saint Petersburg195251 Russia

Switched reluctance motors (SRMs) are capable of operating at high speeds and high loads. However, the large back-EMF results in the excitation winding current being demagnetized more slowly, which in turn reduces the efficiency and output of the motor system. This study proposes a novel individually demagnetization power converter (IDPC) specifically designed for SRMs to effectively utilize the demagnetization energy through an independent demagnetization circuit. Compared with traditional converters, the IDPC can accept direct current (DC) and high-frequency alternating current (AC) inputs while achieving fast demagnetization and energy recovery. The topology and working principle of the IDPC are analyzed in detail in this paper using a three-phase 12/8 SRM as the research object. In addition, the influence of the winding demagnetization voltage on the negative torque during the demagnetization phase was studied, as well as the functional implementation and logic control strategy of the IDPC. Simulation and experimental results confirm the validity of the proposed topology and high-frequency AC drive characteristics, as well as their advantages in terms of efficiency, output capacity and dynamic performance. © 2015 IEEE.

关键词： Reluctance motors

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Application of Enhanced Extended Observer in Station-Keeping of a Quadrotor with Unmeasurable Pitch and Roll Angles ⁎

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IFAC-PapersOnLine 2019年第16期52卷 837-842页

In this paper we provide an example of application of the design of a control law that makes use of an enhanced version of the so-called extended observer. The enhancement in question reposes on the extension of a classical Lemma due to Dayawansa to the case of nonlinear systems whose normal form includes time-varying (and measurable) gains. The presented example concerns a station-keeping problem of a quadrotor with unmeasurable pitch and roll angles.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Quadrotors

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Gradient-Free Tracking of Unsteady Environmental Level Sets in Dynamic Environments by a Nonholonomic Robot ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9256-9261页

作者： Alexey Matveev Alexander Kapitonov Ivan Berman Valerii Chernov Department of Mathematics and Mechanics Saint Petersburg University St. Petersburg Russia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

A non-holonomic under-actuated planar robot is propelled via interaction of its actuators with a dynamic surrounding medium; a control input is the angular velocity of robot’s self-rotation relative to the medium. Meanwhile, the motion of the medium is unknown and unpredictable; the relative surge speed is time-varying and treated as uncertain. There is an unpredictably varying scalar environmental field. From a remote initial location, the robot should reach the isoline where the field assumes a pre-specified value, and then should repeatedly run its length. Robot measures only the field value at the current location and has no access to the field gradient or parameters of the medium motion. To solve this task, at first conditions are established that are necessary for the mission to be feasible with the given limitations on the robot’s dynamics. Then a navigation law is presented that solves the mission under slight and partly unavoidable enhancement of these conditions. This law is computationally inexpensive and directly converts the current sensory data into the current control in a reflex-like fashion. The performance of the law is rigorously justified by a global convergence result and is confirmed via computer simulation tests.

关键词： Tracking environmental boundaries Sensor-based navigation Sliding-mode control

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Autonomous, Mobile Manipulation in a Wall-building Scenario: Team LARICS at MBZIRC 2020

arXiv

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arXiv 2022年

作者： Vatavuk, Ivo Polic, Marsela Hrabar, Ivan Petric, Frano Orsag, Matko Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team of UAVs and a single UGV collaborate in an autonomous, wall-building scenario, motivated by construction automation and large-scale robotic 3D printing. The robots must be able, autonomously, to detect, manipulate, and transport bricks in an unstructured, outdoor environment. Our control approach is based on a state machine that dictates which controllers are active at each stage of the Challenge. In the first stage our UGV uses visual servoing and local controllers to approach the target object without considering its orientation. The second stage consists of detecting the object’s global pose using OpenCV-based processing of RGB-D image and point-cloud data, and calculating an alignment goal within a global map. The map is built with Google Cartographer and is based on onboard LIDAR, IMU, and GPS data. Motion control in the second stage is realized using the ROS Move Base package with Time-Elastic Band trajectory optimization. Visual servo algorithms guide the vehicle in local object-approach movement and the arm in manipulating bricks. To ensure a stable grasp of the brick’s magnetic patch, we developed a passively-compliant, electromagnetic gripper with tactile feedback. Our fully-autonomous UGV performed well in Challenge 2 and in post-competition evaluations of its brick pick-and-place algorithms. © 2022, CC BY-SA.

关键词： Brick

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Brain over Brawn: Using a Stereo Camera to Detect, Track, and Intercept a Faster UAV by Reconstructing the Intruder's Trajectory

arXiv

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arXiv 2021年

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

This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target tracking is based on image processing by a YOLOv3 Tiny convolutional neural network, combined with depth calculation using a gimbal-mounted ZED Mini stereo camera. We use RGB and depth data from the camera, devising a noise-reducing histogram-filter to extract the target's 3D position. Obtained 3D measurements of target's position are used to calculate the position, orientation, and size of a figure-eight shaped trajectory, which we approximate using a Bernoulli lemniscate. Once the approximation is deemed sufficiently precise, as measured by the distance between observations and estimate, we calculate an interception point to position the interceptor UAV directly on the intruder's path. Our method, which we have significantly improved based on the experience gathered during the MBZIRC competition, has been validated in simulation and through field experiments. Our results confirm that we have developed an efficient, visual-perception module that can extract information describing the intruder UAV's motion with precision sufficient to support interception planning. In a majority of our simulated encounters, we can track and intercept a target that moves 30% faster than the interceptor. Corresponding tests in an unstructured environment yielded 9 out of 12 successful results. © 2021, CC BY-NC-SA.

关键词： Unmanned aerial vehicles (UAV)

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Motion Planning In High-Dimensional Spaces

arXiv

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arXiv 2018年

作者： Petrović, Luka University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems Mobile Robotics

—Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing on systems such as planar mobile robots and low degree-of-freedom (DOF) robotic arms. The increased use of high DOF robots that must perform tasks in real time in complex dynamic environments spurs the need for fast motion planning algorithms. In this overview, we discuss several types of strategies for motion planning in high dimensional spaces and dissect some of them, namely grid search based, sampling based and trajectory optimization based approaches. We compare them and outline their advantages and disadvantages, and finally, provide an insight into future research opportunities. Copyright © 2018, The Authors. All rights reserved.

关键词： Motion planning

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