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IEEE Conference on Quality Management, Transport and Information Security, Information Technologies (IT&MQ&IS)

作者： Maria Ya. Marusina Elizaveta A. Karaseva Faculty of Control Systems and Robotics of ITMO University St. Petersburg Russia Pavlov Institute of Physiology Russian Academy of Sciences St. Petersburg Russia

ISBN: (纸本)9781728125961

Analysis of changes in medical images is one of the most important areas of computer use, which ensures the progress of the diagnostic process at the moment. Along with the quality of visualization, automated diagnostic methods are being developed, CADs are being increasingly used. Today, medical imaging is the most common diagnostic tool in modern medical practice. The most relevant areas for the implementation of medical image analysis in connection with the specificity of the objects under study are methods based on mathematical methods for processing input information, for example, on a fractal analysis (analysis of self-similarity of image parts), which can be realized by calculating the fractal dimension and Hurst index. The obtained data in world practice become the basis for creating new algorithms for qualitative analysis and image processing for creating new algorithms.

关键词： Fractals Indexes Magnetic resonance imaging Task analysis Medical diagnostic imaging DICOM

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Efficient dense frontier detection for 2D graph SLAM based on occupancy grid submaps

arXiv

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arXiv 2019年

作者： Oršulić, Juraj Miklić, Damjan Kovačić, Zdenko Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Croatia RoMb Technologies d.o.o. Zagreb Croatia

In autonomous robot exploration, the frontier is the border in the world map dividing the explored and unexplored space. The frontier plays an important role when deciding where in the environment the robots should go explore next. We consider a modular control system pipeline for autonomous exploration where a 2D graph SLAM algorithm based on occupancy grid submaps performs map building and localization, and frontier detection is one of key system components. We provide an overview of the state of the art in frontier detection and the relevant SLAM concepts and propose a fast specialized frontier detection method which is efficiently constrained to active submaps, yet robust to graph SLAM loop closures. Copyright © 2019, The Authors. All rights reserved.

关键词： Computer vision

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Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces

Light-weight mobile robot for hydrodynamic treatment of conc...

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International Conference on Applied robotics for the Power Industry (CARPI)

作者： Zdenko Kovacic Borislav Balac Stjepan Flegaric Kristijan Brkic Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of electrical Engineering and Computing University of Zagreb Zagreb Croatia Inteco d o o Zagreb Croatia

The paper presents a modular design of a lightweight mobile robot for hydrodynamic treatment of concrete and metal surfaces. The robot is composed of three fully separable modules: an under-carriage with two tracks, an electric cabinet containing power electronics, communication and control, and a robot arm with various water jet tools. Modularity and smaller robot weight allows easy transportation, operation in ordinary construction conditions and maneuvering in very confined spaces. The on-board PLC controls the following robot axes: two robot tracks, a beam, a rotor tool, lance swing and pitch angles, and tool-to-surface distance deviation. Ultrasound sensors mounted on the robot allow automatic adjustment of a tool towards a treated surface. Experimental results obtained in real exploitation conditions (during a bridge repair) have confirmed all advantages of the described robot design.

关键词： Power industry Service robots Conferences

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Research and Simulation of Step-Up Converter of Battery Power Supply for DC Drive System

Research and Simulation of Step-Up Converter of Battery Powe...

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Power Electronics (Ee)

作者： Arina Arbuzina Margarita Arkharova Alexander Politsinsky Galina Demidova Akhil Garg Nikolai Poliakov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

Algorithms of evaluation battery state of charge (SoC) and power consumption should be implemented to electrical drive systems to control parameters of a battery. In the course of the work, the characteristic of discharge of the battery was obtained, the control system for a semiconductor step-up voltage converter for the battery management system (BMS) was developed, and the accuracy of the model was evaluated. A simulation model of the «PWM converter-DC drive» system with the battery was developed. Simulation results were compared with experimental data and conclusions were drawn about the possibility of determining the SoC of the battery.

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Application of the Box-Counting Method for the Evaluation of Medical Images

Application of the Box-Counting Method for the Evaluation of...

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IEEE Conference on Quality Management, Transport and Information Security, Information Technologies (IT&MQ&IS)

作者： Maria Ya. Marusina Elizaveta A. Karaseva Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Pavlov Institute of Physiology Russian Academy of Sciences St. Petersburg Russia

The main distinctive feature of nonlinear processes in cancer is the weakening of deterministic chaos and the growth of stochastic (random) behavior at several hierarchical levels. At the border of various levels of the hierarchical organization due to the antagonism of causal relationships, there is a large area of nonlinear processes that can lead to catastrophic events - self-organization, characteristic of oncogenesis. This makes it possible to apply fractal research methods to medical images of formations on the skin.

关键词： Fractals Biomedical imaging Image segmentation Indexes Malignant tumors Cancer Software algorithms

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A novel approach to the model reference adaptive control of MIMO systems

A novel approach to the model reference adaptive control of ...

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Tar, J.K. Rudas, I.J. Bitó, J.F. Kozlowski, K.R. Pozna, C. Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Ó Buda University Bécsi út 96/B H-1034 Budapest Hungary Department of Control and Systems Engineering Computing Science and Management Poznań University of Technology Piotrowo 3a 60-965 Poznań Poland Design and Robotics Department University Transilvania of Brasov Bd. Eroilor 29 Brasov Romania

ISBN: (纸本)9781424468867

The "Model Reference Adaptive control (MRAC)" is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the "reference model" that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2nd ("direct") method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of "Robust Fixed Point Transformations (RFPT)" in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of "deformation" of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can "fob" the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a "cart-beam-hamper" system is considered. The conclusions of the paper are illustrated by simulation results. © 2010 IEEE.

关键词： Model reference adaptive control

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

Comparison of Synchronous Reluctance Machine and Permanent M...

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

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

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

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.

关键词： Rotors Torque Reactive power Electrical resistance measurement Magnetic flux Reluctance machines Stators

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Main Faults and Diagnostic Possibilities of BLDC Motors

Main Faults and Diagnostic Possibilities of BLDC Motors

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

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

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

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.

关键词： Permanent magnet motors Induction motors Reluctance motors Brushless DC motors

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Modem Mechatronics and robotics Education Program: Border Cooperation between Estonia and Russia

Modem Mechatronics and Robotics Education Program: Border Co...

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IEEE Education Engineering (EDUCON)

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

ISBN: (数字)9781728109305

ISBN: (纸本)9781728109312

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.

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Stator Flux Finite-time Observer for Non-Salient Permanent Magnet Synchronous Motors

Stator Flux Finite-time Observer for Non-Salient Permanent M...

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Mediterranean Conference on control and Automation (MED)

作者： Alexey Bobtsov Anton Pyrkin Stanislav Aranovskiy Nikolay Nikolaev Olga Slita Olga Kozachek Center for Techologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Equipe Automatique CentraleSupeléc - IETR Cesson-Sévigné France Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

In this paper a gradient observer and finite-time observer of stator flux are developed for non-salient permanent magnet synchronous motors. The methods described here are based on implementation of linear time-invariant (LTI) filters and the dynamic regression extension and mixing (DREM) techniques. The motor resistance and inductance are assumed to be known.

关键词： Observers Stator windings Rotors Permanent magnet motors Resistance Inductance

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