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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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The Development of the Cutting Tools and Toolholders Parameters Unified Database

The Development of the Cutting Tools and Toolholders Paramet...

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International Russian Automation Conference (RusAutoCon)

作者： Tatiana V. Basova Yuri S. Andreev Maria V. Basova Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Faculty of Arms and Weapons Systems Baltic State Technical University «VOENMEH» Named After D.F. Ustinov St. Petersburg Russia

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.

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Building Regular Formations with Establishing/Preserving Information Connectivity by Multi-Agent Robotic Teams

Building Regular Formations with Establishing/Preserving Inf...

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International Conference on control, Automation and systems ( ICCAS)

作者： Alexey S. Matveev Petr A. Konovalov Alexander A. Kapitonov A.I. Shepeljavyi Mathematics and Mechanics Faculty Saint-Petersburg State University Peterhof Saint Petersburg Russia Mathematical Robotics Science Division “Sirius University” Sirius City Krasnodar region Russia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

We consider a team of identical agents that are unaware of the team size, cannot discern between the peers or play distinct roles, and should be driven a common control rule, which is to be individually run at any of them. Every agent has access to the relative state of any peer that lies within a finite “visibility range” if nobody “obscures the view” to the peer. Computationally inexpensive distributed algorithms are presented for solution of the following problems: distribution of the agents into nodes of a uniform grid with a given step without gaps and multiple occupancy of nodes; reaching consensus on a quantity of interest (QoI); even self-distribution between two given values of QoI. These algorithms are illustrated by using them as building blocks for control laws that ensure first, dense sweep coverage of corridor environments by planar robotic swarms and second, autonomously building a virtual antenna array in 3D by mobile devices. The proposed algorithms are justified by mathematically rigorous global convergence results; their performance is confirmed by computer simulation tests.

关键词： Performance evaluation Three-dimensional displays Computer simulation Buildings Mobile antennas Mobile handsets Peer-to-peer computing

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Agent Motivational and Repulsion Forces Optimization in Agent Basic Movement Model

Agent Motivational and Repulsion Forces Optimization in Agen...

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Asian control Conference

作者： Nurulaqilla Khamis Mohammad Fadzli Haniff Hazlina Selamat Omar Farouq Lutfy Centre for Artificial Intelligence & Robotics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Centre for Artificial Intelligence & Robotics Electrical Engineeering Faculty Universiti Teknologi Malaysia Centre for Artificial Intelligence & Robotics Electrical Engineering Faculty Universiti Teknologi Malaysia Control & Systems Engineering Department University of Technology

ISBN: (纸本)9781479978632

Human will have their own preferences when they are walking such as direction in their movement, destination and walking speed. These preferences and walking patterns can be affected by several factors including psychological behavior of evading other people or obstacle to avoid any collision by exerting certain repulsion forces. To demonstrate plausible human movement pattern, agent simulation model as a tool has been developed in this research studies where the agent will represent the human with the physical characteristics of body radius and Field of View (FoV) to navigate their surroundings. The modification in the proposed agent model was done by utilizing the physical force approach which results in a simpler mathematical representation compared to the original model. In the proposed model, two parameters, namely, K_(ad) and K_(ro), are used to represent the agent motivational force to move towards its target destination and the obstacle repulsion, respectively. Moreover, heuristics and non-linear parameters were used in the proposed model to provide more realistic agent motion by maintaining their safety boundary from obstacles. To increase the accuracy of the modified model, the Particle Swarm Optimization (PSO) algorithm is used to find the optimal settings for the parameters of the agent basic movement model. The PSO has achieved superior results by optimizing the model parameters to provide safe distance trajectories between agents and obstacles.

关键词： Agents research report Repulsion model parameters original model walking barriers Human Force Movements Diaphysis of radius Two-Parameter Models Physical characteristics

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Robust Stabilization of control Affine systems with Homogeneous Functions ⁎

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IFAC-PapersOnLine 2020年第2期53卷 6311-6316页

作者： Konstantin Zimenko Andrey Polyakov Denis Efimov Faculty of Control Systems and Robotics ITMO University 49 Kronverkskiy av. 197101 Saint Petersburg Russia. Inria Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France

The stabilization problem of the affine control system ẋ = f 0 (x)+∑ i=1 m u i f i (x) with homogeneous functions f 0 , fi is studied. This class of systems is of interest due to the robust properties of homogeneity and the fact that many affine systems can be approximated by or transformed to the class under consideration. An advantage of the introduced design method is that the tuning rules are presented in the form of linear matrix inequalities. Performance of the approach is illustrated by a numerical example.

关键词： Nonlinear control control affine systems robust stabilization homogeneous systems

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Comparative Study on Fall Detection using Machine Learning Approaches 19

Comparative Study on Fall Detection using Machine Learning A...

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19th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2022

作者： Tongskulroongruang, Thienrawit Wiphunawat, Paphatchaya Jutharee, Wisanu Kaewmahanin, Watchara Rassameecharoenchai, Teerameth Jennawasin, Tanagorn Kaewkamnerdpong, Boonserm King Mongkut's University of Technology Thonburi Department of Control Systems and Instrumentation Engineering Bangkok Thailand Institute of Field Robotics and Automation King Mongkut's University of Technology Thonburi Bangkok Thailand Naresuan University Faculty of Allied Health Sciences Department of Cardiothoracic Technology Phitsanulok Thailand King Mongkut's University of Technology Thonburi Biological Engineering Program Faculty of Engineering Bangkok Thailand

ISBN: (纸本)9781665485845

Falls are one of the most dangerous problems for the elderly. A reliable fall detection system can aid in reducing the harmful repercussions of an unintentional fall. The focus of this paper is on a dataset that includes signals from portable devices. We propose a simple feature selection approach to reduce the number of effective input attributes based on a voting strategy. The dataset is classified into three categories, i.e., pre-fall, fall and post-fall using various machine learning approaches. The computational time is significantly reduced for most of the classification algorithms, and the relative reduction reaches to 66.67% with decision tree algorithm. Classification accuracy can reach as high as 95.17% when using neural network, while the relative reductions on the classification accuracy due to the feature selection do not exceed 1.50%. © 2022 IEEE.

关键词： Decision trees

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Automatic Facial Asymmetry Analysis for Elderly Stroke Detection by using Cosine Similarity 19

Automatic Facial Asymmetry Analysis for Elderly Stroke Detec...

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19th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2022

作者： Kaewmahanin, Watchara Rassameecharoenchai, Teerameth Jutharee, Wisanu Tongskulroongruang, Thienrawit Wiphunawat, Paphatchaya Jennawasin, Tanagorn Kaewkamnerdpong, Boonserm Naresuan University Faculty of Allied Health Sciences Department of Cardiothoracic Technology Phitsanulok Thailand King Mongkut's University of Technology Thonburi Institute of Field Robotics and Automation Bangkok Thailand Mongkut's University of Technology Thonburi Department of Control Systems and Instrumentation Engineering Bangkok Thailand King Mongkut's University of Technology Thonburi Biological Engineering Program Faculty of Engineering Bangkok Thailand

ISBN: (纸本)9781665485845

For acute stroke patients, time to recognize the stroke symptom onset is crucial for the lifesaving treatment. The automatic detection of stroke signs has been increasingly developed for practical use. The better timely classification results could allow better detection of the symptoms and avoid morbidity and mortality. In this study, we proposed using cosine similarity between the left and right sides of the face as a part of features for classifying the stroke elderly patients from healthy elderly participants. We employed our method on images from the Toronto NeuroFace dataset. The results showed high classification accuracy (the average accuracy of 97.8998% from 6 classification methods). These results indicate that the cosine similarity features can be useful to detect facial asymmetry and pose very promising potential for elderly stroke detection. © 2022 IEEE.

关键词： Patient treatment

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control system for reactor vessel inspection manipulator

Control system for reactor vessel inspection manipulator

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IEEE Conference on control Technology and Applications (CCTA)

作者： Alan Mutka Ivica Draganjac Zdenko Kovacic Zeljko Postruzin Ranko Munk Faculty of EE&C Department of Control and Computer Engineering LARICS-Laboratory of Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia Organization of Technology Development and Application HRID Limited Zagreb Croatia

In this paper a system for control and 3D visualization of a manipulator for weld inspection of nuclear reactor vessels is described. Based on client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. In addition, the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.

关键词： control systems Inductors Inspection Welding Parallel robots Visualization TCPIP Software architecture Graphical user interfaces Trajectory

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Eye-RHAS Manipulator: From Kinematics to Trajectory control

Eye-RHAS Manipulator: From Kinematics to Trajectory Control

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RSI/ISM International Conference on robotics and Mechatronics

作者： Ebrahim Abedloo Soheil Gholami Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

One of the challenging issues in the robotic technology is to use robotics arm for surgeries, especially in eye operations. Among the recently developed mechanisms for this purpose, there exists a robot, called Eye-RHAS, that presents sustainable precision in vitreo-retinal eye surgeries. In this work the closed-form dynamical model of this robot has been derived by Gibbs-Appell method. Furthermore, this formulation is verified through SimMechanics Toolbox of MATLAB . Finally, the robot is simulated in a real time trajectory control in a teleoperation scheme. The tracking errors show the effectiveness and applicability of the dynamic formulation to be used in the teleoperation schemes.

关键词： Eye Surgery Eye-RHAS Gibbs-Appell Phantom Omni Real Time Trajectory control SimMechanics

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Automated Ultrasonic Testing of Carbon-Carbon Composite Materials

Automated Ultrasonic Testing of Carbon-Carbon Composite Mate...

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Information, control, and Communication Technologies (ICCT), International Conference on

作者： Evgeniy A. Pavlukhin Igor Y. Kinzhagulov Alexey V. Fedorov Magomed A. Omarov Faculty of Control Systems and Robotics ITMO University ST Petersburg Russia Institution of Science “Engineering and design center for support of the operation of space technology ST Petersburg Russia

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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