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2020 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2020

作者： Lukyanov, G. Rassadina, A. Kossareva, V. Stepanov, A.A. Alexeev, R.Z. Itmo University Saint-Petersburg The Faculty of Control Systems and Robotics Russia Larionov Institute of Physical and Technical Problems of the North Sb Ras Department of Heat and Mass Transfer Yakutsk Russia Laboratory of Immunological Researches Yakut Science Centre of Complex Medical Problems Medical Institute M. K. Ammosov North-Eastern Federal University Yakutsk Russia

ISBN: (纸本)9781728169514

The results of heat transfer dynamic processes during the breathing are presented. The study is relevant for investigation of health in the extreme conditions of the Arctic. For estimation of this processes the measurement system of temperature, pressure and velocity pulsations in nostrils are developed. It has been shown that for respiratory system diagnostic it is necessary to analyze such dynamic characteristics as the power spectral density and entropy. © 2020 IEEE.

关键词： Respiratory system

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Unsupervised 3D object classification from range image data by algorithmic information theory

Unsupervised 3D object classification from range image data ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Alireza Norouzzadeh Ravari Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

The problem of unsupervised classification of 3D objects from depth information is investigated in this paper. The range images are represented efficiently as sensor observations. Considering the high-dimensionality of 3D object classification, little attention has been paid to the curse of dimensionality in the existing state-of-the-art algorithms. In order to remedy this problem, a low-dimensional representation is defined here. The sparse model of every range image is constructed from a parametric dictionary. Employing the algorithmic information theory, a universal normalized metric is used for comparison of Kolmogorov complexity based representations of sparse models. Finally, most similar objects are grouped together. Experimental results show efficiency and accuracy of the proposed method in comparison to a recently proposed method.

关键词： Dictionaries Accuracy

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Robust PID control of cable-driven robots with elastic cables

Robust PID control of cable-driven robots with elastic cable...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

In this paper robust PID control of fully-constrained cable-driven robots with elastic cables is studied in detail. To develop the idea, a robust PID control for cable-driven robots with ideal rigid cables is firstly designed and then, this controller is extended for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable-driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable-driven robot.

关键词： Robustness Robots Linear matrix inequalities

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Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

arXiv

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arXiv 2023年

作者： Changoluisa Caiza, Iván D. Milas, Ana Montes Grova, Marco A. Pérez-Grau, Francisco Javier Petrovic, Tamara The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia Aerospace Technology Park of Andalusia Seville Spain

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. © 2023, CC BY-NC-SA.

关键词： Iterative methods

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Autonomous navigation of a tracked unmanned ground vehicle*

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IFAC-PapersOnLine 2022年第14期55卷 120-125页

作者： Marija Seder Anđela Jurić Ana Šelek Filip Marić Marija Lovrić Ivan Petrović University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics (LAMOR) Zagreb Croatia University of Zagreb Croatian Military Academy Dr. Franjo Tuđman Zagreb Croatia

This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.

关键词： Robot navigation path planning obstacle detection avoidance motion control map building

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Electrochemical determination of pollutants from various passenger car engines

Electrochemical determination of pollutants from various pas...

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

作者： Karolina Brończyk Michał Adamski Agata Dąbrowska Adam Konieczka Adam Dąbrowski Department of Trace Analysis Faculty of Chemistry Adam Mickiewicz University Poznań Poland Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

This paper presents measurements of the concentrations of particulate matter (PM1, PM2.5, and PM10), carbon dioxide (CO 2 ), total organic compounds (TVOCs), and formaldehyde as pollutants released during fuel combustion. For this purpose, a suitable measuring device containing selective electrochemical sensors was prepared. The influence of fuel type and engine speed on the amount of pollutants released into the environment, was studied. Based on the achieved results, it can be concluded that the factor influencing the amount of pollutants released is mainly the type of fuel. Gasoline-powered cars can pollute the environment in a particularly negative way. A relationship was also noted between the increase in engine speed and the concentration of released carcinogenic formaldehyde.

关键词： Atmospheric measurements Signal processing algorithms Particle measurements Combustion Pollution measurement Sensors Fuels Automobiles Engines Formaldehyde

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Deterministic Framework based Structured Learning for Quadrotors

Deterministic Framework based Structured Learning for Quadro...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Rupam Singh Jan Steinbrener Stephan Weiss The Faculty of Engineering The Maersk Mc-Kinney Moller Institute SDU Robotics Odense Denmark Control of Networked Systems Institute for Intelligent System Technologies Alpen Adria Universität Klagenfurt Austria

The design of a continuous learning controller for quadrotors often entails some specific implementations that require significant system knowledge and are prone to experience catastrophic forgetting. To address these challenges, a deterministic approach is trained using a quadrotor on a relatively small amount of automatically generated data. The Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm is utilized to develop the policy for learning the maneuvers of a quadrotor and controlling it alongside the low-level controller. The algorithm outlined demonstrates proficiency in handling large state spaces and actions that are continuous. It integrates clipped double Q-learning, target policy smoothing, and delayed policy updates, all of which contribute to its effectiveness in training. The proposed control technique’s efficacy is evaluated through numerical simulations conducted on a quadrotor in both standard and windy conditions. The results identified that learning with TD3 reduced the overestimation bias, improved the convergence accuracy, and achieved efficient maneuver with less tracking error by using the dense reward structure.

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Two approaches (GC-ECD and electrochemical sensors signals processing) to the determination of carbonyl compounds as markers of air pollution

Two approaches (GC-ECD and electrochemical sensors signals p...

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

作者： Karolina Brończyk Michał Adamski Agata Dąbrowska Adam Konieczka Adam Dąbrowski Department of Trace Analysis Faculty of Chemistry Adam Mickiewicz University Poznań Poland Division of Signal Processing and Electronic Systems Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland

This article presents the application possibilities of unmanned aerial vehicles (UAVs) for the rapid and efficient determination of carbonyl compounds: formaldehyde and acetaldehyde concentrations in gaseous environmental samples. One of the described methods is the use of special electrochemical sensors (PMS5003 and SEN0231) to measure air pollution in real time (every 10 seconds). The second method involves adsorbing gas samples into sorption tubes with XAD-2 cartridges and uses chromatographic analysis: gas chromatography coupled with a selective electron capture detector (GC-ECD). The proposed analytical technique allows the determination of carbonyl compounds at low concentration levels (μg/m 3 ) using pre-derivatization of samples with the reagent 2,3,4,5,6-pentafluorobenzyl-hydroxylamine (PFBOA). Comparing the results obtained from electrochemical sensors and chromatographic analysis, we can conclude that there are discrepancies between the determined concentrations of formaldehyde in the analyzed gas samples.

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Accuracy and cross-sensitivity analysis of the PMS5003 formaldehyde sensor

Accuracy and cross-sensitivity analysis of the PMS5003 forma...

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

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

Measurement data produced with the PMS5003 electrochemical sensor, allegedly selective for formaldehyde, were analyzed. The amounts of formaldehyde released from heated standard solutions were measured. At the same time, samples were sorbed into sorption tubes with an XAD-2 cartridge, which enabled chromatographic analysis – gas chromatography coupled with an electron capture detector (GC-ECD). A susceptibility of the PMS5003 sensor to cross-sensitivity associated with the presence of other low-molecular-weight carbonyl compounds, such as acetaldehyde and acetone in the sample, was also tested. The conducted research clearly indicates poor selectivity/accuracy of the PMS5003 sensor in relation to formaldehyde and its sensitivity to the presence of other carbonyl compounds in the sample, with a structure similar to formaldehyde.

关键词： Heating systems Gas chromatography Sensitivity Accuracy Signal processing algorithms Detectors Compounds Formaldehyde Standards Electrons

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Finite-Time control Protocol for Uniform Allocation of Second-Order Agents

Finite-Time Control Protocol for Uniform Allocation of Secon...

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IEEE Conference on Decision and control

作者： K. Zimenko D. Efimov A. Polyakov X. Ping Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia CNRS UMR 9189 - CRIStAL Inria Univ. Lille Lille France Xidian University Xi'an Shaanxi China

The paper addresses the problem of uniform finite-time robust allocations of second-order agents on a straight line. A decentralized homogeneous control protocol is proposed that uses only agent's states and local interactions (distances between two closest neighbors). Sufficient conditions of finite-time (input-to-state) stability are proposed in the form of Linear Matrix Inequalities. The theoretical results are illustrated via numerical simulations.

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