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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic systems

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IFAC-PapersOnLine 2017年第1期50卷 5914-5919页

作者： Arbanas B. Boljuncic S. Petrovic T. Bogdan S. University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： decentralized systems distributed artificial intelligence Hierarchical decision making scheduling algorithms

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Improving the Efficiency of Mechatronic systems Based on Optimization Principles

Improving the Efficiency of Mechatronic Systems Based on Opt...

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2021 IEEE International Conference "Quality Management, Transport and Information Security, Information Technologies", T and QM and IS 2021

作者： Marusina, Maria Ya. Silaev, Alexei A. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781665433020

A method of increasing the efficiency of various robotic and mechatronic systems based on the method of analysis and optimization synthesis is presented. The proposed method is implemented by the example of improving the efficiency of the functioning of individual components that are part of various mechatronic systems. In particular, the article presents the results of modeling the magnetic field of an electric motor using the finite element analysis program FEMM. Maintaining a high efficiency of the electric motor in an extended range of rotation speeds is ensured by turning the rotor magnets and introducing an angle of advance of the current supply to the stator windings. © 2021 IEEE.

关键词： Finite element method

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Machine Vision for Auto Positioning in the Modular Industrial Equipment: A Case Study 3

Machine Vision for Auto Positioning in the Modular Industria...

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3rd IEEE Conference on Industrial Cyberphysical systems, ICPS 2020

作者： Afanasev, Maxim Ya. Fedosov, Yuri V. Andreev, Yuri S. Krylova, Anastasiya A. Shorokhov, Sergey A. Zimenko, Kseniia V. Kolesnikov, Mikhail V. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728163895

The unification principle of industrial equipment involves splitting the installation into interchangeable components, from which the required type of equipment is assembled for specific production tasks according to the order. For the common industrial equipment, zero position setting usually causes no issues. However, for the modular machines with different sizes of modules, the mounting error can be appeared and it has to be corrected automatically. In addition, due to a possible frequent change of equipment during the production process, clamps can wear out, increasing the error. It is necessary to introduce an automatic adjustment of tool position relative to the carriage suspension, implemented using machine vision systems. The cost of video capture equipment and computing tools decreases, and their characteristics, on the contrary, grow. Moreover, algorithms for recognizing markers' position and angle together with augmented reality development tools are also constantly being improved with their application complexity being significantly reduced, which emphasizes the practicability of their use. The paper describes the problem of eliminating the installation error of instrumental modules on a three-axes platform. The proposed method involves the use of a number of reference markers on the platform, its suspension, and on the plug-in modules. © 2020 IEEE.

关键词： Computer vision

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Method of control System Design with Predetermined Overshoot for Optical Axis Servo Drives of SLR Station

Method of Control System Design with Predetermined Overshoot...

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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Shustov, Ilya V. Tolmachev, Valery A. Lovlin, Sergey Yu. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728157610

The paper considers the method of control system design for optical axis servo drives of SLR station. The method allows to improve accuracy of optical axis servo drives by mean of increasing performance of the inner velocity control loop. The represented analytical equations allow to tune up regulator that provide maximum performance of control system with predetermined overshoot. The obtained analytical equations take into account both elasticity and internal damping of an actuating axis mechanism. The simulation results of the control system of the elevation axis servo drive of the SLR station "Stajer-2 OPU LIK" verify the method. © 2020 IEEE.

关键词： Friction

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Convolutional Neural Networks for Early Prediction of Alzheimer's Diseases

Convolutional Neural Networks for Early Prediction of Alzhei...

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2021 IEEE International Conference "Quality Management, Transport and Information Security, Information Technologies", T and QM and IS 2021

作者： Marusina, Maria Ya. Bukhalov, Alexei D. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781665433020

It has now been confirmed that the main cause of dementia is Alzheimer's disease. It is characterized as neurodegenerative, chronic, progressive, and belonging to the category of incurable. The clinical picture of the disease's manifestation includes cognitive dysfunction, amnesia, gradual loss of multiple brain functions and the lack independence in daily functioning. To reduce the risk of its occurrence, it is necessary to identify the MCI in advance. In our work, we aim to describe a method that helps to detect signs of early onset of AD with the help of CNN. Sagittal, axial, and coronary MRI slices were used to train CNN models for a number of classification tasks;then these CNN models were combined into one group. The paper also discusses image and dataset preprocessing. The method can find its application in medicine for the delivery of a diagnosis at stages when the changes in the brain are so small that a medical expert cannot yet detect them. © 2021 IEEE.

关键词： Image classification

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Method of Converting an Induction Motor to a Permanent Magnet Synchronous Motor (Ls-Pmsm) with Linear Starting Using FEA for Mechatronic systems

Method of Converting an Induction Motor to a Permanent Magne...

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2019 IEEE International Conference "Quality Management, Transport and Information Security, Information Technologies" IT and QM and IS 2019

作者： Marusina, Maria Ya Silaev, Alexey A. Nevmerzhitsky, Denis A. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728125954

This article describes basic overview of retrofit design flow of line start permanent magnet synchronous machine. Developed design methodology involves extensive usage of finite element analysis. Four strategies of rotor modification are present in this paper to provide cheap and efficient solution. Preliminary calculations showed positive results. © 2019 IEEE.

关键词： Finite element method

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Maintenance of Operable Condition of a Flexible Production System Through the Development and Implementation of a Method for Cutting Tools and Workpieces Operational control

Maintenance of Operable Condition of a Flexible Production S...

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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Basova, Tatiana V. Andreev, Yuri S. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9798350395044

The objective of this research is to maintain the operational state of a flexible manufacturing system (FMS) within the required timeframe by developing and implementing a method for operational control of cutting tools and processed workpieces. A reliable technological system (TS) for the mechanical processing operation is to maintain the production of parts with the required quality and quantity within the specified time, particularly crucial when considering FMSs that eliminate personnel to constantly monitor the technological operation. Through the conducted analytical review, the relevance and immediacy of the work aimed at developing the method for operational control of cutting tools and workpieces are emphasized. This method involves the autonomous operation of the TS through multisensory integration of data on changes in geometric parameters of cutting tools and workpieces, with programming automation and management of information about cutting tools using a database of cutting and auxiliary tool parameters. Within the scope of the research, an experimental validation of the proposed method was conducted, along with solutions addressing issues related to predicting the technical condition of cutting tools for enterprises in the instrument-making and machinery industries under actual production conditions. The prediction of the technical condition of cutting tools was performed using artificial intelligence (AI) methods. The proposed approach for obtaining initial data for developing predictive models is characterized by its reliability, minimizing erroneous results from technical diagnostic and control systems operating independently. © 2024 IEEE.

关键词： Cutting tools

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Acoustic Emission Signal Processing Based on Polynomial Filtering Method

Acoustic Emission Signal Processing Based on Polynomial Filt...

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2022 Conference of Russian Young Researchers in Electrical and Electronic Engineering, ElConRus 2022

作者： Altay, Yeldos A. Fedorov, Aleksey V. Stepanova, Ksenia A. Faculty Control Systems and Robotics Itmo University St. Petersburg Russia

ISBN: (纸本)9781665409933

This article presents the results of acoustic emission signal processing based on the method of polynomial filtering. Butterworth polynomials are used to approximate the proposed filter. Extraction of the information signals components and noise, as well as studying their frequency response is proposed to use the method of bi-directional processing of measurement data. The efficiency proposed signal processing method is analyzed and, on the basis of quantitative indicators, its effectiveness for noise-reducing is analyzed. The effectiveness of the polynomial filtration method is demonstrated by experimental results of acoustic emission signal processing. © 2022 IEEE.

关键词： Signal to noise ratio

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Adaptive control of an Uncertain Differential Drive Robot 8

Adaptive Control of an Uncertain Differential Drive Robot

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8th International Conference on control Science and systems Engineering, ICCSSE 2022

作者： Chen, Zhiqiang Liao, Duzhesheng Krasnov, Aleksandr Y. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781665484138

This paper proposes an adaptive trajectory tracking control scheme for differentially driven robots in the state of unknown kinematic and dynamic model parameters and uncertain external disturbances. The main idea is to design an adaptive controller to reduce the influence of unknown dynamic parameters and unknown parameters of the kinematic model. A kinematic controller is first designed to generate virtual velocities as reference inputs for dynamic control systems. The kinematic controller is then designed so that the actual velocity tracks the virtual velocity asymptotically. The robot can reach the expected speed and let the attitude error converge quickly. This approach enables the robot to quickly follow the desired trajectory. Finally, the effectiveness of the method is proved by MATLAB simulation. © 2022 IEEE.

关键词： Robots

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Adaptive Nonlinear Tracking Approach for Motion Tracking Applications

Adaptive Nonlinear Tracking Approach for Motion Tracking App...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Gromov, Vladislav S. Meshkov, Aleksei V. Pyrkin, Anton A. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728187631

The problem of output regulation for systems affected by nonlinear reference signal, which is caused by exosystem with parametric uncertainties, is addressed. The control law for a nonlinear trajectory is proposed with the design of an adaptive internal model. The efficiency of the proposed algorithm was proved by experiments using the setup that includes an articulated robot. The experimental results are presented. © 2020 IEEE.

关键词： Nonlinear analysis

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