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Adaptive Nonlinear Tracking Approach for Motion Tracking Applications

Adaptive Nonlinear Tracking Approach for Motion Tracking App...

引用

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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Design of versatile gripper with robust control

Design of versatile gripper with robust control

引用

作者： Borisov, Ivan I. Borisov, Oleg I. Gromov, Vladislav S. Vlasov, Sergey M. Dobriborsci, Dmitrii Kolyubin, Sergey A. Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This paper presents a novel approach to the development of finger mechanisms for anthropomorphic grippers. The proposal approach allows to design a gripper finger that is able to break/reconnect a kinematic chain of the finger in order to change a degree of freedom, that will enable to choose between different operation modes of the grasping device. This approach can be used to create grippers for different tasks such industrial grippers as well as prosthesis. In this paper, the proposed approach was used to create our gripper named "UHVAT" (Usable Holding Versatile Adjustable Tool) for industrial tasks. The gripper consists of three fingers and a palm and equipped with four motors. The robust regulator was designed for positioning control of the motors. The control law includes cancellation of steady state error and anti-windup portions. © 2018

关键词： Grippers

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RSSI-Based Evaluation of Wireless Personal Area Networks Nodes Noise Immunity in Industrial Buildings

RSSI-Based Evaluation of Wireless Personal Area Networks Nod...

引用

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

作者： Krylova, A.A. Kolesnikov, M.V. Afanasev, M.Ya. Fedosov, Yu.V. Andreev, Yu.S. Shorokhov, S.A. Zimenko, K.V. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728169514

Results of a study of the influence of manufacturing environment factors on wireless personal networks are presented in the paper. A classification of such factors is proposed, and the noise immunity of wireless personal networks is determined using a real production as an example. A method for evaluating noise immunity based on a received signal strength indicator (RSSI) is proposed. RSSI values can be obtained natively from almost any receiver and transmitter, which makes this method affordable compared to using network analyzers and other specialized equipment. In the conducted experiment the receiver and transmitter were located at a distance ranging from 0.5 to 25 m from each other. The act of signal transfer was carried out alternately under the influence of each production environment factor. Then measured RSSI values were analyzed and converted into the maximum permissible distance between the receiver and the transmitter in accordance with the proposed method. As a result, data on the influence of a production environment on the noise immunity of wireless personal networks was obtained. Nevertheless, it is concluded that the influence is not significant enough to decide against the use of wireless personal networks, since the influence of many factors can be offset by the use of mesh topology and a dense arrangement of receivers and transmitters. The results are particularly interesting in the context of manufacturing digitalization, where the wireless method of data transmission from field level sensors becomes preferable to the wired due to the requirement for flexibility and mobility of a production process. © 2020 IEEE.

关键词： Transmitters

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Four Quadrant AC-DC Converter control System Prototype for AC Locomotive Traction Drive 24

Four Quadrant AC-DC Converter Control System Prototype for A...

引用

24th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2023

作者： Poliakov, Nikolai Arbuzina, Arina Arkharova, Margarita Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9798350336870

The article deals with the control system of the Four Quadrant AC-DC Converter control System for the locomotive traction electric drive. A simulation model 'transformer-four quadrant converter- direct current link-equivalent active load of locomotive traction electric drive' based on the parameters of the power subsystem has been developed. The synthesis of the control system of the active front end power stage was carried out. A control system with phase locked loop and DC link observer is proposed for described system. An algorithm for setting the reference signal of PWM with phase shift at the PWM period for simultaneous operation of several four quadrant AC-DC converters with common direct current link has been developed. A model study of the developed system and analysis of electromagnetic processes in the DC link, primary and secondary windings of the transformer were carried out. A bench prototype for debugging the control system has been developed. © 2023 IEEE.

关键词： Power quality

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Comparative Analysis of Modeling of a Magnus Effect-Based Wind Energy System

Comparative Analysis of Modeling of a Magnus Effect-Based Wi...

引用

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

作者： Babayeva, Marina Abdullin, Artur Polyakov, Nikolay Konstantin, Gorshkov IFMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728157610

In the present work, we consider a model of the electric drive of a wind generator based on the Magnus effect with a load. A brief explanation of the use of the Magnus effect for electricity-generating is presented. The physical implementation of a wind generator based on the Magnus effect is explained. The integration of the developed 3D model of the generator into the Matlab environment is carried out. An analytical mathematical model is developed using Matlab Simulink. A comparative analysis of the work of two variants of mathematical models is carried out. An analysis of the performance of the electrical generator and the minimum required wind flow to cover the generator's own costs is made. © 2020 IEEE.

关键词： Energy efficiency

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Maintaining a Wireless Sensor Network Structure in a Variable Dynamic Environment

Maintaining a Wireless Sensor Network Structure in a Variabl...

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Galkina, Daria Tomashevish, Stanislav Borisov, Oleg ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9798350395044

This article discusses a wireless sensor network, in which elements are attached to a group of robots located on the surface of the water. Due to the group being exposed by constant and unpredictable environmental influences such as wind, waves and swell, the structure of the wireless sensor network can be disrupted to complete failure. Because of this, there is a need to synthesize a control algorithm that could support a predetermined structure of a wireless sensor network on the surface of the water. The proposed algorithm is quite simple to implement, is distinguished by its flexibility and allows to accurately specify the desired shape of the network structure in advance. © 2024 IEEE.

关键词： Wireless sensor networks

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Application of Machine Learning Method for Selection of Cascade PLI Filter in Design of a Computerized ECG Signal Processing System

Application of Machine Learning Method for Selection of Casc...

引用

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

作者： Altay, Yeldos A. ITMO University Faculty Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781665433020

This article presents the results of the study of cascade PLI filters to justify the selection damping coefficient in order to increase the noise resistance system and create a software complex for ECG signal processing. To justify the selection of this coefficient, it is proposed to apply the supervised machine learning method. Theoretically significant analytical dependences processing system indicators on the selection damping coefficient of cascade PLI filters are obtained. It was found that at low values of this coefficient, the selectivity of narrow-band cascade PLI filters improves, and the quality indicators of ECG signal processing increase. Based on the analysis characteristics synthesized cascade PLI filter and the analysis of the processing results, the damping value of system xi=0.1 is justified and selected to create a software package. To confirm the practical significance of the improved processing approach, the performance software package, which combines the PLI filtration system, has been demonstrated. It is shown that the improved (developed) approach allows filtering natural power line interference with harmonics at frequencies of 50 Hz and 100 Hz and opens up new possibilities for ECG signal processing. © 2021 IEEE.

关键词： Damping

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The Cutting Tool Technical State Forecasting During the Technological Production Preparation Stages

The Cutting Tool Technical State Forecasting During the Tech...

引用

2023 International Ural Conference on Electrical Power Engineering, UralCon 2023

作者： Basova, T.V. Andreev, Y.S. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9798350303391

This study deals with the addressing the issue of ensuring the operational condition of the technological system in terms of quality parameters for manufacturing products within the required timeframe by developing and implementing the method for forecasting the technical state of the cutting tool (CT). The paper highlights the importance of determining and forecasting the technical state of the CT for enterprises in the instrument-making and mechanical engineering industries. To address the research question, an operational control method for the CT, based on the multisensory data fusion obtained from technical diagnostic and control systems on a computer numerical control (CNC) machine, was proposed. The forecasting of the CT's technical state was performed using artificial intelligence (AI) methods. The proposed approach for obtaining input data for developing predictive models differs in their reliability due to minimizing erroneous results from individual technical diagnostic and control systems. © 2023 IEEE.

关键词： Cutting tools

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ML-Based Inertial Navigation System Diagnosis for Underwater Vehicle

ML-Based Inertial Navigation System Diagnosis for Underwater...

引用

2024 International Russian Automation Conference, RusAutoCon 2024

作者： Galkina, Daria Margun, Alexey Iureva, Radda Faculty of Control Systems and Robotics Itmo University St. Petersburg Russia

This paper investigates ML methods for diagnosing failures in an integrated Inertial Navigation System (INS) of the underwater vehicle ODIN UAV. Using dynamic equations of motion and considering measurement noise, a dataset was generated during normal operation and during various failures. Data preprocessing, exploratory analysis and feature engineering were conducted. To solve the problem of INS technical state classification, multiple machine learning models were evaluated and optimized using training data and techniques to reduce the number of dimensions. A comparative analysis of the obtained results was carried out. The paper contributes insights into effective ML-based diagnostics for enhancing navigation system reliability in autonomous underwater robots. © 2024 IEEE.

关键词： Inertial navigation systems

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Experimental Study on Output Robust control of a Surface Vessel with Uncertainties and Exogenous Disturbances 9

Experimental Study on Output Robust Control of a Surface Ves...

引用

9th International Conference on control, Decision and Information Technologies, CoDIT 2023

作者： Zhivitskii, Andrei Yu. Zakharov, Dmitrii N. Borisov, Oleg I. Kurovskii, Denis M. Pyrkin, Anton A. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9798350311402

In this paper experimental research on the output control problem of a surface vessel with parametric uncertainties and external disturbances is shown. We propose application of the robust control framework based on the extended observer design with subsequent augmenting with the internal model to reject external disturbances affected the robotic boat in laboratory basin. Dynamic Positioning (DP) mode includes task of a station-keeping which can can be effectively solved with proposed algorithm. © 2023 IEEE.

关键词： Robust control

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