检索结果-内蒙古大学图书馆

International Conference on control, Decision and Information Technologies (CoDIT)

作者： Andrei Yu. Zhivitskii Dmitrii N. Zakharov Kirill A. Shabanov Oleg I. Borisov Sergei V. Shavetov Anton K. Golubev Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

In this article dynamically positioned surface vessel model is considered. To achieve precise performance of the vessel with unknown parameters two control problem was solved. First one is online parametric identification. The estimation of unknown parameters of the surface vessel model is obtained by methods, which are gradient descent method, extended Kalman filter and dynamic regressor extension and mixing (DREM). Second problem is the design of the adaptive control based on the collected results from estimators. For this purposes inverse dynamics control is considered. The convergence of the system is shown in the modeling section. DREM estimation method showed best results.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Adaptive Consensus control for Linear Multi-Agent System with Unknown Sinusoidal Disturbances

引用

IFAC-PapersOnLine 2023年第2期56卷 1198-1203页

作者： Sokrat Aldarmini Sergey Kolyubin Alexey Vedyakov Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia

This paper deals with consensus control for a multi-agent system, where agents are represented via state-space models. It is assumed that they are subjected to sinusoidal disturbances with unknown parameters in the input channel. The connections between the agents are represented by a cycle-free graph containing a spanning tree. An adaptive distributed control algorithm is proposed, guaranteeing asymptotic convergence of the agents’ states towards consensus, provided that the agent model satisfies the controllability condition. The control algorithm consists of a distributed observer, a distributed control law, and an adaptation law. The theoretical results are proven using LaSalle's invariance principle. Finally, a simulation example is presented to demonstrate the theoretical findings.

关键词： Consensus Adaptive control of multi-agent systems Distributed control and estimation

来源：评论

学校读者我要写书评

暂无评论

Finite-Time Sensors Diagnosis Based on Unknown Input Observers

Finite-Time Sensors Diagnosis Based on Unknown Input Observe...

引用

International Russian Automation Conference (RusAutoCon)

作者： Alexey Margun Van Huan Bui Alexey Bobtsov Control Systems and Robotics Department ITMO University Saint Petersburg Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

The paper focuses on developing a finite-time approach for sensors fault detection and isolation in MIMO systems. The proposed solution utilizes the synthesis of a bank of unknown input observers, tailored specifically for each of sensor. A significant advantage of this solution over existing methods is its applicability to plants with any arbitrary relative degree. The paper introduces a modification that ensures finite-time convergence using Kreisselmeier's scheme combined with the dynamic regressor extension and mixing method. This modification guarantees that the convergence of observer estimates—and thus the diagnostic results—occurs within a user-specified timeframe. Additionally, the implementation of filters and threshold settings is discussed to prevent false alarms caused by measurement noise. The effectiveness of the developed approach is validated through computer simulations, confirming its robust performance.

关键词： Fault detection Computer simulation Noise Observers Sensor systems Vectors Sensors Nonlinear dynamical systems Noise measurement Convergence

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

International Ural Conference on Measurements (UralCon)

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

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Spectral Mask - Based Technique for Improving Generalized Sidelobe Canceller Beamformer's Evaluation

Spectral Mask - Based Technique for Improving Generalized Si...

引用

2023 Seminar on Signal Processing, SoSP 2023

作者： The, Quan Trong Huy, Nguyen Ba Anh, Pham Tuan Ha Noi University of Science and Technology Falculty of Information Technology Ha Noi Viet Nam University ITMO Falculty of Control Systems and Robotics Saint-Petersburg Russia University ITMO Falculty of Software Engineering and Computer Systems Saint-Petersburg Russia

ISBN: (纸本)9798350371086

Noise suppression and understanding speech in a complex environment with the presence of numerous and dominant surrounding noise is very difficult for humans. To deal with this problem, microphone array, which exploit a priori information of designed geometry of microphone array, the direction of arrival (DOA) of interest signal or the properties of recorded situation, is used with aiming at preserving the desired speaker without speech distortion while reducing background noise. Generalized Sidelobe Canceller (GSC) beamformer has been installed in almost all acoustic equipment, hearing aids, mobile phones. Unfortunately, the performance of GSC beamformer is often corrupted in many scenarios, such as imprecise DOA, microphone mismatches or different microphone sensitivities. In this paper, a spectral mask - based suggested algorithm to reduce the speech leakage in the reference signal of GSC beamformer. The proposed method is evaluated for increasing the speech quality of dual - microphone systems. © 2023 IEEE.

关键词： Signal to noise ratio

来源：评论

学校读者我要写书评

暂无评论

Camera-based light source localization for precise luminous intensity measurement of airport lamps 27

Camera-based light source localization for precise luminous ...

引用

27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Podbucki, Kacper Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

Measuring luminous intensity using electronic sensors requires their precise positioning. In the case of mobile measurement platforms, it is important to detect the light source and thus determine the correct direction of movement of the measuring device. This article presents research on a solution for the initial detection of glowing airport lamps based on camera images. The impact of the selection of parameters and image processing methods on the prepared data set was assessed. The histogram filtration method was introduced to improve the effectiveness of airport lamp localization. The proposed solution was investigated in different weather and daytime conditions. The overall accuracy of the proposed solution is more than 90%. © 2024 Division of Signal Processing and Electronic systems, Poznan university of Technology (DSPES PUT).

关键词： Image enhancement

来源：评论

学校读者我要写书评

暂无评论

An Effective Post - Filtering for Minimum Variance Distortionless Response Beamformer

An Effective Post - Filtering for Minimum Variance Distortio...

引用

2023 Seminar on Signal Processing, SoSP 2023

ISBN: (纸本)9798350371086

An effective hands-free speech interface with an appropriate digital signal processing is essential for teleconference systems and control systems. Beamforming technique, which use a microphone array (MA) is an ideal solution for distant - talking speech acquisition, is one of the most attractive approaches for suppressing background noise and improving the speech intelligibility and speech quality of the processing system. Minimum Variance Distortionless Response (MVDR) has the capacity of maximizing the sensitivity in a certain direction at aiming to extract the desired target speech while removing all total power of surrounding noise. However, in many complex recording environments, due to the error of direction of arrival of interest speaker, the difference of microphone sensitivities, imprecise designed geometry of MA, the performance of MVDR beamformer often degraded. In this contribution, the authors suggested an additive post-filtering to enhance the effectiveness of MVDR beamformer. © 2023 IEEE.

关键词： Signal to noise ratio

来源：评论

学校读者我要写书评

暂无评论

RVWO: A Robust Visual-Wheel SLAM System for Mobile Robots in Dynamic Environments

RVWO: A Robust Visual-Wheel SLAM System for Mobile Robots in...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Jaafar Mahmoud Andrey Penkovskiy Ha The Long Vuong Aleksey Burkov Sergey Kolyubin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This paper presents RVWO, a system designed to provide robust localization and mapping for wheeled mobile robots in challenging scenarios. The proposed approach leverages a probabilistic framework that incorporates semantic prior information about landmarks and visual re-projection error to create a landmark reliability model, which acts as an adaptive kernel for the visual residuals in optimization. Additionally, we fuse visual residuals with wheel odometry measurements, taking advantage of the planar motion assumption. The RVWO system is designed to be robust against wrong data association due to moving objects, poor visual texture, bad illumination, and wheel slippage. Evaluation results demonstrate that the proposed system shows competitive results in dynamic environments and outperforms existing approaches on both public benchmarks and our custom hardware setup. We also provide the code as an open-source contribution to the robotics community 2 2 https://***/be2rlab/rvwo.

关键词：

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

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

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Determination of the Finishing Operation Technological Features of an Aircraft Sensor Using The Industrial Internet of Things Tools

Determination of the Finishing Operation Technological Featu...

引用

International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Semyon Yudin Alexey Mikhailov Sergey Tretyakov Faculty of Control Systems and Robotics ITMO University Saint-Peterburg Russian Federation

A study of the plane-parallel surfaces finishing process of high-precision parts was carried out. The architecture of the IIoT environment based on the Winnum Platform for a double-acting flat-finishing machine has been developed. The requirements for surface roughness and the tolerance of flatness and parallelism are considered, and the reasons for their magnitude are determined. The analysis of studies on technological issues of manufacturing aircraft vibration sensors has been carried out. The types of technological finishing operation are considered, as well as the process of machine finishing of flat parallel surfaces for a double-acting flat-finishing machine is described. The kinematics of the finishing operation is considered. The need for the development of recommendations for determining the rational technological modes of finishing is revealed.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：