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检索条件"机构=Faculty of Control Systems and Robotics ITMO University"

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High–Frequency Transformer Development for Compact Dual Active Bridge Converters

High–Frequency Transformer Development for Compact Dual Act...

引用

International Conference on Actual Problems of Electronic Instrument Engineering (APEIE)

作者： Galina Demidova Nikolai Poliakov Aleksandr Lukin Dmitry Lukichev Aleksandr Usolchev Jackson J. Justo Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Engineering University of Dar es Salaam Dar es Salaam Tanzania

This paper presents a methodology for designing high–frequency transformers operating at 20 kHz made for operation in dual active bridge converter with a voltage setup of 600V/3x100V. The paper begins by explaining the calculation process for the transformer's design, focusing on crucial aspects such as leakage and magnetizing inductances. Specific techniques for the transformer winding process are discussed, ensuring accuracy and efficiency. Furthermore, the paper analyzed into calculating the parameters that make up the transformer's equivalent circuit, offering insights into its electrical characteristics. It also explores the impact of transformer leakage inductance on the converter's active power performance. To ensure the transformer's robust thermal performance, a thorough thermal analysis using Ansys software is conducted by considering various cooling methods. Finally, the construction details of the transformer, bridging the gap between theoretical design and practical realization are presented. The research concludes with the development of the final transformer construction, harmonizing the theoretical design with practical realization. This study contributes to the field of high–frequency transformer design and highlights the significance of design considerations, particularly in applications where compact and highly efficient power conversion solutions are required.

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

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

引用

Seminar on Signal Processing

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

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.

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Bio-inspired visual relative localization for large swarms of UAVs

Bio-inspired visual relative localization for large swarms o...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Martin Křížek Matouš Vrba Antonella Barišić Kulaš Stjepan Bogdan Martin Saska Faculty of Electrical Engineering Czech Technical University in Prague Prague Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We propose a new approach to visual perception for relative localization of agents within large-scale swarms of Unmanned Aerial Vehicles (UAVs). Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals capable of moving in a decentralized yet coherent manner, our method does not rely on detecting individual neighbors by each agent and estimating their relative position, but rather we propose to regress a neighbor density over distance. This allows for a more accurate distance estimation as well as better scalability with respect to the number of neighbors. Additionally, a novel swarm control algorithm is proposed to make it compatible with the new relative localization method. We provide a thorough evaluation of the presented methods and demonstrate that the regressing approach to distance estimation is more robust to varying relative pose of the targets and that it is suitable to be used as the main source of relative localization for swarm stabilization.

关键词： Location awareness Visualization Scalability Estimation Object detection Autonomous aerial vehicles Robustness

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Adaptive Compensation Disturbance For Linear systems With Input Delay*

Adaptive Compensation Disturbance For Linear Systems With In...

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Mediterranean Conference on control and Automation (MED)

作者： Tung K. Nguyen Sergey M. Vlasov D. Dobriborsci Anton A. Pyrkin Department of Control Systems and Robotics ITMO University Kronversky Pr. 49 St. Petersburg Russia Deggendorf Institute of Technology (Technology Campus Cham)

An adaptive algorithm, compensating for unknown harmonic disturbance acting for linear objects under conditions of the unavailable state vector with a defined delay in the control channel is proposed. One of the features of the proposed method in comparison with other methods is that the perturbation signal is considered in the form of products of sinusoids. A new approach is proposed for estimating the frequencies of harmonic signal. It is assumed that all parameters of the multiharmonic disturbance (amplitude, frequency, and phase) are unknown. The task is completed in several steps. First, an observer is constructed based on a frequency estimation scheme. Secondly, stabilization of the ouput of object to zero is carried out using feedback based on the predictor. Examples are given that confirm the relevance of the proposed approach. Our main contribution is to propose a new scheme for compensating external disturbances for a linear plant and a new approach for estimating the frequencies of a multisinusoidal signal.

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An Effective Post - Filtering for Minimum Variance Distortionless Response Beamformer

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

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Seminar on Signal Processing

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.

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A Method for Reducing Speech Distortion in Minimum Variance Distortionless Response Beamformer

A Method for Reducing Speech Distortion in Minimum Variance ...

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Seminar on Signal Processing

Speech processing devices such as mobile telephone, hearing aid, cochlear implant is commonly equipped with a designed microphone array (MA) to capture the acoustic environment. The MA signals often contain a mixture of desired speech component and unwanted surrounding noise (a combination of reverberation, different interferences, complex recording environment, third-party speaker). Minimum Distortionless Variance Response (MVDR) beamformer is one the most useful methods for reducing background noise and improving speech enhancement has been recently studied. MVDR beamformer merges the predefined constraints of response from a priori relative transfer function and the criteria of minimum total output noise power. Because of the microphone mismatches, the different microphone sensitivities, or the error of the direction of arrival of the interest signal, the output final signal of MVDR beamformer often corrupted. In this paper, the authors proposed an additive gain function for reducing speech distortion and enhancing MVDR beamformer's performance.

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Design and Validation of a Wireless Drone Docking Station

Design and Validation of a Wireless Drone Docking Station

引用

International Conference on Unmanned Aircraft systems (ICUAS)

作者： Dario Stuhne Goran Vasiljević Stjepan Bogdan Zdenko Kovačić LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations to support both landing and recharging of the drone. To this end, we introduce a novel wireless drone docking station with three commercial wireless charging modules. We have developed two independent units, both in mechanical and electrical aspects: the energy transmitting unit and the energy receiving unit. We have also studied the efficiency of wireless power transfer and demonstrated the advantages of connecting three receiver modules connected in series and parallel. We have achieved maximum output power of 96.5 W with a power transfer efficiency of 56.6% for the series connection of coils. Finally, we implemented the system in practice on a drone and tested both energy transfer and landing.

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Signal-to-Noise Ratio and Mean Square Error Improving Algorithms Based on Newton Filters for Measurement ECG Data Processing

Signal-to-Noise Ratio and Mean Square Error Improving Algori...

引用

IEEE NW Russia Young Researchers in Electrical and Electronic Engineering Conference (EIConRusNW)

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

ISBN: (数字)9781665404761

ISBN: (纸本)9781665446426

This article presents the results of analysis of measuring ECG signals processing using two new filtering algorithms for low-frequency and high-frequency interference. The presence of such interferences leads to a decrease in the accuracy of the selection of informative components of the measuring signals. To eliminate low-frequency and high-frequency interference, the results of evaluating the effectiveness of two new algorithms for ECG signals are presented. The processing algorithms are based on a polynomial approximation of the high-pass filter and the wide-band notch filter cascade using Newton polynomials. On the basis of these processing algorithms, its performance was analyzed on a priori models of ECG signals and interference, and on the basis of quantitative indicators, its effectiveness was compared with respect to known algorithms. It was found that processing algorithms based on Newton polynomials significantly improve the quality of filtering of measuring ECG signals and indicators of signal-to-noise ratio and mean square error.

关键词： Signal processing algorithms Interference Filtering algorithms Electrocardiography Signal processing Approximation algorithms Signal to noise ratio

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Serial Chain Hinge Support for Soft, Robust and Effective Grasp

Serial Chain Hinge Support for Soft, Robust and Effective Gr...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Dario Stuhne Jelena Vuletić Marsela Car Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This paper presents a serial chain hinge support, a rigid yet flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach, resulting in lower maximum payload caused by a large deflection of fingers. To substantiate our claim we performed multiple experiments on the payload and deflection of the SofIA gripper under both horizontal and vertical approaches. In addition, we show that this reinforcement does not impede the original compliant behavior of the gripper, maintaining the original kinematic model functionality. Also, we showcase the proprioceptive and exteroceptive capabilities for two opposing manipulation problems: grasping small and large objects. Finally, we validated the improved SofIA gripper in agricultural and everyday activities.

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A Parallel and Asynchronous Blob Shape Descriptor Implemented in CMOS Technology 33

A Parallel and Asynchronous Blob Shape Descriptor Implemente...

引用

33rd IEEE International Conference on Microelectronics, MIEL 2023

作者： Bogacki, P. Dlugosz, M. Talaska, T. Dlugosz, R. Aptiv Services Poland Kraków30-399 Poland Agh University of Science and Technology Institute of Telecommunications Faculty of Computer Science Electronics and Telecommunications Kraków30-059 Poland Poznan University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan60-965 Poland Bydgoszcz University of Science and Technology Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz85-796 Poland

ISBN: (纸本)9798350347760

The paper presents a family of novel light blob shape descriptors for use in selected active safety algorithms used in Advanced Driver Assistance systems (ADAS). One of the motivations was to obtain a descriptor that would ensure low computational complexity. This makes it easy to implement both in software and hardware. One assumption is that the location of the center of a given light spot is approximately known. The principle of its operation is then to count white pixels in selected directions, starting from this central point. A key issue here is an efficient way of determining indexes of particular pixels belonging to the image patch, as well as the location of points representing places where the white area turns into black. In the case of a hardware implementation, this can be done using a parallel circuit operating in asynchronous mode, without the need for a control clock. © 2023 IEEE.

关键词： Pixels

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