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3rf International Scientific Conference on Metrological Support of InnovativeTechnologies, ICMSIT 2022

作者： Afonin, A.A. Sulakov, A.S. Maamo, M.S. Shapovalov, N.A. Moscow University for Industry and Finance "synergy" Faculty of Robotics and Mechatronics 9/14 street Meshchanskaya Moscow129090 Russia Department of Control Systems Informatics and Power Engineering 4 Volokolamskoe shosse Moscow125993 Russia

This paper proposes a combined initial alignment algorithm for strapdown inertial navigation system, in which the initial alignment is carried out in two stages during the process of preflight preparations while the aircraft is not moving. This method of initial alignment has the advantages of being conducted based on the Earth's equatorial (Greenwich) coordinate system, which is also used by the aircraft onboard navigation system. In the first stage, the coarse initial alignment is carried out, and this is done according to the orientation parameters using the vector matching method. Then, in the second stage, a fine procedure is carried out, which may be looked at as an integrated system implemented using optimal Kalman filter. In this case, the initial parameters of orientation and navigation are refined, as well as the systematic errors of the inertial sensors are estimated and corrected. The simulation results show that the required level of initial alignment accuracy could be achieved by applying coarse and fine initial alignment procedures not sequentially but in a combination. © Published under licence by IOP Publishing Ltd.

关键词： Inertial navigation systems

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The Synchronization of Reading and Writing in Implementation of TDOA Estimator on a Single Board Computer 15

The Synchronization of Reading and Writing in Implementation...

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15th International IEEE Scientific and Technical Conference Dynamics of systems, Mechanisms and Machines, Dynamics 2021

作者： Faerman, Vladimir Avramchuk, Valeriy Shvetsvov, Mikhail Tomsk State University of Control Systems and Radioelectronics Faculty of Security Tomsk Russia Tomsk Polytechnic University Department of Robotics and Automation Tomsk Russia

ISBN: (纸本)9781665431729

This paper discusses the topic of synchronizing the reading in writing in an application to real-time TDOA estimation. The paper gives a brief lay down on the classic TDOA estimation algorithm and specifically addresses the peculiarities of its implementation in a real-time environment. There are two main factors that should be considered in the stage of design: the processing time is dependent on the settings and some random factors affect processing time in an unpredictable way. The buffer can be introduced to deal with these factors. However, this solution requires a clear and efficient algorithm of synchronization of reading and writing data. In this paper, we propose a simple and small set of variables that is sufficient to synchronize processes to implement real-time TDOA estimation. The solution supports the various overlap coefficients and time windows that exceed the actual size of the input buffer. The proposed solution is installed on the Raspberry Pi, tested, and proved to be functional. Some practical details of the implementation are also discussed. © 2021 IEEE.

关键词： Time difference of arrival

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A Search Strategy and Vessel Detection in Maritime Environment Using Fixed-Wing UAVs

A Search Strategy and Vessel Detection in Maritime Environme...

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International Symposium on Underwater Technology

作者： Marijana Peti Ana Milas Natko Kraševac Marko Križmančić Ivan Lončar Nikola Mišković Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Underwater Systems and Technologies (LABUST) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and the total number of UAVs and sensors is to implement an appropriate search strategy so that a target vessel can be detected as soon as possible. Thus we present informed and non-informed methods used to search the environment. The informed method relies on an obtained probabilistic map, while the non-informed method navigates the UAVs along predefined paths computed with respect to the environment. The vessel detection method is trained on synthetic data collected in the simulator with data annotation tools. Comparative experiments in simulation have shown that our combination of sensors, search methods and a vessel detection algorithm leads to a successful search for the target vessel in such challenging environments.

关键词： Location awareness Navigation Annotations Computational modeling Search problems Probabilistic logic Sensors

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Compensation control of PMSMs Based on a High-order Sliding Mode Observer with Inertia Identification

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Li, Ke Ding, Jie Sun, Xiaodong Lei, Gang Dianov, Anton Demidova, Galina Prakht, Vladimir Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China University of Technology Sydney School of Electrical and Data Engineering NSW2007 Australia Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Ekaterinburg620062 Russia

This article proposes a new sliding mode control (NSMC) reaching law to improve the speed tracking and anti-interference performance of permanent magnet synchronous motors (PMSMs). The NSMC improves the sliding mode control (SMC) in approaching speed and reducing chattering. Firstly, considering that the external load interference will adversely affect the control system, a high-order sliding mode observer (HOSMO) is designed to observe the load torque, and the observed value is compensated to the output of the speed controller. Then, combined with the Landau algorithm, a variable adaptive gain algorithm is introduced to decrease the impact of inertia mismatch on the system control performance. The algorithm identifies the rotational inertia online, reduces the effect of load disturbance on the identification performance, and updates the identification results to the observation in processors and controllers. Experimental results show that the proposed control method reduces the speed and current fluctuations of the system when load torque and inertia vary and improves the system's robustness. © 2013 IEEE.

关键词： Permanent magnets

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Output Robust Tracking control of Permanent Magnet Synchronous Motors ⁎

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IFAC-PapersOnLine 2021年第14期54卷 197-202页

作者： Anton Pyrkin Alberto Isidori Oleg Borisov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Department of Computer Control and Management Engineering “A. Ruberti” University of Rome “La Sapienza” Rome Italy

This paper shows the design of output robust tracking control by means of the enhanced extended observer and the internal model with application to permanent magnet synchronous motors. Two types of references, namely a biased sinusoidal signal and a “ramp”, along with a constant disturbance represented by the load torque have been addressed. The performance achieved by this control framework is shown by simulations.

关键词： Output regulation Tracking control Robust control Internal model PMSM

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Development of Digital Twin for Robotic Arm

Development of Digital Twin for Robotic Arm

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International (EPE-PEMC) Power Electronics and Motion control Conference

作者： Stepan Bratchikov Artur Abdullin Galina L. Demidova Dmitry V. Lukichev Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia

Nowadays digital twin technology is a powerful tool for describing, controlling, and displaying the behavior of a real object of robotic systems. This technology is currently planned for widespread application in the Industry 4.0. And one of the important tasks in this area is the creation of a dynamic model of the object in the simulation program. The article describes the basic principles of digital twins' design of the manipulator, taking into account its dynamic and mass-dimensional characteristics. It was shown that the use of polynomial algorithms in the control system provides the best solution for the quality of technological operations and provides standard tolerance grades and limit deviations within IT7.

关键词： Service robots Digital twin Tools control systems Power electronics Trajectory Synchronization

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Analysis of fast prototyping of microcontroller-based ML software for acoustic signal classification

Analysis of fast prototyping of microcontroller-based ML sof...

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

作者： Filip Marciniak Wojciech Marciniak Tomasz Marciniak Faculty of Computing and Telecommunications Poznan University of Technology Poznań Poland DECYBEL Student Science Club Poznan University of Technology Poznań Poland Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznan University of Technology Poznań Poland

The paper analyzes the preparation of software for acoustic signal classification with machine learning techniques for microcontrollers. The design process was tested for three types of devices: Nordic Thingy:53, *** and Arduino Nano 33 BLE Sense Lite. The classifier training process was carried out using the Edge Impulse platform. Experimental studies were carried out for the process of classifying sound signals generated by the vacuum cleaner motor. The results of the training and the model test were presented for different configurations.

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Web Based GPU Acceleration in Embodied Agent Training Workflow

Web Based GPU Acceleration in Embodied Agent Training Workfl...

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

作者： Artem N. Sisyukov Vyacheslav Dobrynin Olga S. Yulmetova Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Concern CSRI Elektropribor ITMO University St. Petersburg Russia

ISBN: (数字)9781665404761

ISBN: (纸本)9781665446426

The deep learning training and generation of virtual scenes, reconstruction or manipulation in the realistic simulation environment are highly compute-intensive tasks. GPU accelerated training of embodied agents inside the realistic 3D scenes in continuous development and improvement process for goal-directed navigation tasks are considered in paper. Web client side computation for reinforcement learning based embodied agent training workflow steps and cloud data delivering are described. Approach with web based GPU interaction technologies (WebGL, WebGPU) along with WebAssembly packed logic (WASM) is proposed. Embodied artificial intelligence (AI) simulation platforms supporting reinforcement learning with realistic assets or powerful logic are tested. The paper presents results that could be used in cases when the training server is deployed in a headless cloud host or in the case when the client machine power utilization is preferable.

关键词： Training Cloud computing Computational modeling Graphics processing units Servers Task analysis Artificial intelligence

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A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

A Graph-Based Self-Calibration Technique for Cable-Driven Ro...

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

作者： M. R. Dindarloo A. S. Mirjalili S. A. Khalilpour R. Khorrambakht Stephan Weiss H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Tandon School of Engineering Control/Robotics Research Laboratory New York University Brooklyn NY Department of Smart Systems Technologies University of Klagenfurt Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.

关键词： Meters Accuracy Perturbation methods Kinematics Robot sensing systems End effectors Software Calibration Sensors Finite element analysis

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control and Treatment of Bone Cancer: A Novel Theoretical Study

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Journal of Electronic & Information systems 2023年第2期5卷 35-44页

作者： Ali Soltani Sharif Abadi Mansour Rafeeyan Vahid Abootalebi Institute of Automatic Control and Robotics Faculty of MechatronicsWarsaw University of TechnologyWarsaw00-664Poland Institute of Electronic Systems Faculty of Electronics and Information TechnologyWarsaw University of TechnologyWarsaw00-664Poland Faculty of Mechanics Yazd UniversityYazd***Iran Faculty of Electrical Engineering Yazd UniversityYazd***Iran

The human body has symmetric *** paper uses control engineering concepts to design a suitable controller to synchronize two symmetric bones of the human body to control and treat bone cancer.A Nonsingular Terminal Sliding Mode control(NTSMC)method will be employed to design the proposed control *** control inputs can be the chemical drugs that can be used to treat bone *** dynamical equations of bone cancer will be used to apply the designed control method and test *** testing the designed controller,Simulink/MATLAB software will be *** proposed controller is chattering-free,robust against uncertainties and external disturbances,and finite-time stable in the control engineering *** cancer will be treated for almost one year using the proposed control method.

关键词： Bone cancer Synchronization Finite-time stability Biomedical engineering

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