检索结果-内蒙古大学图书馆

Chinese control and Decision Conference, CCDC

作者： Tao Hong Botao Zhang Qi’an Zhang Sergey A. Chepinskiy Anton A. Zhilenkov School of Automation Hangzhou Dianzi University Hangzhou China Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University St. Petersburg Russia

ISBN: (纸本)9781665478977

Terrain segmentation is widely used in the recognition and navigation of outdoor mobile robots, in which deep learning-based segmentation methods have achieved remarkable performance. However, most of the segmentation networks can hardly meet the real-time requirement for outdoor robots. A novel terrain segmentation approach is proposed for segmentation terrains in the navigation of robots based on U-MobileNet. U-MobileNet, a lightweight segmentation network, is formed by transposing the feature extraction structure of MobileNetV2 to the contracting path of U-Net. The network efficiently reduce the computational cost and the error in segmentation by applying depthwise separable convolution, inverted residual and linear bottleneck. The experimental results show that the proposed lightweight neural network has good real-time performance with high-accuracy.

关键词： Navigation Convolution Neural networks Feature extraction Real-time systems Computational efficiency Mobile robots

来源：评论

学校读者我要写书评

暂无评论

ERP Data Analysis and Visualization in High-Performance Computing Environment

ERP Data Analysis and Visualization in High-Performance Comp...

引用

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

作者： Sisyukov, Artem N. Bondarev, Vlad K. Yulmetova, Olga S. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Concern CSRI Elektropribor St. Petersburg Russia

ISBN: (纸本)9781728157610

In the era of the fourth industrial revolution the enterprise resource planning system (ERP) becomes a foundation for interconnection between logistics systems, production facilities, smart machines, IoT-enabled devices and other enterprise data sources. The paper proposes an approach to extend the ERP integrated analytical tools capabilities by processing ERP data in a multi-tenant GPU-enabled high-performance computing (HPC) environment. Corporate analytic features in conjunction with GPU in-memory processing of big structured and unstructured data increase the performance and analysis effectiveness for enterprise machine learning (ML) tasks. The approach proposes sharing the data in GPU memory using open analytic platform along with existed ERP analytical capabilities on example of SAP S/4Hana. Considered solution accelerates data scientists work with ERP data sets and could be used for faster quality AI model creation and easier data interaction in unspecific for ERP visualization way like immersive learning with virtual or augmented reality (VR/AR). © 2020 IEEE.

关键词： Visualization

来源：评论

学校读者我要写书评

暂无评论

Aircraft wing vibration parameters measurement system using MEMS IMUs and closed-loop optimal correction

引用

Aerospace systems 2022年第3期5卷 473-480页

作者： Maamo, M.S. Afonin, A.A. Sulakov, A.S. Department of Control Systems Informatics and Power Engineering Moscow Aviation Institute (National Research University) Volokolamskoe shosse 4 Moscow 125993 Russian Federation Faculty of Robotics and Mechatronics Moscow University for Industry and Finance «Synergy» Street Meshchanskaya 9/14 Moscow 129090 Russian Federation

Nowadays, there is still a need for the development of a high-precision measurement system for aircraft structural elements vibrations, this is due to the fact that many aviation problems are associated with analyzing vibration characteristics of aircraft mechanical structures during its main modes of operation, including flight, particularly the airplane wing health monitoring. This paper presents preliminary results of research carried out toward building a promising system designed to measure vibration parameters of airplane wing. Comparing it with the existing analogues systems, the proposed system features the use of approaches that are traditional for solving orientation and navigation problems for vibration measurements. The article discusses the principles of building such system based on micromechanical inertial measurements units, displacement sensors, on-board aircraft navigation system and sensor data fusion technology. The paper provides a brief overview of the existing solutions in this field of research, and substantiates the relevance and feasibility of the proposed technical solution. The paper presents the basic hardware components of the proposed system, presents the fundamentals of its operation based on the data collected from many sources, including displacement sensors, inertial units and the optimal Kalman estimation and correction algorithm. Besides, the paper presents the mathematical errors models of the system main components. The main algorithms of the system are shown, including algorithms for inertial measurements, estimation and correction in a closed-loop scheme for including optimal Kalman filter, and indirect calculations of vibration parameters. Finally, the initial simulation results of system operation are shown, demonstrating its operability and expected accuracy characteristics, which confirms the system effectiveness and the prospects of the chosen direction of research. © 2022, Shanghai Jiao Tong university.

关键词： Airplane wing Closed-loop optimal correction MEMS IMU Navigation and orientation Optimal Kalman filter Sensor data fusion Vibration measurement

来源：评论

学校读者我要写书评

暂无评论

Validation of two-wire power line UAV localization based on the magnetic field strength

Validation of two-wire power line UAV localization based on ...

引用

International Conference on Unmanned Aircraft systems (ICUAS)

作者： Goran Vasiljević Dean Martinović Matko Batoš Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405942

In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmission lines. An UAV is equipped with 4 magnetometers, positioned so that obtained measurements give unique solution to an optimization problem used to find relative position and orientation of the UAV with respect to conductors. Several sets of experiments, undertaken on a laboratory setup, confirmed validity of the method for both solutions - analytical and numerical optimization. Obtained results, compared with high precision motion capture system, are within range of standard RTK positioning.

关键词： Location awareness Magnetic field measurement Power measurement Magnetometers Current measurement Wires Transmission line measurements

来源：评论

学校读者我要写书评

暂无评论

Variational synthesis of dynamical systems with elastic properties into element base

引用

AIP Conference Proceedings 2023年第1期2872卷

作者： I. N. Noskova V. Yu Tertychny-Dauri ITMO University Faculty of Control Systems and Robotics St. Petersburg Russian Federation

We consider the synthesis problem of dynamical systems relating to a class of conditional variation problems with variable endpoints. Variational method is applied for research of the elastic oscillator with controllable spring stiffness. In solving a general conditional variation problem, the obtained differential system of equations in closed form is studied for design of an optimal system for the initial dynamic object with a given quality functional. Transversality condition in the variational problem is formulated in terms of local programming. An optimal algorithm is constructed in the elastic oscillator, and the value of finite transition period is found.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Modification of Generalized Parameter-Based Adaptive Observer for Linear systems with Relaxed Excitation Conditions*

引用

IFAC-PapersOnLine 2022年第12期55卷 324-329页

作者： Alexey Bobtsov Anton Pyrkin Alexey Vedyakov Anastasiia Vediakova Stanislav Aranovskiy Department of Control Systems and Robotics ITMO University Saint Petersburg Russia Department of Computer Applications and Systems Saint Petersburg State University Saint Petersburg Russia IETR – CentaleSupélec Avenue de la Boulaie 35576 Cesson-Sévigné France

This paper proposes the adaptive state observer for linear time-invariant systems. The problem statement is classical except that there is no assumption about the sufficiently rich input signal. The solution is based on the generalized parameter estimation based observer (GPEBO). Firstly, the linear regression for the unknown parameters and initial conditions are constructed. With the proposed novel parameterization, a sufficient number of independent linear regressions are generated in contrast to the original GPEBO. Then the mixing stage of the dynamic regressor extension and mixing method is applied to obtain independent scalar regression models. Next, the parameters and initial conditions are estimated by the gradient descent method with finite-time modification. Finally, with obtained estimates, the value of the state vector is reconstructed. Under weak assumptions about interval excitation, the proposed observer provides convergence of the parameter and state estimation errors to zero at the predefined finite time in the noise-free case. The numerical simulations demonstrate the efficiency of the proposed observer in comparison with the original GPEBO.

关键词： adaptive observer linear system interval excitation

来源：评论

学校读者我要写书评

暂无评论

Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

Autonomous Exploration of Unknown 3D Environments Using a Fr...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Iván D. Changoluisa Caiza Ana Milas Marco A. Montes Grova Francisco Javier Pérez-Grau Tamara Petrovic University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Advanced Center for Aerospace Technologies (CATEC) Aerospace Technology Park of Andalusia Seville Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment.

关键词： Three-dimensional displays Video on demand Navigation Warehousing Buildings Inspection Web sites

来源：评论

学校读者我要写书评

暂无评论

Parameter identification of a class of nonlinear systems with structure uncertainly using controlled symmetric motions 4

Parameter identification of a class of nonlinear systems wit...

引用

4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Alyshev, Aleksandr Gafurov, Salimzhan Dudarenko, Natalia Innopolis Univeristy Autonomous Driving Lab Innopolis Russia ITMO Univeristy Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9781728172866

This paper proposes the generalization of the nonlinear models for which the identification method based on symmetric motions can be applied with high efficiency. We chose two symmetric motion intervals which helps to simplify the calculations. We also propose a new iterative-adaptive algorithm for a high accuracy tracking control. Based on the symmetry criteria we iteratively calculate estimations and use them in the control algorithm. © 2020 IEEE.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

A Real-Time Fail-Safe Algorithm for Decoding of Myoelectric Signals to control a Prosthetic Arm 21

A Real-Time Fail-Safe Algorithm for Decoding of Myoelectric ...

引用

21st IEEE International Carpathian control Conference, ICCC 2020

作者： Unanyan, Narek N. Belov, Alexey A. V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Laboratory of Dynamics of Control Systems Moscow Russia Faculty of Control Systems and Robotics Itmo University St. Petersburg Russia

ISBN: (数字)9781728119519

ISBN: (纸本)9781728119519

In this article a real-Time self-Tuning algorithm of detecting fingers movements based on the electromyographic (EMG) sensors is developed. A multi-level input data processing from the EMG sensor with self diagnosis is suggested. It provides the identification of muscle tension, which corresponds of several types of finger movements. This solution enables to use the lowbit controllers to manipulate the prosthetic hand. The results of system modeling and testing on the Arduino nano microcontroller demonstrated that the system identifies finger movements with high accuracy. © 2020 IEEE.

关键词： Prosthetics

来源：评论

学校读者我要写书评

暂无评论

Virtual Laboratory for Game-Based control systems Education*

引用

IFAC-PapersOnLine 2022年第17期55卷 344-349页

作者： Alexey A. Peregudin Arseniy M. Popov Eduard R. Akhmetgaliev Alena D. Bugrova Mariia A. Bystramovich Valerii A. Stakanov Vasily A. Dunaev ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia Institute for Problems of Mechanical Engineering Russian Academy of Sciences 61 Bolshoy Prospekt V.O. St. Petersburg 199178 Russia

The paper presents a description of the virtual experimental laboratory developed at itmo university. It provides convenient tools for e-learning and can serve as a replacement for real-life laboratory equipment. The presented virtual laboratory is focused on a game-based approach to the advanced study of automation and control systems.

关键词： Education control Education Teaching Virtual Laboratory Laboratory education

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：