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

作者： Oleg Evstafev Vladimir Bespalov Sergey Shavetov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

This work is devoted to estimating the distance between moving cars to prevent dangerous traffic situations. The solution to this problem uses the approach of computer vision and calculating a depth map based on a stereoscopic pair. Using the Viola-Jones algorithm, the system detects vehicles while the vehicle is moving and calculates the distance to the objects moving in front, combining the received information with a depth map.

关键词： Cameras Distortion Vehicles Automobiles Trajectory Photodetectors Prediction algorithms

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A New ECG Signal Processing Method Based on Wide-Band Notch Filter

A New ECG Signal Processing Method Based on Wide-Band Notch ...

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

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

ISBN: (数字)9781728157610

ISBN: (纸本)9781728157627

This article presents the task of ECG signal processing a wide-band notch filter. It is proposed to use a cascade wide-band notch filter. The proposed method allows us to increase the accuracy of ECG signal processing and reduce wide-band electrical noise. The effectiveness proposed method for ECG signal processing by experimental results is considered.

关键词： Electrocardiography Notch filters Interference Transfer functions Low-pass filters

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control of UAV Based on Biological Algorithm

Control of UAV Based on Biological Algorithm

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2019 IEEE International Conference "Quality Management, Transport and Information Security, Information Technologies" IT and QM and IS 2019

作者： Petrov, Vadim A. Bushuev, Alexandr B. Grigoriev, Valery V. Litvinov, Yuriy V. Evstigneev, Maxim I. Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

ISBN: (纸本)9781728125954

This paper considers a development of a light source search model for the unmanned aerial vehicle (UAV) program control. The UAV is a quadcopter. The search model based on the Lotka- Volterra equations contains the trend to rotate to the left and trend to rotate to the right. Depending on the interaction of trends, the VAV rotates in one direction or another. The purpose of the search is a light source. The biological control algorithm is adapted for the quadcopter. The robot's algorithms have been developed for searching and tracking modes. The contribution of this paper is to propose the algorithm of actions in cases of search and loss of visual contact with the source. We provide the simulation of values change dynamics of quadcopter rotations trends. The simulation results demonstrate a high degree of entropy, which allows the quadcopter to explore a large area. The trajectory of the robot is constantly changing and depends on the location of other similar sources. © 2019 IEEE.

关键词： Antennas

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control System for Forearm Prosthesis with Three Degrees of Freedom in Wrist Module

Control System for Forearm Prosthesis with Three Degrees of ...

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

作者： Natalia Gorokhova Svetlana Perepelkina Pavel Kovalenko Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

ISBN: (数字)9781728145907

ISBN: (纸本)9781728145914

The focus of the current research is the investigation of human wrist and its functions. The human wrist significantly contributes to human hand mobility, stability and manipulation activities. This research is devoted to the design of a control system for wrist module of a forearm prosthesis. The main features of the developed control system include three degrees-of-freedom in wrist module, minimization of physiological movements amplitude, provision of an ergonomic grip and holding objects regardless of their position, and the minimization of teaching period of a patient. By using a PID controller and a range of optimal settings, the authors made a functional control system which is able to work with a range of loads. The suggested control system can be used not only in existing prostheses but also in new projects of this field. This research and its perspectives would significantly improve the quality of life for people, who lost their limbs because of an amputation.

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A ROS Implementation of the Situational Awareness and Maneuvering systems for an Autonomous Marine Vessel

A ROS Implementation of the Situational Awareness and Maneuv...

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OCEANS

作者： Matheus F. Reis Gustavo Andrade Francisco Neves Paulo Silva Rômulo T. Rodrigues A. Pedro Aguiar Cyber-Physical Control Systems and Robotics lab Faculty of Engineering - University of Porto

ISBN: (纸本)9781665427883

This paper describes a study on the development, implementation, and evaluation of situational awareness, and the maneuvering systems for an autonomous ship. The implementation and validation of these modules within the Robot Operating System (ROS) framework are motivated by the participation of the Atlantics team (UPORTO) in the Njord - The Autonomous Ship Challenge, a pilot student-driven competition that involves the participation of several universities and is organized by a team with the Norwegian university of Science and Technology. The competition consists of a set of several tasks that the participating teams are asked to solve. These tasks are indeed current challenges in the marine industry towards autonomy and involve the design and evaluation of motion control and navigation algorithms with situational awareness and collision avoidance capabilities for a standardized vessel and sensor suite. In this paper, we present the modules of object detection, object tracking, and object state estimation that constitute the situational awareness system, and the modules for planning and motion control, including a spline-based motion planner, a nonlinear path-following controller with a safety critical module for obstacle avoidance, and a model reference adaptive controller for the inner-loop (autopilot). Several simulation results using the competition simulator are shown.

关键词： Tracking loops Navigation Object detection Trajectory Safety Vehicle dynamics Task analysis

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ERP Data Analysis and Visualization in High-Performance Computing Environment

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

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

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

ISBN: (数字)9781728157610

ISBN: (纸本)9781728157627

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).

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Defining, measuring, and modeling passenger's in-vehicle experience and acceptance of automated vehicles

arXiv

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arXiv 2023年

作者： Bhide, Neeraja Hashimoto, Nanami Dokurno, Kazimierz Van der Hoorn, Chris Hoogendoorn-Lanser, Sascha Nordhoff, Sina Delft Center for Systems and Control Delft University of Technology Netherlands Department of Cognitive Robotics Delft University of Technology Netherlands Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Netherlands Department Transport & Planning Delft University of Technology Netherlands

Automated vehicle acceptance (AVA) has been measured mostly subjectively by questionnaires and interviews, with a main focus on drivers inside automated vehicles (AVs). To ensure that AVs are widely accepted by the public, ensuring the acceptance by both drivers and passengers is key. The in-vehicle experience of passengers will determine the extent to which AVs will be accepted by passengers. A comprehensive understanding of potential assessment methods to measure the passenger experience in AVs is needed to improve the in-vehicle experience of passengers and thereby the acceptance. The present work provides an overview of assessment methods that were used to measure a driver's behavior, and cognitive and emotional states during (automated) driving. The results of the review have shown that these assessment methods can be classified by type of data-collection method (e.g., questionnaires, interviews, direct input devices, sensors), object of their measurement (i.e., perception, behavior, state), time of measurement, and degree of objectivity of the data collected. A conceptual model synthesizes the results of the literature review, formulating relationships between the factors constituting the in-vehicle experience and AVA acceptance. It is theorized that the in-vehicle experience influences the intention to use, with intention to use serving as predictor of actual use. The model also formulates relationships between actual use and well-being. A combined approach of using both subjective and objective assessment methods is needed to provide more accurate estimates for AVA, and advance the uptake and use of AVs. © 2023, CC BY.

关键词： Vehicles

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Human Gait Model Identification Approach Based on Foot Trajectory

Human Gait Model Identification Approach Based on Foot Traje...

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

作者： Islam Bzhikhatlov Vladislav S. Gromov Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

Identification of gait parameters is one of the most important tasks allowing to estimate stability of walking aid devices usage case and biped robots. The estimation approach has been proposed and used to estimate model parameters using the foot trajectory. This method uses only foot coordinates of captured data and shows fast estimation. Efficiency of proposed approach is demonstrated by simulation as well as experimental results in comparison with another well-known method. An approach of the data preprocessing is applied to make motion captured data suitable for estimation. Estimated parameters of the model could be applied to estimation of walking robots stability and human walking in case of aid devices usage.

关键词： Legged locomotion Robots Robot kinematics Foot Estimation Trajectory Bones

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Method of control System Design with Predetermined Overshoot for Optical Axis Servo Drives of SLR Station

Method of Control System Design with Predetermined Overshoot...

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

作者： Ilya V. Shustov Valery A. Tolmachev Sergey Yu. Lovlin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728157610

ISBN: (纸本)9781728157627

The paper considers the method of control system design for optical axis servo drives of SLR station. The method allows to improve accuracy of optical axis servo drives by mean of increasing performance of the inner velocity control loop. The represented analytical equations allow to tune up regulator that provide maximum performance of control system with predetermined overshoot. The obtained analytical equations take into account both elasticity and internal damping of an actuating axis mechanism. The simulation results of the control system of the elevation axis servo drive of the SLR station "Stajer-2 OPU LIK" verify the method.

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Homogeneity-Based Finite-Time Stabilization of Linear Descriptor systems

Homogeneity-Based Finite-Time Stabilization of Linear Descri...

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IEEE Conference on Decision and control

作者： D. Konovalov K. Zimenko A. Belov H. Wang Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Institute of Control Sciences of Russian Academy of Sciences Moscow Russia School of Automation Nanjing University of Science and Technology Nanjing China

ISBN: (纸本)9781665436601

The homogeneity concept is extended to the area of descriptor systems. A homogeneity-based admissible control is designed for stabilization of linear descriptor systems in a finite time. The presented feedback homogenizes a linear system with a specified negative degree and stabilizes it in a finite time. The tuning procedure is formalized in LMI form. The theoretical results are supported by numerical simulations.

关键词： Linear systems Sufficient conditions control design Conferences Observers Numerical simulation Robustness

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