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International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

作者： A.A. Krylova M.V. Kolesnikov M.Ya. Afanasev Yu.V. Fedosov Yu.S. Andreev S.A. Shorokhov K.V. Zimenko Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728169514

ISBN: (纸本)9781728169521

Results of a study of the influence of manufacturing environment factors on wireless personal networks are presented in the paper. A classification of such factors is proposed, and the noise immunity of wireless personal networks is determined using a real production as an example. A method for evaluating noise immunity based on a received signal strength indicator (RSSI) is proposed. RSSI values can be obtained natively from almost any receiver and transmitter, which makes this method affordable compared to using network analyzers and other specialized equipment. In the conducted experiment the receiver and transmitter were located at a distance ranging from 0.5 to 25 m from each other. The act of signal transfer was carried out alternately under the influence of each production environment factor. Then measured RSSI values were analyzed and converted into the maximum permissible distance between the receiver and the transmitter in accordance with the proposed method. As a result, data on the influence of a production environment on the noise immunity of wireless personal networks was obtained. Nevertheless, it is concluded that the influence is not significant enough to decide against the use of wireless personal networks, since the influence of many factors can be offset by the use of mesh topology and a dense arrangement of receivers and transmitters. The results are particularly interesting in the context of manufacturing digitalization, where the wireless method of data transmission from field level sensors becomes preferable to the wired due to the requirement for flexibility and mobility of a production process.

关键词： Production Wireless communication Wireless sensor networks Wireless personal area networks Manufacturing Transmitters Immune system

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OUTPUT ADAPTIVE control FOR LINEAR systems UNDER PARAMETRIC UNCERTAINTIES WITH FINITE-TIME MATCHING INPUT HARMONIC DISTURBANCE REJECTION

arXiv

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arXiv 2020年

作者： Dobriborsci, Dmitrii Kolyubin, Sergey Bobtsov, Alexey Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are assumed to be unknown, and only a ball position is measurable with a resistive touch sensor. To solve the task we propose a novel passivity-based output control algorithm that can be implemented for unstable linearized systems of an arbitrary relative degree. In contrast to previous works, we describe a new way to parametrize harmonic signal generators and an estimation algorithm with finite-time convergence. This scheme enables fast disturbance cancellation under control signal magnitude constraints. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear systems

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Adaptive Nonlinear Tracking Approach for Motion Tracking Applications

Adaptive Nonlinear Tracking Approach for Motion Tracking App...

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Nonlinearity, Information and robotics, (NIR) International Conference

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

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

The problem of output regulation for systems affected by nonlinear reference signal, which is caused by exosystem with parametric uncertainties, is addressed. The control law for a nonlinear trajectory is proposed with the design of an adaptive internal model. The efficiency of the proposed algorithm was proved by experiments using the setup that includes an articulated robot. The experimental results are presented.

关键词： Adaptation models Uncertainty Tracking Service robots Regulation Trajectory Oscillators

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A Parallel and Asynchronous Blob Shape Descriptor Implemented in CMOS Technology

A Parallel and Asynchronous Blob Shape Descriptor Implemente...

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International Conference on Microelectronics, MIEL

作者： P. Bogacki M. Długosz T. Talaśka R. Długosz Aptiv Services Poland Kraków Poland Institute of Telecommunications Faculty of Computer Science Electronics and Telecommunications AGH University of Science and Technology Kraków Poland Faculty of Control Robotics and Electrical Engineering Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan University of Technology Poznan Poland Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz University of Science and Technology Bydgoszcz Poland

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.

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Machine Vision for Auto Positioning in the Modular Industrial Equipment: A Case Study

Machine Vision for Auto Positioning in the Modular Industria...

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Industrial Cyber-Physical systems (ICPS)

作者： Maxim Ya. Afanasev Yuri V. Fedosov Yuri S. Andreev Anastasiya A. Krylova Sergey A. Shorokhov Kseniia V. Zimenko Mikhail V. Kolesnikov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728163895

ISBN: (纸本)9781728163901

The unification principle of industrial equipment involves splitting the installation into interchangeable components, from which the required type of equipment is assembled for specific production tasks according to the order. For the common industrial equipment, zero position setting usually causes no issues. However, for the modular machines with different sizes of modules, the mounting error can be appeared and it has to be corrected automatically. In addition, due to a possible frequent change of equipment during the production process, clamps can wear out, increasing the error. It is necessary to introduce an automatic adjustment of tool position relative to the carriage suspension, implemented using machine vision systems. The cost of video capture equipment and computing tools decreases, and their characteristics, on the contrary, grow. Moreover, algorithms for recognizing markers' position and angle together with augmented reality development tools are also constantly being improved with their application complexity being significantly reduced, which emphasizes the practicability of their use. The paper describes the problem of eliminating the installation error of instrumental modules on a three-axes platform. The proposed method involves the use of a number of reference markers on the platform, its suspension, and on the plug-in modules.

关键词： Production Tools Machine vision Prototypes Cameras Task analysis Software

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Output controller for Parametrically Uncertain Plants with Finite-Time Simultaneous Disturbance Rejection *

Output Controller for Parametrically Uncertain Plants with F...

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European control Conference (ECC)

作者： Dmitrii Dobriborsci Sergey Kolyubin Alexey Bobtsov Faculty of Control systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

A new output controller for parametrically uncertain unstable linear systems with an arbitrary relative degree under unmeasured matching input harmonic disturbances is proposed in this paper. In contrast to previous works we can guarantee finite-time convergence for disturbance parameters estimates, which enables fast disturbance cancellation under control signal magnitude constraints. Parallel kinematics Ball-and-Plate robotic system is considered as a test-bed for algorithms validation.

关键词： Harmonic analysis Convergence Switches Closed loop systems Robots Mechatronics

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Access control System Based on Face Recognition

Access Control System Based on Face Recognition

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

作者： Sergei Shavetov Vladimir Sivtsov Faculty of Control Systems and Robotics ITMO University St Petersburg Russian Federation

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

Face recognition is a technology that uses face image of someone to verify his identity by finding this person in a given photos database. It becomes very practical in access control systems as it does not require any physical interaction for gaining access as traditional ways with keys. Moreover, these systems only require a camera for recognition and are easy to install and use. This is why they are already in use by companies as access control to their offices, in home automation systems, *** this paper, different approaches to face recognition are studied. The first step of any face recognition system is face detection and cropping so we analyzed classical Viola-Jones face detection and MultiTask Convolutional Neural Networks (MTCNN) in terms of detection quality and processing *** final classifier obtained is capable of matching face from the online camera to image from a given database. We also considered decreasing the vulnerability of standalone face recognition by adding a spoof detection method so that the system does not react to every approach to bypass the system like showing a photo of an allowed person shown on a phone's screen.

关键词： Face recognition Cameras Access control Face detection Databases Faces Information technology

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Method of Converting an Induction Motor to a Permanent Magnet Synchronous Motor (Ls-Pmsm) with Linear Starting Using FEA for Mechatronic systems

Method of Converting an Induction Motor to a Permanent Magne...

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

作者： Marusina, Maria Ya Silaev, Alexey A. Nevmerzhitsky, Denis A. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728125954

This article describes basic overview of retrofit design flow of line start permanent magnet synchronous machine. Developed design methodology involves extensive usage of finite element analysis. Four strategies of rotor modification are present in this paper to provide cheap and efficient solution. Preliminary calculations showed positive results. © 2019 IEEE.

关键词： Finite element method

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Adaptive Full State Observer for Nonsalient PMSM with Noised Measurements of the Current and Voltage ⁎

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IFAC-PapersOnLine 2020年第2期53卷 1652-1657页

作者： Anton Pyrkin Alexey Vedyakov Alexey Bobtsov Dmitry Bazylev Madina Sinetova Alexey Ovcharov Antipov Vladislav ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia

An algorithm of adaptive estimation of the magnetic flux for the non-salient permanent magnet synchronous motor (PMSM) for the case when measurable electrical signals are corrupted by a constant offset is presented. A new nonlinear parameterization of the electric drive model based on dynamical regressor extension and mixing (DREM) procedure is proposed. Due to this parameterization the problem of flux estimation is translated to the auxiliary task of identification of unknown constant parameters related to measurement errors. It is proved that when both current and voltage measurements are biased the proposed algorithm ensures convergence of the flux observation error to a bounded set. At the same time the position error converges to zero. The observer provides global exponential convergence if the corresponding regression function satisfies the persistent excitation condition. If the regression function is not square integrable the global asymptotic convergence is ensured. In comparison with known analogues this paper gives a constructive way of the flux reconstruction for a nonsalient PMSM with guaranteed performance (low oscillation, convergence rate regulation) and, from other hand, a straightforwardly easy implementation of the proposed observer to embedded systems.

关键词： Nonlinear control systems robust observers synchro motors flux estimator speed estimator sensorless approach voltage offset

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RNA genetic algorithm based on octopus learning mechanism

RNA genetic algorithm based on octopus learning mechanism

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Lifeng Zhang Qiuxuan Wu Xiaoni Chi Jian Wang Botao Zhang Weijie Lin Sergey A. Chepinskiy Anton A. Zhilenkov Yanbin Luo Farong Gao 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 Russia

Genetic algorithms are often easy to fall into local optimum, Inspired by octopus RNA gene editing ability and learning ability, this paper proposed an RNA genetic algorithm based on octopus learning mechanism (LRNA-GA), which uses a single RNA chain to represent the individuals of the population, Imitating the octopus's A-to-G RNA editing method to replace traditional gene mutations, using behavioral learning to design the RNA chain, and determining the possibility of RNA editing by evaluating the RNA chain, so as to quickly jump out of the local optimal solution. The effectiveness of LRNA-GA is tested through typical benchmark functions, and it has fast search capabilities and high accuracy.

关键词： Learning systems RNA Sociology Reinforcement learning Real-time systems Statistics Standards

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