检索结果-内蒙古大学图书馆

A Regularization Approach to Analyze the Time-Optimal Motion of a Mobile Robot under State Constraints using Pontryagin’s Maximum Principle

引用

Procedia Computer Science 2021年 186卷 11-20页

作者： Fernando Lobo Pereira Roman Chertovskih Anna Daryina Askhat Diveev Dmitry Karamzin Elena Sofronova SYSTEC Faculty of Electrical Engineering Porto University and the Institute for Systems and Robotics 4200-465 Porto Portugal Federal Research Center “Computer Science and Control” of the Russian Academy of Science Moscow Russia

This work concerns the investigation of time-optimal control problem for a simplified mobile robot model subject to state constraints. In this type of problems, which involve the so-called unicycle dynamics, the well-established regularity conditions with respect to the state constraints are not fulfilled. This fact greatly complicates the analysis of the control problem bearing in mind the use of the maximum principle. Moreover, the difficulty is also due to the presence of a singular control mode with respect to the angular velocity. Herein, a regularization approach is proposed in order to overcome these obstacles. A certain tool for the numerical implementation is developed. The numerical analysis is provided for a sample problem.

关键词： Unicycle model state constraints regularization maximum principle

来源：评论

学校读者我要写书评

暂无评论

Application of deep convolutional and long short-term memory neural networks to red blood cells motion detection and velocity approximation

Application of deep convolutional and long short-term memory...

引用

Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Kornaev, Alexey V. Dremin, Viktor V. Kornaeva, Elena P. Volkov, Mikhail V. Dept. Of Mechatronics Mechanics and Robotics Orel State University 95 Komsomolskaya Street Orel302026 Russia Lab. of Artificial Intelligence Innopolis University 1 Universitetskaya street Innopolis 420500 Russia Research and Development Center of Biomedical Photonics Orel State University 95 Komsomolskaya Street Orel302026 Russia College of Engineering and Physical Sciences Aston University BirminghamB4 7ET United Kingdom Dept. of Information Systems Orel State University 95 Komsomolskaya Street Orel302026 Russia Faculty of Applied Optics ITMO University 49 Kronverksky St. Petersburg197101 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

The paper deals with processing data obtained using nailfold high-speed videocapillaroscopy. To detect the red blood cells velocity two approaches are used. The deterministic approach is based on pixel intensities analysis for object detection and calculation of the displacement and velocity of red blood cells in a capillary. The obtained data formulate targets for the second approach. The stochastic approach is based on a sequence of artificial neural networks. The semantic segmentation network UNet is used for capillary detection. Then, the classification network GoogLeNet or ResNet is used as a feature extractor to convert masked video frames to a sequence of feature vectors. And finally, the long short-term memory network is used to approximate the red blood cells velocity. The results demonstrated that the accuracy of the mean velocity approximation in the time range of several seconds is up to 0.96. But the accuracy at each specific time moment is less accurate. So, the proposed algorithm allows the determination of the RBCs mean velocity but it doesn't allow determination of the RBCs pulsations accurate enough. © 2022 SPIE.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Identifiability implies robust, globally exponentially convergent on-line parameter estimation: Application to model reference adaptive control

arXiv

引用

arXiv 2021年

作者： Wang, Lei Ortega, Romeo Bobtsov, Alexey Romero, Jose Guadalupe Yi, Bowen The Australian Center for Field Robotics The University of Sydney SydneyNSW2006 Australia The Departamento Académico de Sistemas Digitales ITAM Río Hondo 1 Ciudad de México01080 Mexico The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia

In this paper we propose a new parameter estimator that ensures global exponential convergence of linear regression models requiring only the necessary assumption of identifiability of the regression equation, which we show is equivalent to interval excitation of the regressor vector. Continuous and discrete-time versions of the estimators are given. An extension to-separable and monotonic-non-linear parameterizations is also given. The estimators are shown to be robust to additive measurement noise and-not necessarily slow-parameter variations. Moreover, a version of the continuous-time estimator that rejects sinusoidal disturbances with unknown internal model is given. The estimator is shown to be applicable to the classical model reference adaptive control problem relaxing the conspicuous assumption of known sign of the high-frequency gain. Simulation results that illustrate the performance of the estimator are given. © 2021, CC BY-NC-SA.

关键词： Model reference adaptive control

来源：评论

学校读者我要写书评

暂无评论

Design of versatile gripper with robust control

引用

IFAC-PapersOnLine 2018年第22期51卷 56-61页

作者： Borisov, Ivan I. Borisov, Oleg I. Gromov, Vladislav S. Vlasov, Sergey M. Dobriborsci, Dmitrii Kolyubin, Sergey A. Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This paper presents a novel approach to the development of finger mechanisms for anthropomorphic grippers. The proposal approach allows to design a gripper finger that is able to break/reconnect a kinematic chain of the finger in order to change a degree of freedom, that will enable to choose between different operation modes of the grasping device. This approach can be used to create grippers for different tasks such industrial grippers as well as prosthesis. In this paper, the proposed approach was used to create our gripper named “UHVAT” (Usable Holding Versatile Adjustable Tool) for industrial tasks. The gripper consists of three fingers and a palm and equipped with four motors. The robust regulator was designed for positioning control of the motors. The control law includes cancellation of steady state error and anti-windup portions. © 2018

关键词： Grippers Adaptive control systems Degrees of freedom (mechanics) Industrial plants Industrial robots Kinematics Robust control Adaptive Grasping Anthropomorphic grippers Finger mechanisms Industrial automation Positioning control Robotic systems Steady state errors Versatile grippers

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

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

引用

School on Dynamics of Complex Networks and their Application in Intellectual robotics (DCNAIR)

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

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172873

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.

关键词： Mathematical model Trajectory Tracking Indexes Friction Gravity

来源：评论

学校读者我要写书评

暂无评论

High throughput event filtering: The interpolation-based DIF algorithm hardware architecture

引用

Microprocessors and Microsystems 2025年

作者： Marcin Kowalczyk Tomasz Kryjak Embedded Vision Systems Group Department of Automatic Control and Robotics Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Krakow Poland

In recent years, there has been rapid development in the field of event vision. It manifests itself both on the technical side, as better and better event sensors are available, and on the algorithmic side, as more and more applications of this technology are proposed and scientific papers are published. However, the data stream from these sensors typically contains a significant amount of noise, which varies depending on factors such as the degree of illumination in the observed scene or the temperature of the sensor. We propose a hardware architecture of the Distance-based Interpolation with Frequency Weights(DIF) filter and implement it on an FPGA chip. To evaluate the algorithm and compare it with other solutions, we have prepared a new high-resolution event dataset, which we are also releasing to the community. Our architecture achieved a throughput of 403.39 million events per second (MEPS) for a sensor resolution of 1280 × 720 and 428.45 MEPS for a resolution of 640 × 480. The averagevalues of the Area Under the Receiver Operating Characteristic (AUROC) index ranged from 0.844 to 0.999, depending on the dataset, which is comparable to the state-of-the-art filtering solutions, but with much higher throughput and better operation over a wide range of noise levels.

关键词： Dataset Denoising DVS FPGA High-throughput

来源：评论

学校读者我要写书评

暂无评论

Simulation of Wind Turbine Vibrations

Simulation of Wind Turbine Vibrations

引用

International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Ekaterina Andriushchenko Ants Kallaste Toomas Vaimann Anton Rassõlkin Hamidreza Heidari Galina L. Demidova Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

In recent years, there has been an increasing interest in renewable energy. Particularly, wind energy is gaining more and more popularity in many countries. However, the main obstacles to wind turbines usage are the vibration and noise close to wind farms. Therefore, this paper is focused on developing a new method for mathematical simulation of vibrations of a wind turbine in order to find out and reduce the vibration level. Particularly, low-frequency vibration of a wind turbine, composed of a tower and rotor in the out-of-balance condition is considered. The proposed method of vibration simulation is based on the theory of elastic beams and the general vibration theory. The calculations are made for a wind turbine VTR 50 Arctic. The results of the calculations are the displacement of the tower top and the stress at the tower foundation. Furthermore, it is worth emphasizing that the method is quite flexible. It allows adding complexity into the system, for instance, external loads such as wind pressure, aerodynamic loads, seismic loads or operational loads.

关键词： Wind turbines Poles and towers Vibrations Rotors Mathematical model Stress Blades

来源：评论

学校读者我要写书评

暂无评论

Comparison of Synchronous Reluctance Machine and Permanent Magnet-Assisted Synchronous Reluctance Machine Performance Characteristics

Comparison of Synchronous Reluctance Machine and Permanent M...

引用

International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Hamidreza Heidari Ekaterina Andriushchenko Anton Rassõlkin Ants Kallaste Toomas Vaimann Galina L. Demidova Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

Since the dominant induction machines and permanent magnet synchronous machines are well-established in the industry, the reluctance machines require more research work and investigation to substitute the conventional technologies. This paper analyzes the synchronous reluctance machines and permanent magnet-assisted synchronous reluctance machines in terms of the effect of permanent magnets in the model and the performance characteristic of the machines. The machines are designed and the parameters are measured. The vector diagrams of the machines and the equivalent circuits of the machines are analyzed. A comparison of the machines in terms of power factor, efficiency, and torque of the machines is provided based on the measurements. The study presents a notable improvement in power factor and efficiency in the case of inserting permanent magnets in the synchronous reluctance machine's rotor.

关键词： Rotors Torque Reactive power Electrical resistance measurement Magnetic flux Reluctance machines Stators

来源：评论

学校读者我要写书评

暂无评论

Possibilities of Changing the Transport Characteristics of the TEP70 Locomotive

Possibilities of Changing the Transport Characteristics of t...

引用

International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Viktor Rjabtšikov Anton Rassõlkin Toomas Vaimann Ants Kallaste Dmitry V. Lukichev Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

The research concentrates on the modernization issues of diesel-electric passenger locomotives TEP70. There is number of TEP70 locomotives in Baltic region that are used very rarely by their direct application but may as well be usable as freight locomotives. The main goal of the study is to change the tractive force of a TEP70 locomotive to be able to transport cargo in the Baltic region. Analysis of TEP70 working principles and load characteristics are presented. Based on the analytical model of locomotive, suggestion to replace the gearbox to increase locomotive pulling capability is proposed. Moreover, the paper presents calculation of the traction effort of TEP70. That kind of calculations are very important for motion planning and it should be done in order to avoid overloading during the working mode of the locomotive.

关键词： Force Traction motors Generators Gears Roads Windings Resistance

来源：评论

学校读者我要写书评

暂无评论

Modem Mechatronics and robotics Education Program: Border Cooperation between Estonia and Russia

Modem Mechatronics and Robotics Education Program: Border Co...

引用

IEEE Education Engineering (EDUCON)

作者： Anton Rassõlkin Toomas Vaimann Karolina Kudelina Galina L. Demidova Dmitry V. Lukichev Svetlana Yu.Perepelkina Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728109305

ISBN: (纸本)9781728109312

The paper describes the interaction between Tallinn university of Technology (TalTech, Tallinn, Estonia) and itmo university (St. Petersburg, Russia) based on recently signed agreement. The purpose of the agreement is to record the intention of TalTech and itmo university to cooperate on implementing a double master's degree program, which involves confirmation of the master's educational level absorption and the award of master's degree and obtention of two diplomas, and to outline the organizational form, principles and terms of the implementation. The double degree Program is a two-year Master's program of 120 ECTS credit points. Its structure and content meets the requirements that both TalTech and itmo university have established for their master's programs, in accordance with the government standards. Development and approval of the double degree Program is held by the Parties in accordance with the procedures established by them. This paper describes the procedure of implementation of a double-degree master program in mechatronics engineering.

关键词：

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：