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International Scientific Conference on Power and Electrical Engineering of Riga Technical university (RTUCON)

作者： Aleksandr Usoltsev Galina L. Demidova Dmitry V. Lukichev Stepan Bratchikov ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia

In this paper, study of correlation between electromagnetic torque and pole pairs numbers using one-dimensional nonlinear model PMSM have been implemented. It's shown that for the overall range of motor's flange diameters from 63 to 165 mm there is a number of pole pairs, providing the maximum electromagnetic torque and the maximum value of magnetic flux density in the airgap. At the same time, the optimal number of poles for maximum magnetic flux density does not correspond to the optimal number of poles obtaining for the maximum electromagnetic torque. This fact excludes the possibility of optimizing the dimensions of the motor according to the criterion of the maximum magnetic flux density in the airgap with save the maximum value of electromagnetic torque. Thus, the number of pole pairs for the different dimensions of the motors must be chosen from the conditions for finding the maximum electromagnetic torque.

关键词： magnetic flux optimisation permanent magnet motors synchronous motors torque

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Modeling of adsorptive removal of azithromycin from aquatic media by CoFe₂O₄_/NiO anchored microalgae-derived nitrogen-doped porous activated carbon adsorbent and colorimetric quantifying of azithromycin in pharmaceutical products

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Chemosphere 2023年第1期329卷 138635页

作者： Ameen, Fuad Mostafazadeh, Reza Hamidian, Yasamin Erk, Nevin Sanati, Afsaneh L. Karaman, Ceren Ayati, Ali Department of Botany and Microbiology College of Science King Saud University Riyadh 11451 Saudi Arabia Ankara University Faculty of Pharmacy Department of Analytical Chemistry Ankara 06560 Turkey Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Polo II Coimbra 3030-290 Portugal Akdeniz University Vocational School of Technical Sciences Department of Electricity and Energy Antalya 07070 Turkey ChemBio Cluster ITMO University Lomonosova Street 9 Saint Petersburg 191002 Russian Federation

Herein, it was aimed to optimize the removal process of Azithromycin (Azi) from the aquatic environment via CoFe2O4/NiO nanoparticles anchored onto the microalgae-derived nitrogen-doped porous activated carbon (N-PAC)... 详细信息

Herein, it was aimed to optimize the removal process of Azithromycin (Azi) from the aquatic environment via CoFe₂O₄_/NiO nanoparticles anchored onto the microalgae-derived nitrogen-doped porous activated carbon (N-PAC), besides developing a colorimetric method for the swift monitoring of Azi in pharmaceutical products. In this study, the Spirulina platensis (Sp) was used as a biomass resource for fabricating CoFe₂O₄/NiO@N-PAC adsorbent. The pores of N-PAC mainly entail mesoporous structures with a mean pore diameter of 21.546 nm and total cavity volume (V_total) of 0.033578 cm³. g⁻¹. The adsorption studies offered that 98.5% of Azi in aqueous media could remove by CoFe₂O₄/NiO@N-PAC. For the cyclic stability analysis, the adsorbent was separated magnetically and assessed at the end of five adsorption-desorption cycles with a negligible decrease in adsorption. The kinetic modeling revealed that the adsorption of Azi onto the CoFe₂O₄/NiO@N-PAC was well-fitted to the second-order reaction kinetics, and the highest adsorption capacity was found as 2000 mg. g⁻¹ at 25 °C based on the Langmuir adsorption isotherm model at 0.8 g. L⁻¹ adsorbent concentration. The Freundlich isotherm model had the best agreement with the experimental data. Thermodynamic modeling indicated the spontaneous and exothermic nature of the adsorption process. Moreover, the effects of pH, temperature, and operating time were also optimized in the colorimetric Azi detection. The blue ion-pair complexes between Azi and Coomassie Brilliant Blue G-250 (CBBG-250) reagent followed Beer's law at wavelengths of 640 nm in the concentration range of 1.0 μM to 1.0 mM with a 0.94 μM limit of detection (LOD). In addition, the selectivity of Azi determination was verified in presence of various species. Furthermore, the applicability of CBBG-250 dye for quantifying

关键词： Adsorption Adsorption modeling Azithromycin Biomass-derived activated carbon Spectrophotometry Spirulina platensis

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control of UAV Based on Biological Algorithm

Control of UAV Based on Biological Algorithm

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IEEE Conference on Quality Management, Transport and Information Security, Information Technologies (IT&MQ&IS)

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

ISBN: (纸本)9781728125961

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.

关键词： Market research Biological system modeling Light sources Unmanned aerial vehicles Robot kinematics

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Persistent excitation is unnecessary for on-line exponential parameter estimation: A new algorithm that overcomes this obstacle

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arXiv 2021年

作者： Korotina, Marina Romero, Jose Guadalupe Aranovskiy, Stanislav Bobtsov, Alexey Ortega, Romeo IETR CentaleSupélec Avenue de la Boulaie Cesson-Sévigné35576 France Faculty of Control Systems and Robotics ITMO University Saint-Petersburg197101 Russia Departamento Académico de Sistemas Digitales ITAM Río hondo 1 Progreso Tizapán Mexico City01080 Mexico

In this paper we prove that it is possible to estimate on-line the parameters of a classical vector linear regression equation Y = Ωθ, where Y ∈ n, Ω ∈ n×q are bounded, measurable signals and θ ∈ Rq is a constant vector of unknown parameters, even when the regressor Ω is not persistently exciting. Moreover, the convergence of the new parameter estimator is global and exponential and is given for both, continuous-time and discrete-time implementations. As an illustration example we consider the problem of parameter estimation of a linear time-invariant system, when the input signal is not sufficiently exciting, which is known to be a necessary and sufficient condition for the solution of the problem with standard gradient or least-squares adaptation algorithms. © 2021, CC BY.

关键词： Parameter estimation

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Position control of Servo Drive System Based on Interval Type-2 Fuzzy Logic Algorithm

Position Control of Servo Drive System Based on Interval Typ...

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

作者： Galina L. Demidova Dmitry V. Lukichev Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

This paper is extension of major research of application of fuzzy logic for position control of precision electromechanical system specifically pointing and tracking system of telescope. Proposed interval type-2 fuzzy logic algorithm is evolution type-1 algorithm for improving the efficiency of a drive system due to the fact that in type-2 fuzzy systems membership functions are tridimensional and include in their entire period footprint of uncertainty. To prove the effectiveness of the presented method of fuzzy type-2 logic we compared it with the traditional PI controller. The obtained results show good steady-state and dynamic performance and workability of the presented algorithm.

关键词： Fuzzy logic Torque Telescopes Uncertainty Position control Permanent magnet motors

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Computer Vision in control and robotics for Educational Purposes ⁎

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IFAC-PapersOnLine 2019年第9期52卷 127-132页

作者： Sergei V. Shavetov Isabella I. Merkulova Anton A. Ekimenko Oleg I. Borisov Vladislav S. Gromov ITMO University Faculty of Control Systems and Robotics Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

The paper is devoted to computer vision education for itmo university students specializing in control systems and robotics. The set of laboratory works are attached. Several examples of finished works are provided. The topics of the laboratory course consists of histograms, profiles, projections, image geometric transformations, filtering and edges detection, images segmentation, Hough transformation, image morphologic analysis.

关键词： Computer vision Laboratory education Computer applications Robots sensing systems control systems applications

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Modeling and control of Robotic systems Course: from Fundamentals to Applications ⁎

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IFAC-PapersOnLine 2019年第9期52卷 224-229页

作者： Vladislav S. Gromov Oleg I. Borisov Sergey S. Shavetov Anton A. Pyrkin Fatimat B. Karashaeva Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

In this paper the Modeling and control of Robotic systems course to build the set of the professional skills is presented. This course is included in the curriculum of the master’s degree program and provided at the faculty of control systems and robotics of itmo university. The selection of the tracks to build the professional skills are presented. An important part of the tracks is a using various technical equipment to build the skills and experience.

关键词： control education control application robotics Ship control Industrial robots

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State Observation of Affine-in-the-States Time-Varying systems with Unknown Parameters and Delayed Measurements

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IFAC-PapersOnLine 2021年第14期54卷 108-113页

作者： Alexey Bobtsov Nikolay Nikolaev Romeo Ortega Denis Efimov Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg 197101 Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México México INRIA Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia

In this paper we address the problem of adaptive state observation of affine-in-the-states time-varying systems with delayed measurements and unknown parameters. The case with known parameters has been studied by many researchers—see [Sanz et al. 2019, Bobtsov et al. 2021] and references therein—where, similarly to the approach adopted here, the system is treated as a linear time-varying system. We show that the parameter estimation-based observer (PEBO) design proposed in [Ortega et al. 2015, 2020] provides a very simple solution for the unknown parameter case. Moreover, when PEBO is combined with the dynamic regressor extension and mixing (DREM) estimation technique [Aranovskiy et al. 2016, Ortega et al. 2019], the estimated state converges in fixed-time with extremely weak excitation assumptions.

关键词： Nonlinear time-varying systems state observer delay systems parameter estimation

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Finite-time Frequency Estimator for Harmonic Signal

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IFAC-PapersOnLine 2020年第2期53卷 584-589页

作者： Alexey A. Bobtsov Anastasiia O. Vediakova Nikolay A. Nikolaev Olga V. Slita Anton A. Pyrkin Alexey A. Vedyakov Department of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Department of Computer Applications and Systems Saint Petersburg State University Saint Petersburg Russia

This paper is devoted to a frequency estimation of a pure sinusoidal signal in finite-time. The parameterization is based on applying delay operators to a measurable signal. The result is the first-order linear regression model with one parameter, which depends on the signal frequency. The proposed method of finite-time estimation consists of two steps. On the first step, the standard gradient descent method is used to estimate the regression model parameter. On the next step using algebraic equations, finite-time frequency estimate is found. The described method does not require measuring or calculating derivatives of the input signal and uses one integrator for the gradient method and another one for the finite-time estimation. The efficiency of the proposed approach is demonstrated through the set of numerical simulations.

关键词： parameter estimation observers frequency estimation finite-time estimation

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Parameter Estimation of Nonlinearly Parameterized Regressions: Application to System Identification and Adaptive control

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IFAC-PapersOnLine 2020年第2期53卷 1206-1212页

作者： Romeo Ortega Vladislav Gromov Emmanuel Nuño Anton Pyrkin Jose Guadalupe Romero Laboratoire des Signaux et Systémes Supélec CNRS-SUPELEC Gif-sur-Yvette France Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Department of Computer Science CUCEI University of Guadalajara Guadalajara Mexico Department of Digital Systems ITAM Mexico City Mexico

We propose a solution to the problem of parameter estimation of nonlinearly parameterized regressions—continuous or discrete time—and apply it for system identification and adaptive control. We restrict our attention to parameterizations that can be factorized as the product of two functions, a measurable one and a nonlinear function of the parameters to be estimated. Another feature of the proposed estimator is that parameter convergence is ensured without a persistency of excitation assumption. It is assumed that, after a coordinate change, some of the elements of the transformed function satisfy a monotonicity condition. The proposed estimators are applied to design identifiers and adaptive controllers for nonlinearly parameterized systems, which are traditionally tackled using overparameterization and assuming persistency of excitation.

关键词： Adaptive control systems identification nonlinear control

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