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检索条件"机构=Faculty of Control Systems and Robotics of ITMO University"

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The Effect of Changing-Lane Prediction Algorithms on the Performance of ACC System Model in Matlab/Simulink

The Effect of Changing-Lane Prediction Algorithms on the Per...

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Suleiman, Leila Vlasov, Sergei Control Systems and Robotics Faculty ITMO University Saint-Petersburg Russia

ISBN: (纸本)9798350395044

Self-driving vehicles are capturing the attention of numerous researchers, companies, and car enthusiasts. The automation of vehicles varies across multiple levels, depending on the tasks they perform and the techniques they employ. The Adaptive Cruise control (ACC) system is an automated vehicle at the first level. It checks the presence of other vehicles in its lane to adapt its velocity accordingly or maintain a constant speed. However, it does not include lane-changing capabilities. Nevertheless, the presence of other neighboring vehicles can affect the performance of the ACC based Model Predictive controller (MPC) system, leading to discomfort or collisions. In this paper, we will provide a brief description of the ACC system and the MPC controller. Subsequently, we will discuss the challenges that affect the performance of the ACC based MPC system and propose potential solutions using the Variable Time Headway (VTH) strategy or changing-lane prediction algorithms, such as Random Forest (RF), K- Nearest Neighbor (KNN) and Support Vector Machine (SVM). Simulation results of applying these methods to a sufficiently dangerous driving scenario will be illustrated, followed by a brief conclusion. © 2024 IEEE.

关键词： Support vector machines

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Automation of Ultrasonic Testing Technology for Soldered Joints of Heat Exchanger Elements

Automation of Ultrasonic Testing Technology for Soldered Joi...

引用

2024 Intelligent Technologies and Electronic Devices in Vehicle and Road Transport Complex, TIRVED 2024

作者： Malyy, Valeriy V. Kinzhagulov, Igor Y. Prokhorovich, Vladimir E. ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9798331518707

This article discusses the automation of ultrasonic echo-pulse method technology for testing soldered joints of heat exchanger elements. The article describes a test object with a complex geometric shape and defects in soldered joints that occur during manufacturing, such as "non-soldering"and "partial non-soldering". The article describes the problems of existing solutions for quality control of soldered joints, which consist in the complexity of positioning the piezoelectric transducer, which leads to insufficient efficiency and reliability of the testing results, which justifies the relevance of the work. Finite element modeling was carried out to establish the dependencies of geometric displacements during positioning of the piezoelectric transducer, based on the results of which an algorithm was developed that allows increasing the efficiency and reliability of the testing results. An experimental testing of the created automated ultrasonic testing system was carried out, which confirmed that the proposed method for automating the technology of ultrasonic testing of soldered joints of heat exchanger elements is more efficient and reliable compared to existing solutions. © 2024 IEEE.

关键词： Ultrasonic testing

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Edge IIoT in Manufacturing

Edge IIoT in Manufacturing

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Remizov, Boris Tretyakov, Sergey Andreev, Yuriy ITMO University Faculty of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9798350395044

There have been many studies on the integration of edge computing technology into the Internet of Things and its integration into the operation of various processes that require greater adaptability in dealing with information and better utilization of available resources. Indeed, in recent years there has been an active exploration of new ways to utilize this technology. However, most research has focused on the development of new architectural solutions and in the area of integration with various smart systems such as smart home or smart health care, with little attention to the application of this technology in industrial production. However, it is recognized that this technology is a new step in improving IT/OT convergence, which makes this technology highly relevant for industrial applications. This study explores the principles of edge within the enterprise digital transformation and proposes a model in which edge technology is integrated into the operation of an automated warehouse management system in manufacturing. The study shows that that technology can be used to filter previously unused data in order to better identify possible defects in the system by obtaining additional data without the need to manually upload it. © 2024 IEEE.

关键词： Internet of things

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Research of Signal Adaptive Filtering Algorithms

Research of Signal Adaptive Filtering Algorithms

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Shabanov, Kirill A. Vlasov, Sergey M. Arustamov, Sergey A. ITMO University Control Systems and Robotics Faculty Saint-Petersburg Russia

ISBN: (纸本)9798350395044

The article aims to research the existing signal adaptive filtering algorithms. The task of filtering signals from noise and distortion is an important scientific and technical problem. In this paper, white noise filtering using an adaptive filter is considered. Classical adaptive filtering algorithms have been chosen to solve the problem. The efficiency of the least mean squares and the recursive least squares with forgetting factor algorithms was compared for the white noise filtering tasks. As a result of this work, it turned out to filter a multiharmonic signal from the white noise using the least mean squares and the recursive least squares with forgetting factor algorithms. © 2024 IEEE.

关键词： Adaptive filters

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Bond-Graph Simulation Toolbox

Bond-Graph Simulation Toolbox

引用

2024 International Russian Automation Conference, RusAutoCon 2024

作者： Bzhikhatlov, Islam Kotov, Daniil Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

In the modeling of such dynamic systems as robots, the energy flow across multiple physical domains is challenging and frequently leads to difficulties, making model-based control methods less efficient. This software enables the efficient creation of multi-domain models in terms of bond graph methodology, allowing users to instantiate elements, ports, and bonds and seamlessly interconnect them. the internal algorithms automate the derivation of equations for each system component with respect to energy variables. the software supports the formulation of system equations in both Cauchy and state-space forms. by specifying system parameters and input signals, software performs numerical simulation, providing comprehensive insights into system dynamics. the powerful tool for multi-domain tools could help in the design and co-design of new multi-domain systems as well as in the synthesis of control algorithms in the energy domain for a wide range of applications. © 2024 IEEE.

关键词： Input output programs

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Tuning Parameters of Backstepping control Using TLBO Algorithm for Inverted Pendulum

Tuning Parameters of Backstepping Control Using TLBO Algorit...

引用

2024 Conference of Young Researchers in Electrical and Electronic Engineering, ElCon 2024

作者： Long, Hoang Duc Itmo University Faculty of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9798350360646

In this paper, a method to tune the parameters of a backstepping controller using the Teaching Learning Based Optimization (TLBO) algorithm for an inverted pendulum on a cart is introduced. Inverted Pendulum on Cart is an unstable high-order nonlinear system that is used to test the performance and effectiveness of control algorithms. Besides, backstepping control is an effective method to design robust controllers for nonlinear systems affected by external disturbances. However, choosing the parameters of the backstepping controller to guarantee that the control law is bounded is difficult. To solve this problem, an optimization method can be used, such as the TLBO algorithm, to find the parameters that guarantee both the convergence of outputs and the limitation of the control law. This method is applied to an inverted pendulum on a cart, and the simulation results are illustrated to show the effectiveness of the proposed method. © 2024 IEEE.

关键词： Backstepping control Integral Absolute Error Inverted Pendulum on Cart TLBO Algorithm Tuning Parameter

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Application of Machine Learning Tools in Computer-Aided Design of Technological Processes (CAPP) 5

Application of Machine Learning Tools in Computer-Aided Desi...

引用

5th International Conference on Neural Networks and Neurotechnologies, NeuroNT 2024

作者： Laptev, Aleksandr A. Tretyakov, Sergey D. Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9798350363739

In this work, various methods of designing technological processes are highlighted, their comparative analysis is conducted and general stages are highlighted. Special attention was paid to the analysis of solutions in the information retrieval subsystem, where the search of parts-analogues in the existing systems of automated design of technological processes (CAD TP) is realized. On the basis of the conducted analysis, a new approach to the search for parts-analogues and unification of details with the use of tools and algorithms of machine learning has been proposed. The use of a new database format in CAD TP is also proposed, which allows to significantly simplify the process of search and unification of details. And also to improve the efficiency of the search by reducing the time and qualitative results. The obtained results and proposals can become the basis for improving the process design procedure in industry and increasing the efficiency of the use of computer-aided process design systems. © 2024 IEEE.

关键词： Machine learning

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Signal Adaptive Filtering Algorithm to Eliminate White Noise of Stationary and Non-Stationary Signals

Signal Adaptive Filtering Algorithm to Eliminate White Noise...

引用

2024 International Russian Automation Conference, RusAutoCon 2024

作者： Shabanov, Kirill A. Vlasov, Sergey M. Itmo University Control Systems and Robotics Faculty Saint-Petersburg Russia

This article aims to research and evaluate existing adaptive signal filtering algorithms. Filtering of signals removes noise and distortion, which is a crucial scientific and technical challenge. the authors specifically consider the problem of white noise filtering using an adaptive filter approach. To address this problem, classical adaptive filtering algorithms are selected as the primary techniques for investigation. the efficiency of the least mean squares and recursive least squares with forgetting factor algorithms is compared in white noise filtering tasks for stationary and non-stationary signals. As a result, the authors have successfully filtered multi-harmonic signals from white noise using both the least mean squares and recursive least squares with forgetting factor algorithms. © 2024 IEEE.

关键词： Wiener filtering

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A New Approach for Technological Processes Design Using Machine Learning Algorithms

A New Approach for Technological Processes Design Using Mach...

引用

2024 International Russian Automation Conference, RusAutoCon 2024

作者： Laptev, Aleksandr Tretyakov, Sergey Andreev, Yuri Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

In recent years, there has been an active introduction of digital and automated technologies in Russian mechanical engineering and instrumentation industries. Such systems are CAD, CAPP, MES systems, which allow to automate many processes in production. This study is devoted to CAPP (computer-aided process design systems), paying special attention to the methods used for the design of technological processes. The study showed that the search systems of existing CAPP are all based on manual entry of attributes and subsequent time-consuming analysis of search results, technological processes are dialogue mode. And one of the main factors determining the efficiency and competitiveness of the enterprise is a timely developed and established technological process. In order to increase the efficiency of the technological preparation stage of production, it is proposed a new method for designing technological processes in CAPP through the use of machine learning. Thus, the study made possible the development of a new automated process search system for analogue detail. Also the carried out study provides the algorithm, describing a new process engineering method with machine learning tools. © 2024 IEEE.

关键词： Search engines

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Direct Adaptive control of LTV Discrete-time systems with Uncertain Periodic Coefficients 63

Direct Adaptive Control of LTV Discrete-time Systems with Un...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Gerasimov, Dmitry N. Ngo, Dang Hien Nikiforov, Vladimir O. Itmo University Faculty of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9798350316339

The paper considers the problem of the state-feedback adaptive control of a class of discrete linear time-varying plant with multisinusoidal parameters. The plant is representable in the strict-feedback form, in which the parameters are on the main diagonal of the state matrix. The amplitudes, frequencies, and the phases of the multisinusoids are not known a priori, however the maximum numbers of sinusoids (harmonics) in each parameter are available. The problem is solved by design of periodic parameters observers recovering the parameters dynamics, the plant parameterization, and developing a discrete-time adaptive backstepping controller. In order to tune the controller parameters and improve the closed-loop transient performance, an adaptation algorithm with memory regressor extension is applied. The main results of the paper are demonstrated by simulation. © 2024 IEEE.

关键词： State feedback

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