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

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Study of the Applicability of the Method of Optical Triangulation for Evaluation of the Geometric Parameters and Cleanliness of the Surface of Products of Complex Shapes 7

Study of the Applicability of the Method of Optical Triangul...

引用

7th International Conference on Information, control, and Communication Technologies, ICCT 2023

作者： Konyashov, Vyacheslav V. Sergeev, Alexey S. Kolganov, Oleg A. Fedorov, Alexey V. Konyashova, Kseniya A. Bychenok, Vladimir V. Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia Scientific and Technical Center 'Etalon' ST Petersburg Russia Institution of Science 'IKCSEKT' ST Petersburg Russia

ISBN: (纸本)9798350340945

The results of experimental studies of the applicability of the method of optical laser triangulation for constructing the profile of conical and cylindrical products with a ribbed surface, made by milling, are reflected. An algorithm for constructing a geometric profile of products of complex shape based on a system of triangulation sensors is proposed. The results of experimental approbation of the proposed algorithm on the stand for automated control of the geometry of complex-profile parts using a laser triangulation 2-D scanner are presented. The sensitivity of a laser triangulation 2-D scanner to the roughness parameters during milling the surface of products is evaluated. The accuracy characteristics of the triangulation method for determining the surface roughness parameters for different orientations of laser radiation with respect to the test object are estimated. © 2023 IEEE.

关键词： Nondestructive examination

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Automated Ultrasonic Testing of Carbon-Carbon Composite Materials 7

Automated Ultrasonic Testing of Carbon-Carbon Composite Mate...

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7th International Conference on Information, control, and Communication Technologies, ICCT 2023

作者： Pavlukhin, Evgeniy A. Kinzhagulov, Igor Y. Fedorov, Alexey V. Omarov, Magomed A. Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia Inst. of Science 'Engineering and Design Center for Support of the Operation of Space Technology ST Petersburg Russia

ISBN: (纸本)9798350340945

The quality of products made of carbon-carbon composite materials (CCCM) is influenced by many factors, including the parameters of the technological process and the technical level of equipment for the manufacture of materials and structures. One of the most important moments in the process of creating products from CCCM is the formation of reinforcing components, matrix and their structural bonds. The efficiency of the system of structural bonds depends on the homogeneity (heterogeneity) of the material structure. The required mechanical and thermal properties of CCCM are ensured by the uniformity (continuity) of the structure, the change of which affects the properties of the material as a whole. In the event of discontinuity, an uneven distribution of mechanical and thermal fields can occur, which will jeopardize the performance of the entire structure, so non-destructive testing (NDT) of CCCM is an important task. The ultrasonic shadow method of control was chosen as the NDT method. This method makes it possible to detect structural inhomogeneities in the material of the test object - accumulations of pores and microcracks (at the microlevel), cracks, zones of low density, local heterogeneity of the structure (at the macrolevel). This article discusses the automation and ultrasonic testing of products from CCCM. © 2023 IEEE.

关键词： Nondestructive examination

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Machine Learning Approaches for Failures Detection in Inertial Navigation systems

Machine Learning Approaches for Failures Detection in Inerti...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Alexey Margun Radda Iureva Daniil Antonov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia CSRI Electropribor ITMO University Saint Petersburg Russia

Inertial Navigation systems (INS) are essential for the navigation of both surface and underwater crafts, playing a critical role particularly in autonomous and automated control systems. The reliability of these systems is paramount for ensuring the safe maneuvering of such vessels. Monitoring the technical condition of INS is crucial for operational safety. However, traditional diagnostic approaches often fall short in effectively tackling INS challenges due to dynamic uncertainties, external interferences, and susceptibility to informational disruptions. This paper presents a comparative study on the application of various machine learning strategies for diagnosing failures in INS. It specifically examines gyroscope and accelerometer data from surface vessels, employing the Nomoto model to describe their dynamics. The paper suggests methods for feature engineering and evaluation of their significance. Multiple machine learning algorithms were developed, refined, and evaluated to address the diagnostic challenge. An analysis comparing the effectiveness of these models is also included.

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Robust Finite-Time Stabilization of Linear Descriptor systems

Robust Finite-Time Stabilization of Linear Descriptor System...

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Mediterranean Conference on control and Automation (MED)

作者： Dmitry Konovalov Artem Kremlev Konstantin Zimenko Dmitrii Dobriborsci Faculty of Control Systems and Robotics ITMO University Deggendorf Institute of Technology (Technology Campus Cham)

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

The paper is devoted to the problem of robust finite-time control design for linear descriptor systems. The proposed homogeneity based control does not require system transformation to a canonical form and guarantee finite-time convergence in the presence of additive disturbances. The parameters tuning is based on the solution of linear matrix equations and inequalities.

关键词： Robust control Radio frequency Additives Automation control design Linear matrix inequalities Tuning

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control Aspects in Programming by Demonstation for Robotic Deep- Micro- Hole Drilling 32

Control Aspects in Programming by Demonstation for Robotic D...

引用

32nd Mediterranean Conference on control and Automation, MED 2024

作者： Maric, Bruno Petric, Frano Orsag, Matko University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (纸本)9798350395440

This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling. © 2024 IEEE.

关键词： Molds

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Development of an Algorithm for the Movement and Adjusting Measuring Transducers of an Automated Non-Destructive Testing System

Development of an Algorithm for the Movement and Adjusting M...

引用

Information, control, and Communication Technologies (ICCT), International Conference on

作者： Valeriy V. Malyy Maxim S. Gubin Alexandr S. Kostyukhin Alexey V. Fedorov Igor Y. Kinzhagulov Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

This paper discusses the issues of development of an algorithm for the movement of the measuring module of an automated system for non-destructive quality testing of the solder joints of the engine nozzle. The object of testing is identified as a one with a complex geometric shape, the flaws in soldered joints of the test object occur during the manufacturing process. Defects studied in this paper are: «dry joint», «partial dry joint» and «cold lap». The relevance of the development, as well as the problems of production and testing of engine nozzles, which do not allow to identify the required defects at the early stages of manufacturing assembly units without destroying the integrity of the engine nozzle, are substantiated. The existing approaches are described in terms of the choice of methods and means for non-destructive testing of engine nozzles of complex geometric shapes, their advantages and disadvantages are identified. The existing problems in terms of automation of the pulse-echo and through-transmission methods of ultrasonic testing are analysed, the advantages and disadvantages of the proposed methods are identified. The main factors that reduce the probability of detecting defects are determined, namely, the instability of the acoustic contact between the transducer and the test object, as well as the deviation of the acoustic axis of the transducer from the normal to the surface of the test object. The requirements for the motion algorithm of the measuring module of an automated non-destructive testing system with feedback based on the signal amplitude measured during scanning from the structural elements of the internal structure of the engine nozzle are determined.

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Research on the Impact of Different controllers on the Adapative Cruise control System

Research on the Impact of Different Controllers on the Adapa...

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International Russian Automation Conference (RusAutoCon)

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

Adaptive Cruise control (ACC) system is a well-known Advanced Driver Assistant systems (ADAS) that offers safe, comfortable, and fuel-efficient self-driving capabilities. It utilizes a combination of hardware and software to follow other vehicles, effectively. While the design and control of this system are complex, its user interface ensures ease of use and understanding. This paper aims to demonstrate the application of different control algorithms with the ACC system. Firstly, it introduces the Model Predictive controller (MPC), Levenberg-Marquardt Neural Network (LM NN), Bayesian Regularization Neural Network (BR NN), and Scaled Conjugate Gradient Neural Network (SCG NN). Subsequently, the paper presents a practical implementation of these three neural networks in conjunction with the Classical ACC controller. The performance of MPC with these three emulated neural networks is then evaluated. Finally, the paper concludes by establishing an evaluation and summary of the performance of these controllers.

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Detecting and Classifying Surface Defects in Rolled Steel Sheets Using Deep Learning Techniques

Detecting and Classifying Surface Defects in Rolled Steel Sh...

引用

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

作者： Oleg Evstafev Sergei Shavetov Anton Pyrkin Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

The paper focuses on using Deep Learning (DL) and Computer Vision (CV) techniques to detect surface defects in rolled metal products. By utilizing a Convolutional Neural Network (CNN), various surface defects can be detected and recognized, ultimately improving production standards and certification of the metal products. Two types of lighting, diffuse and side, are used to improve defect detection, and image preprocessing methods are employed to enhance the quality of the input data. The purpose of this work is to develop a method for recognizing and classifying defects in metal surfaces from their images in real time.

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Descriptive Analysis and Acoustic Emission Signals Parameters Assessments: Signal Processing Data

Descriptive Analysis and Acoustic Emission Signals Parameter...

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Seminar on Signal Processing

作者： Yedos A. Altay Dmitry O. Kuzivanov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

This article presents the results of processing full-scale acoustic emission signals obtained at selective laser melting (SLM) process. During the recording of acoustic emission signals during the SLM process, electrical noise and continuous noise arise. For filtering these noises, their frequencies are identified. Noise suppression was carried out on the basis of the previously developed and proposed method for filtering the acoustic emission signal. The scheme of bi-directional filtering and their convolution in the frequency domain is presented. An increase in the efficiency of acoustic emission signal processing has been established. Descriptive analysis of the results before and after filtering the signal parameter shows a statistically significant difference. This difference characterizes the increase in the information content of the measurement results.

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Input-to-State Stability Analysis for Descriptor Homogeneous systems

Input-to-State Stability Analysis for Descriptor Homogeneous...

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International Russian Automation Conference (RusAutoCon)

作者： Dmitry Konovalov Konstantin Zimenko Artem Kremlev Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

The paper is devoted to the problem of Input-to-State Stability (ISS) analysis for descriptor (singular) homogeneous systems. In particular, sufficient conditions for descriptor homogeneous systems to be ISS are proposed. It is shown that to verify the ISS property it is enough to establish asymptotic stability of a homogeneous descriptor system in disturbance-free case and check provided algebraic conditions. Based on this result it was shown that existing homogeneity-based finite-time controls and observers for linear descriptor systems provide the ISS property with respect to additive disturbances and measurement noise. The results are supported with numerical simulations of the generator system.

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