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Output Robust Tracking control of Permanent Magnet Synchronous Motors ⁎

IFAC-PapersOnLine 2021年第14期54卷 197-202页

作者： Anton Pyrkin Alberto Isidori Oleg Borisov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Department of Computer Control and Management Engineering “A. Ruberti” University of Rome “La Sapienza” Rome Italy

This paper shows the design of output robust tracking control by means of the enhanced extended observer and the internal model with application to permanent magnet synchronous motors. Two types of references, namely a biased sinusoidal signal and a “ramp”, along with a constant disturbance represented by the load torque have been addressed. The performance achieved by this control framework is shown by simulations.

关键词： Output regulation Tracking control Robust control Internal model PMSM

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Development of Digital Twin for Robotic Arm

Development of Digital Twin for Robotic Arm

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International (EPE-PEMC) Power Electronics and Motion control Conference

作者： Stepan Bratchikov Artur Abdullin Galina L. Demidova Dmitry V. Lukichev Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia

Nowadays digital twin technology is a powerful tool for describing, controlling, and displaying the behavior of a real object of robotic systems. This technology is currently planned for widespread application in the Industry 4.0. And one of the important tasks in this area is the creation of a dynamic model of the object in the simulation program. The article describes the basic principles of digital twins' design of the manipulator, taking into account its dynamic and mass-dimensional characteristics. It was shown that the use of polynomial algorithms in the control system provides the best solution for the quality of technological operations and provides standard tolerance grades and limit deviations within IT7.

关键词： Service robots Digital twin Tools control systems Power electronics Trajectory Synchronization

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Analysis of fast prototyping of microcontroller-based ML software for acoustic signal classification

Analysis of fast prototyping of microcontroller-based ML sof...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Filip Marciniak Wojciech Marciniak Tomasz Marciniak Faculty of Computing and Telecommunications Poznan University of Technology Poznań Poland DECYBEL Student Science Club Poznan University of Technology Poznań Poland Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznan University of Technology Poznań Poland

The paper analyzes the preparation of software for acoustic signal classification with machine learning techniques for microcontrollers. The design process was tested for three types of devices: Nordic Thingy:53, *** and Arduino Nano 33 BLE Sense Lite. The classifier training process was carried out using the Edge Impulse platform. Experimental studies were carried out for the process of classifying sound signals generated by the vacuum cleaner motor. The results of the training and the model test were presented for different configurations.

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Web Based GPU Acceleration in Embodied Agent Training Workflow

Web Based GPU Acceleration in Embodied Agent Training Workfl...

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IEEE NW Russia Young Researchers in Electrical and Electronic Engineering Conference (EIConRusNW)

作者： Artem N. Sisyukov Vyacheslav Dobrynin Olga S. Yulmetova Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Concern CSRI Elektropribor ITMO University St. Petersburg Russia

ISBN: (数字)9781665404761

ISBN: (纸本)9781665446426

The deep learning training and generation of virtual scenes, reconstruction or manipulation in the realistic simulation environment are highly compute-intensive tasks. GPU accelerated training of embodied agents inside the realistic 3D scenes in continuous development and improvement process for goal-directed navigation tasks are considered in paper. Web client side computation for reinforcement learning based embodied agent training workflow steps and cloud data delivering are described. Approach with web based GPU interaction technologies (WebGL, WebGPU) along with WebAssembly packed logic (WASM) is proposed. Embodied artificial intelligence (AI) simulation platforms supporting reinforcement learning with realistic assets or powerful logic are tested. The paper presents results that could be used in cases when the training server is deployed in a headless cloud host or in the case when the client machine power utilization is preferable.

关键词： Training Cloud computing Computational modeling Graphics processing units Servers Task analysis Artificial intelligence

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A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

A Graph-Based Self-Calibration Technique for Cable-Driven Ro...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： M. R. Dindarloo A. S. Mirjalili S. A. Khalilpour R. Khorrambakht Stephan Weiss H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Tandon School of Engineering Control/Robotics Research Laboratory New York University Brooklyn NY Department of Smart Systems Technologies University of Klagenfurt Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.

关键词： Meters Accuracy Perturbation methods Kinematics Robot sensing systems End effectors Software Calibration Sensors Finite element analysis

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control and Treatment of Bone Cancer: A Novel Theoretical Study

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Journal of Electronic & Information systems 2023年第2期5卷 35-44页

作者： Ali Soltani Sharif Abadi Mansour Rafeeyan Vahid Abootalebi Institute of Automatic Control and Robotics Faculty of MechatronicsWarsaw University of TechnologyWarsaw00-664Poland Institute of Electronic Systems Faculty of Electronics and Information TechnologyWarsaw University of TechnologyWarsaw00-664Poland Faculty of Mechanics Yazd UniversityYazd***Iran Faculty of Electrical Engineering Yazd UniversityYazd***Iran

The human body has symmetric *** paper uses control engineering concepts to design a suitable controller to synchronize two symmetric bones of the human body to control and treat bone cancer.A Nonsingular Terminal Sliding Mode control(NTSMC)method will be employed to design the proposed control *** control inputs can be the chemical drugs that can be used to treat bone *** dynamical equations of bone cancer will be used to apply the designed control method and test *** testing the designed controller,Simulink/MATLAB software will be *** proposed controller is chattering-free,robust against uncertainties and external disturbances,and finite-time stable in the control engineering *** cancer will be treated for almost one year using the proposed control method.

关键词： Bone cancer Synchronization Finite-time stability Biomedical engineering

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A Terrain Segmentation Method Based on U-MobileNet for Navigation of Outdoor Robots

A Terrain Segmentation Method Based on U-MobileNet for Navig...

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Chinese control and Decision Conference, CCDC

作者： Tao Hong Botao Zhang Qi’an Zhang Sergey A. Chepinskiy Anton A. Zhilenkov 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 St. Petersburg Russia

ISBN: (纸本)9781665478977

Terrain segmentation is widely used in the recognition and navigation of outdoor mobile robots, in which deep learning-based segmentation methods have achieved remarkable performance. However, most of the segmentation networks can hardly meet the real-time requirement for outdoor robots. A novel terrain segmentation approach is proposed for segmentation terrains in the navigation of robots based on U-MobileNet. U-MobileNet, a lightweight segmentation network, is formed by transposing the feature extraction structure of MobileNetV2 to the contracting path of U-Net. The network efficiently reduce the computational cost and the error in segmentation by applying depthwise separable convolution, inverted residual and linear bottleneck. The experimental results show that the proposed lightweight neural network has good real-time performance with high-accuracy.

关键词： Navigation Convolution Neural networks Feature extraction Real-time systems Computational efficiency Mobile robots

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ERP Data Analysis and Visualization in High-Performance Computing Environment

ERP Data Analysis and Visualization in High-Performance Comp...

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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Sisyukov, Artem N. Bondarev, Vlad K. Yulmetova, Olga S. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Concern CSRI Elektropribor St. Petersburg Russia

ISBN: (纸本)9781728157610

In the era of the fourth industrial revolution the enterprise resource planning system (ERP) becomes a foundation for interconnection between logistics systems, production facilities, smart machines, IoT-enabled devices and other enterprise data sources. The paper proposes an approach to extend the ERP integrated analytical tools capabilities by processing ERP data in a multi-tenant GPU-enabled high-performance computing (HPC) environment. Corporate analytic features in conjunction with GPU in-memory processing of big structured and unstructured data increase the performance and analysis effectiveness for enterprise machine learning (ML) tasks. The approach proposes sharing the data in GPU memory using open analytic platform along with existed ERP analytical capabilities on example of SAP S/4Hana. Considered solution accelerates data scientists work with ERP data sets and could be used for faster quality AI model creation and easier data interaction in unspecific for ERP visualization way like immersive learning with virtual or augmented reality (VR/AR). © 2020 IEEE.

关键词： Visualization

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Aircraft wing vibration parameters measurement system using MEMS IMUs and closed-loop optimal correction

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Aerospace systems 2022年第3期5卷 473-480页

作者： Maamo, M.S. Afonin, A.A. Sulakov, A.S. Department of Control Systems Informatics and Power Engineering Moscow Aviation Institute (National Research University) Volokolamskoe shosse 4 Moscow 125993 Russian Federation Faculty of Robotics and Mechatronics Moscow University for Industry and Finance «Synergy» Street Meshchanskaya 9/14 Moscow 129090 Russian Federation

Nowadays, there is still a need for the development of a high-precision measurement system for aircraft structural elements vibrations, this is due to the fact that many aviation problems are associated with analyzing vibration characteristics of aircraft mechanical structures during its main modes of operation, including flight, particularly the airplane wing health monitoring. This paper presents preliminary results of research carried out toward building a promising system designed to measure vibration parameters of airplane wing. Comparing it with the existing analogues systems, the proposed system features the use of approaches that are traditional for solving orientation and navigation problems for vibration measurements. The article discusses the principles of building such system based on micromechanical inertial measurements units, displacement sensors, on-board aircraft navigation system and sensor data fusion technology. The paper provides a brief overview of the existing solutions in this field of research, and substantiates the relevance and feasibility of the proposed technical solution. The paper presents the basic hardware components of the proposed system, presents the fundamentals of its operation based on the data collected from many sources, including displacement sensors, inertial units and the optimal Kalman estimation and correction algorithm. Besides, the paper presents the mathematical errors models of the system main components. The main algorithms of the system are shown, including algorithms for inertial measurements, estimation and correction in a closed-loop scheme for including optimal Kalman filter, and indirect calculations of vibration parameters. Finally, the initial simulation results of system operation are shown, demonstrating its operability and expected accuracy characteristics, which confirms the system effectiveness and the prospects of the chosen direction of research. © 2022, Shanghai Jiao Tong university.

关键词： Airplane wing Closed-loop optimal correction MEMS IMU Navigation and orientation Optimal Kalman filter Sensor data fusion Vibration measurement

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Validation of two-wire power line UAV localization based on the magnetic field strength

Validation of two-wire power line UAV localization based on ...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Goran Vasiljević Dean Martinović Matko Batoš Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405942

In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmission lines. An UAV is equipped with 4 magnetometers, positioned so that obtained measurements give unique solution to an optimization problem used to find relative position and orientation of the UAV with respect to conductors. Several sets of experiments, undertaken on a laboratory setup, confirmed validity of the method for both solutions - analytical and numerical optimization. Obtained results, compared with high precision motion capture system, are within range of standard RTK positioning.

关键词： Location awareness Magnetic field measurement Power measurement Magnetometers Current measurement Wires Transmission line measurements

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