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Iranian Conference on Electrical Engineering (ICEE)

作者： Arash Iranfar Mohammad Soleymannejad Behzad Moshiri Hamid D. Taghirad School of Electrical and Computer Engineering University College of Engineering University of Tehran Tehran Iran Department of Electrical and Computer Engineering University of Waterloo Waterloo Canada Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

Artificial intelligence systems are usually implemented either using machine learning or expert systems. Machine learning methods are usually more accurate and applicable to a broader range of applications. Expert systems, on the other hand, require much less data for training and generate more comprehensible results. These characteristics are typically desired in the fields of surgery and medicine because there isn't much data available. In order to give a machine's decisions a deeper level of semantics, it is also advantageous to incorporate a doctor's expertise into it. Furthermore, it is safer to understand the reasoning behind a machine's choices. In this paper, a Dempster-Shafer Theory (DST) based expert system is suggested for the task of surgical training skill assessment. An interval-based probabilistic feature analysis was applied to the data to assign values to the mass functions. Zhang's rule of combination was applied to handle the conflicting evidence in the prediction phase. The performance of the proposed method was compared to another DST classifier, SVM, and XGBoost. Our method outperforms SVM and other DST classifiers, but it is not as precise as XGBoost. By reducing the size of the dataset, the added benefit of using an expert system as opposed to a machine learning method was explored further. The performance of the suggested method is not adversely affected by the size of the dataset, whereas the XGBoost classifier is.

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Parameter Estimation of Quadrotor Model

Parameter Estimation of Quadrotor Model

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Mikhail A. Kakanov Stanislav I. Tomashevich Vladislav S. Gromov Oleg I. Borisov Fatimat B. Gromova Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This article is devoted to the estimation of unknown parameters of the quadrotor dynamic model. The linear regression model of the quadrotor was obtained. To estimate the unknown parameters of the regression model, the gradient approach and its modifications, such as the advanced Kalman filter, and dynamic regressor extension and mixing (DREM) methods were applied. The effectiveness of the proposed methods was confirmed by simulation. The results showed the benefits of the DREM algorithm, in particular, concerning the convergence rate.

关键词： Parameter estimation Linear regression Estimation Numerical models Kalman filters Robots Convergence

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Tracking Output Robust control of Unmanned Surface Vessel with Disturbance Cancellation and Anti-Windup

Tracking Output Robust Control of Unmanned Surface Vessel wi...

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Mediterranean Conference on control and Automation (MED)

作者： Mikhail A. Kakanov Fatimat B. Karashaeva Oleg I. Borisov Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

This paper shows an explicit application example of the robust output high-gain control framework augmented with the internal model and back-calculation anti-windup technique. The application in question concerns station-keeping and tracking of an unmanned surface vessel modeled as MIMO systems with cross-couplings. The framework is illustrated by a set of simulation runs under different conditions.

关键词： Observers Monitoring Task analysis Surface waves Robots Oscillators Robust control

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Output Robust control of a Surface Vessel with Uncertainties, Exogenous Inputs, and Unmodeled Dynamics*

Output Robust Control of a Surface Vessel with Uncertainties...

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

作者： Fatimat B. Karashaeva Oleg I. Borisov Anton A. Pyrkin Sergei V. Shavetov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

This paper focuses on the applied research on the output control problem of a surface vessel with parametric, signal, and structural uncertainties. The control framework based on the extended observer design is augmented with the internal model to reject exogenous inputs such as reference derivatives and external disturbances. Special attention in this study is given to the presence of unmodeled dynamics due to the vessel actuators.

关键词： Uncertainty Nonlinear dynamical systems Heuristic algorithms Actuators Task analysis Robust control Uncertain systems

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Force-based Feedback for Haptic Device of Mobile Assembly Robot 27

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Rassolkin, Anton Vaimann, Toomas Roozbahani, Hamid ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Lappeenranta University of Technology Laboratory of Intelligent Machines Lappeenranta Finland

ISBN: (纸本)9781728141589

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device. © 2020 IEEE.

关键词： Mobile robots

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Experimental Prototype of High-Efficiency Wind Turbine Based on Magnus Effect 27

Experimental Prototype of High-Efficiency Wind Turbine Based...

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Lukichev, Dmitry V. Rassolkin, Anton Kallaste, Ants Vaimann, Toomas Belahcen, Anouar ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9781728141589

The main feature of Magnus wind turbine is the ability to produce energy at low wind speed. This benefit lets to use such types of turbines in smart homes, which are an important part of the development of distributed energy systems, growth of blockchain electricity technology and needs for duplication of the solar energy system in the private buildings. This paper presents topology of two cylinders Magnus wind turbine in order to ensure the highest values of power coefficient and the Magnus force. The optimal ratio of wind speed and cylinder rotation speed were detected to eliminate the oscillations caused by the Von Karman vortex street phenomenon. © 2020 IEEE.

关键词： Wind power

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Vision based collision detection for a safe collaborative industrial manipulator

Vision based collision detection for a safe collaborative in...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Bruno Maric Fran Jurican Matko Orsag Zdenko Kovacic LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

ISBN: (纸本)9781665438629;9781665411486

In this work we present an improved method for collision detection that extends the ability of collaborative systems to share the workspace between the operator and the robot. Our work is based on the state-of-the-art GPU-Voxels algorithm, with a dynamic swept volume method for collision detection that minimizes intervention in robot trajectories. We propose a sensor calibration method that allows multiple cameras to be placed around the robot to ensure coverage without shadows. In addition, we show how our previous work on advanced force control algorithms, which in combination with the collision detection algorithm presented, meets all safety requirements of the technical specification ISO/TS 15066. Our ultimate goal is to derive a framework for collaborative industrial manipulators, which are able to work side by side with people.

关键词： Heuristic algorithms Dynamics Collaboration Robot sensing systems Safety Trajectory Calibration

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A Globally Convergent Estimator of the Parameters of the Classical Model of a Continuous Stirred Tank Reactor

arXiv

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arXiv 2023年

作者： Pyrkin, Anton Bobtsov, Alexey Ortega, Romeo Romero, Jose Guadalupe Dochain, Denis Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia Departamento Académico de Sistemas Digitales ITAM Progreso Tizapán 1 Ciudad de México04100 Mexico ICTEAM Université Catholique de Lovain Avenue Georges Lemâitre 4-6 Louvain-la-Neuve1348 Belgium

In this paper we provide the first solution to the challenging problem of designing a globally exponentially convergent estimator for the parameters of the standard model of a continuous stirred tank reactor. Because of the presence of non-separable exponential nonlinearities in the system dynamics that appear in Arrhenius law, none of the existing parameter estimators is able to deal with them in an efficient way and, in spite of many attempts, the problem was open for many years. To establish our result we propose a novel procedure to obtain a suitable nonlinearly parameterized regression equation and introduce a radically new estimation algorithm-derived applying the Immersion and Invariance methodology-that is applicable to these regression equations. A further contribution of the paper is that parameter convergence is guaranteed with weak excitation requirements. Copyright © 2023, The Authors. All rights reserved.

关键词： Parameter estimation

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Distributed formation control of networked mechanical systems

arXiv

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arXiv 2022年

作者： Javanmardi, Najmeh Borja, P. Yazdanpanah, M.J. Scherpen, J.M.A. Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach. © 2022, CC BY.

关键词： Networked control systems

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Robust Output Regulation of Permanent Magnet Synchronous Motors by Enhanced Extended Observer ⁎

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IFAC-PapersOnLine 2020年第2期53卷 4881-4886页

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

This paper presents an application of the enhanced extended observer design with regard to the problem of robust output regulation of permanent magnet synchronous motors. The control framework is further advanced by means of the internal model so as to cope with disturbances represented by the time-varying load torque. The paper shows simulation of regulating a motor for different cases of torque loads and references and provides an explicit procedure of the recursive calculation of the enhanced extended observer coefficients.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Permanent magnet synchronous motors

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