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Mediterranean Conference on control and Automation (MED)

作者： Alexey Bobtsov Anton Pyrkin Stanislav Aranovskiy Nikolay Nikolaev Olga Slita Olga Kozachek Center for Techologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Equipe Automatique CentraleSupeléc - IETR Cesson-Sévigné France Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

In this paper a gradient observer and finite-time observer of stator flux are developed for non-salient permanent magnet synchronous motors. The methods described here are based on implementation of linear time-invariant (LTI) filters and the dynamic regression extension and mixing (DREM) techniques. The motor resistance and inductance are assumed to be known.

关键词： Observers Stator windings Rotors Permanent magnet motors Resistance Inductance

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Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping

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IFAC-PapersOnLine 2020年第2期53卷 9682-9687页

作者： Ana Batinović Juraj Oršulić Tamara Petrović Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) 10000 Zagreb Croatia

This work presents a novel approach to autonomous decentralized multi-robot frontier exploration and mapping of an unknown area. A mobile robot team simultaneously explores the environment, discovers frontier points (points on the border between explored and unexplored space), and shares information in order to become dispersed throughout the environment. During the exploration, information exchanged between the mobile robots is limited to data containing mobile robot positions and current mobile robot target points. The main goal of the approach is to allocate the mobile robots to target frontier points in a way which minimizes the overall exploration time. Moreover, a mobile robot team at the same time creates a common map of the environment. The proposed strategy has been implemented in a simulation environment and compared with a state-of-the-art exploration strategy. Simulation results demonstrate the advantages of the proposed decentralized multi-robot strategy.

关键词： Mobile Robot Multi-Robot System Frontier Points Target Point Decentralized Strategy Exploration Mapping

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Encoderless Rotor Position Estimation of a Switched Reluctance Drive Operated under Model Predictive control

Encoderless Rotor Position Estimation of a Switched Reluctan...

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

作者： Alecksey Anuchin Dmitry Shpak Anastasia Kotelnikova Alexey Dmitriev Andrei Bogdanov Galina Demidova Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728195100

ISBN: (纸本)9781728195117

One of the promising technologies of encoderless rotor position and speed estimation for the motors with magnetic anisotropy is the analysis of operation of model predictive control. Idea of the method is to track the difference between the prediction and actual behaviour of the motor currents which should match if the rotor position estimation is correct. However, this method was not applied for switched reluctance drive yet. This paper proposes the rotor position and speed estimator for switched reluctance motor operated under continuous control set model predictive control. It implements phase-locked loop fed by the error between the referenced current and it actual value. The estimator was examined using a simulation model and provides fast and accurate speed and position tracking.

关键词： Rotors control systems Pulse width modulation Estimation Switches Permanent magnet motors Magnetization

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Arctic Respiratory Monitoring System

Arctic Respiratory Monitoring System

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2020 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2020

作者： Lukyanov, G. Rassadina, A. Kossareva, V. Stepanov, A.A. Alexeev, R.Z. Itmo University Saint-Petersburg The Faculty of Control Systems and Robotics Russia Larionov Institute of Physical and Technical Problems of the North Sb Ras Department of Heat and Mass Transfer Yakutsk Russia Laboratory of Immunological Researches Yakut Science Centre of Complex Medical Problems Medical Institute M. K. Ammosov North-Eastern Federal University Yakutsk Russia

ISBN: (纸本)9781728169514

The results of heat transfer dynamic processes during the breathing are presented. The study is relevant for investigation of health in the extreme conditions of the Arctic. For estimation of this processes the measurement system of temperature, pressure and velocity pulsations in nostrils are developed. It has been shown that for respiratory system diagnostic it is necessary to analyze such dynamic characteristics as the power spectral density and entropy. © 2020 IEEE.

关键词： Respiratory system

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On parameter tuning and convergence properties of the DREM procedure

On parameter tuning and convergence properties of the DREM p...

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European control Conference (ECC)

作者： Marina Korotina Stanislav Aranovskiy Rosane Ushirobira Alexey Vedyakov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia IETR – CentaleSupélec Cesson-Sévigné France Inria Univ. Lille Lille France

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

The recently proposed Dynamic Regressor Extension and Mixing (DREM) procedure has been proven to enhance transient performance in online parameter estimation and it has been successfully applied to a variety of adaptive control problems and applications. However, to use this procedure, a linear operator has to be chosen to perform the dynamic extension. A poor choice of the operator can reduce excitation of signals and hence it can compromise convergence properties. This paper presents a systematic selection of operators such that the excitation is always preserved. The paper also studies convergence conditions when the DREM procedure is combined with a least-squares estimator.

关键词： Convergence Tuning Transient analysis Adaptive control Mathematical model Distortion measurement Estimation

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Number of Poles Pairs Effects on Electromagnetic Torque Permanent Magnet Synchronous Motor

Number of Poles Pairs Effects on Electromagnetic Torque Perm...

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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

arXiv

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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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