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2024 International Conference on Ocean Studies, ICOS 2024

作者： Yukhimets, Dmitry Belousov, Mikhail Gubankov, Anton Sevastopol State University Sevastopol Russia Institute of Automation and Control Processes FEB RAS Vladivostok Russia M.D. Ageev Institute of Marine Technology Problems Vladivostok Russia Institute of Automation and Control Processes FEB RAS Admiral G.I. Nevelskoy Maritime State University Vladivostok Russia

ISBN: (纸本)9798331532307

The article proposes a description of an information-control system designed and implemented on the hybrid uninhabited underwater vehicle MGA-7DF considering it's hardware set. The information-control system allows it to perform tasks both in autonomous and remote-controlled modes and can perform a wide range of tasks to be solved. The considered system was developed on the basis of the ROS2 platform. Using ROS2 gives ability to rebuild the system in the future and simplifying design of additional software components., that help developers to use information-control system for different tasks. A method for distributing tasks between a microcontroller and a microcomputer., and a method for organizing data transmitting between these two devices are proposed. Nodes for simulation in the CoppeliaSim environment in remote control and autonomous mode were implemented for the vehicle. System was tested using hardware set of the uninhabited underwater vehicle and simulation in the CoppeliaSim environment in remote control and autonomous mode. © 2024 IEEE.

关键词： Hybrid vehicles

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An Alternative control Structure for the Naphtha Distillation Plant Based on Multivariable Model Predictive control 5

An Alternative Control Structure for the Naphtha Distillatio...

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5th International Conference on control Systems, Mathematical Modeling, automation and Energy Efficiency, SUMMA 2023

作者： Shevlyagina, Svetlana Far Eastern Federal University Laboratory of Control System the Technological Processes Institute of Automation and Control Processes FEB RAS Department of Computer-Integrated Production Systems Vladivostok Russia

ISBN: (纸本)9798350309126

An alternative end product quality control system is proposed for an industrial plant involving a sequence of distillation columns using a multivariable model predictive control (MPC) approach. The latter was realized using the MATLAB toolbox. A controllability analysis using the steady-state controllability metrics is presented and discussed to make a comparison between the currently applied and alternative control systems. Next, obtained results are verified with a closed-loop performance under the set point change. The tests show the advantage of an alternative control structure. Conclusions are drawn about the feasibility of using the proposed approach to manage the quality of the end products. © 2023 IEEE.

关键词： controllability

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The AUV control System for Trajectory Movement Taking into Account the Limitations of its Thruster System

The AUV Control System for Trajectory Movement Taking into A...

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2024 International Conference on Ocean Studies, ICOS 2024

作者： Yukhimets, Dmitry Institute of Automation Institute of Marine Technology Problem Control Processes Robotic Lab. Vladivostok Russia Far Eastern Federal University Vladivostok Russia

ISBN: (纸本)9798331532307

The paper proposes a method for synthesizing a control system for AUV movement along complex trajectories, considering the uncertainty of the AUV parameters, as well as the limitations of its thruster complex. To solve this problem, a spatial position control system is synthesized, which considers the interactions between the degrees of freedom of the AUV and the uncertainty of its parameters. At the same time, to ensure the accurate movement of the AUV, an additional correction contour of the program speed of movement is synthesized, to consider the possible entry of the AUV thrusters into saturation and its deviation from the trajectory. The feature of the proposed method of correction of the AUV program speed is to consider the peculiarities of the dynamics of the AUV and the kinematics of its thruster system, which allows you to quickly adjust the program speed of movement. The simulation results showed that the proposed method allows for the accurate movement of the AUV along smooth spatial trajectories that are formed during the mission. © 2024 IEEE.

关键词： Trajectories

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Neural Network Model for Estimating the Quality Indicators of Industrial Fractionator Products

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Mathematical Models and Computer Simulations 2024年第2期16卷 235-245页

作者： Shtakin, D.V. Shevlyagina, S.A. Torgashov, A.Y. Institute for Automation and Control Processes Far Eastern Branch Russian Academy of Sciences Vladivostok Russian Federation Far Eastern Federal University Vladivostok Russian Federation

Abstract: For industrial processes, an operational assessment and forecast of the main difficult-to-measure quality indicators of output streams are required. Soft sensors have become widely used for their assessment and prediction in real time. The use of neural networks (NNs) for their development allows us to take into account the nonlinear features of a technological object and allows us to obtain a more accurate forecast. However, the structure of NNs is extensive and the choice of the optimal structure, as well as the question of the convergence of learning with the given structure, are still beyond the reach of theoretical methods. In relation to this, a new NN learning algorithm and a new approach to determine the structure of a NN are presented. The latter allows us to establish the structure of a NN with the optimal convergence of the resulting structure. The proposed algorithms are presented in detail on the example of a fractionator and demonstrate their effectiveness. © Pleiades Publishing, Ltd. 2024. ISSN 2070-0482, Mathematical Models and Computer Simulations, 2024, Vol. 16, No. 2, pp. 235–245. Pleiades Publishing, Ltd., 2024. Russian Text The Author(s), 2023, published in Matematicheskoe Modelirovanie, 2023, Vol. 35, No. 12, pp. 3–17.

关键词： fractionator model genetic algorithm hyperparameter optimization learning convergence neural network

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The Method of Conjugation of Rectilinear Trajectories of AUV with Regard to Its Dynamic Properties

The Method of Conjugation of Rectilinear Trajectories of AUV...

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2022 International Russian automation Conference, RusAutoCon 2022

作者： Yukhimets, Dmitry Karmanova, Svetlana Institute of Automation and Control Processes Febras Laboratory of Robotic Systems Vladivostok Russia Institute of Automation and Control Processes Febras Laboratory of Information-analytical and Control Systems and Technologies Vladivostok Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

The paper describes the method of conjugation of rectilinear tacks taking into account the dynamic properties of AUV and the constrains of their propulsion systems. The conjugation of adjacent tacks is proposed to be carried out using arcs of circles so that there would not be a sharp change of the yaw angle of the AUV when it moves along the arc of this circle. Therewith, the parameters of these circles are calculated taking into account the dynamic properties of the AUV and the constraints of their thrusters. To do this, on the basis of a mathematical model of the movement of the AUV in the horizontal plane, expressions were obtained that allow to estimate the minimum radius of rotation of the AUV moving at a given speed, which leads one of the thrusters into a pre-saturated state. Based on the obtained estimates of the arc radius for the conjugating of tacks, the paper proposes a method for calculating the coordinates of transition points from tacks to the specified arc, and also offers expressions for the formation of program signals of the AUV motion along this arc. © 2022 IEEE.

关键词： Estimation

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Ontological Framework for Constructing Hybrid Prognoses and Risk Assessment of Critical Conditions of Patients

Ontological Framework for Constructing Hybrid Prognoses and ...

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2023 International Russian Smart Industry Conference, SmartIndustryCon 2023

作者： Gribova, Valeriya Shalfeeva, Elena Institute of Automation and Control Processes FEB RAS Vladivostok Russia Far Eastern Federal University Vladivostok Russia

ISBN: (纸本)9781665464291

The paper describes a cloud-based ontological framework for designing hybrid cloud software systems and services for predicting patient conditions and assessing the risk of critical conditions and events. The proposed solution is based on integrated semantic models for the formation of knowledge, documents, hypotheses and reasoned decisions in medicine. These complexes combine several types of sources for the formation of knowledge bases and various methods and approaches to solving such problems (mathematical modeling, machine learning, and knowledge engineering). For a group of diseases or a section of medicine, knowledge bases are formed about diseases that have passed the verification procedure or that doctors are ready to trust a priori. The means of declarative description of the rules of interpretation of knowledge about the dynamics of the development of diseases and numerical values from predictive models are provided. © 2023 IEEE.

关键词： Decision support systems

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Methodology for Development Based on Ontological Models Intelligent Services with Explanation Generation 7th

Methodology for Development Based on Ontological Models Inte...

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7th International Scientific Conference on Intelligent Information Technologies for Industry, IITI 2023

作者： Gribova, Valeriya Shalfeeva, Elena Institute of Automation and Control Processes FEB RAS Vladivostok Russia Far Eastern Federal University Vladivostok Russia

ISBN: (纸本)9783031437885

In the early days of artificial intelligence, a knowledge base approach was used to solve non-formalizable problems and attempt to explain those solutions. As it has evolved, the range of applied methods has expanded, the number of available intelligent services has increased, and the complexity of tasks that can be solved has increased. However, there has been very little progress in the direction of explainability. Nowdays the situation has come close to using artificial intelligence systems for truly responsible decisions. Professionals who use "artificial" support need in explanation of chosen hypotheses no less than need in the hypotheses themselves. Ontological models and ontological methodology for the development of intelligent services provide the generation of an explanation for the proposed solutions in understandable terms. The article presents the architectural components of an intelligent service capable of explaining decisions. All components are built on the basis of a single domain ontology, including the ontology of knowledge and terminological dictionaries or reference books. As applied to problems solved in the domain, it is extended by ontologies of input data, ontologies for explaining hypotheses, and agreements on decision rules. The architectural components being created within the framework of such an ontology are typical, guaranteeing the property of explainability to an intelligent service. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Ontology

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Laser Beam Wavefront Model Analysis

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Bulletin of the Russian Academy of Sciences: Physics 2023年第4期87卷 537-540页

作者： Zaikov, V.I. Bashkov, O.V. Bashkov, I.O. Komsomolsk-na-Amure State Technical University Komsomolsk-on-Amur681013 Russia Institute of Automation and Control Processes Far Eastern Branch Russian Academy of Sciences Vladivostok690041 Russia

Abstract: The paper evaluates the nature of the change in the wavefront surface curvature in the initial position, which is formed at the exit pupil of the optical system located directly behind the last refractive surface. To solve the problem, an experimental setup has been developed, consisting of a semiconductor laser and an aberration optical system with a mechanism for moving screens. The arrangement of the optical system with a radiation source at a given limiting parameter causes an increase in the action of wave aberration, which ensures the redistribution of the intensity in the transverse section of the converted laser beam. The center of the diaphragm and the mark on the screen are located on the same axis, which coincides with the axis of the converted laser beam. A functional dependence was obtained between the inclination angle of the normal to the converted laser beam axis of the interference structure on the radial location of the normal intersection point with the wavefront surface relative to the axis laser beam. Based on the use of modern optical systems technologies, the problems of changing the spatial-geometric parameters of the laser beam and obtaining a measuring system using the proposed parameter of the interference structure in the cross section of the laser beam are analyzed. © 2023, Allerton Press, Inc.

关键词： Laser beams

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An Underwater Biomimetic Robot that can Swim,Bipedal Walk and Grasp

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Journal of Bionic Engineering 2024年第3期21卷 1223-1237页

作者： Qiuxuan Wu Liwei Pan FuLin Du ZhaoSheng Wu XiaoNi Chi FaRong Gao Jian Wang Anton A.Zhilenkov School of Automation Hangzhou Dianzi UniversityHangzhou310018China International Joint Research Laboratory for Autonomous Robotic Systems Hangzhou310018China GEELY Automotive Institute Hangzhou Vocational and Technical CollegeHangzhou310018China Institute of Hydrodynamics and Control Processes Sankt-Petersburg Saint Petersburg State Marine Technical UniversitySankt-PetersburgRussia

In developing and exploring extreme and harsh underwater environments,underwater robots can effectively replace humans to complete *** meet the requirements of underwater flexible motion and comprehensive subsea operation,a novel octopus-inspired robot with eight soft limbs was designed and *** robot possesses the capabilities of underwater bipedal walking,multi-arm swimming,and grasping *** closely interact with the underwater seabed environment and minimize disturbance,the robot employs a cable-driven flexible arm for its walking in underwater floor through a bipedal walking *** multi-arm swimming offers a means of three-dimensional spatial movement,allowing the robot to swiftly explore and navigate over large areas,thereby enhancing its ***,the robot’s walking arm enables it to grasp and transport objects underwater,thereby enhancing its practicality in underwater environments.A simplified motion models and gait generation strategies were proposed for two modes of robot locomotion:swimming and walking,inspired by the movement characteristics of octopus-inspired multi-arm swimming and bipedal *** experimental verification,the robot’s average speed of underwater bipedal walking reaches 7.26 cm/s,while the horizontal movement speed for multi-arm swimming is 8.6 cm/s.

关键词： Underwater soft robots Underwater bipedal walking Multi-arm swimming Cable drive

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Tool Path Planning Method for Industrial Manipulators Based on 3D-Model Obtained From Computer Vision Systems

Tool Path Planning Method for Industrial Manipulators Based ...

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2022 International Russian automation Conference, RusAutoCon 2022

作者： Yukhimets, Dmitry Institute of Automation and Control Processes Feb Ras Robotic Laboratory Vladivostok Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

The paper proposes the method for tool path planning based on the use of a workpiece 3D-model obtained from a computer vision system. The main feature of the proposed method is the automatic separation of elementary paths described by lines or arcs of circles from the initial trajectory passed along the 3D-model surface. This separation is implemented by means of the RANSAC algorithm. The proposed method allows to reduce the number of commands in the generated motion program of the industrial manipulator and increase operations performance since the generated paths will not contain noise from the computer vision system. Preliminary studies performed have shown the efficiency and workability of the proposed method. © 2022 IEEE.

关键词： Industrial manipulators

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