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Reachable set estimation for spacecraft relative motion based on bang-bang principle

Chinese Journal of Aeronautics 2023年第2期36卷 229-240页

作者： Lizhen SHAO Haibin MIAO Renhong HU Hongjin LIU Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China Shunde Graduate School of University of Science and Technology Beijing 100083China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 528399China Beijing Institute of Control Engineering Beijing 100190China Beijing Sunwise Space Technology Ltd. Beijing 100190China

For spacecraft formation flight,the information of relative motion reachable set is very important,which can be used to predict the operating boundary of adjacent spacecraft and thus to ensure the safety of spacecraft *** this paper,we aim at developing a numerical method to approximate the reachable set for spacecraft relative *** particular,we focus on the quality of the approximation and the computational *** on the bang-bang control principle,a polyhedral approximation algorithm is proposed to compute the reachable set of a relative motion spacecraft *** inner approximation and an outer approximation of the reachable set for the system can be *** prove that the approximation quality measured in Hausdorff distance can be *** method is easy to implement and has low computational ***,the effectiveness of the algorithm is demonstrated by experimental simulation.

关键词： Polyhedral approximation Reachable set Spacecraft control Spacecraft relative motion The bang-bang control principle

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The System of Coordinated Semi-Automatic Remote control by Two Mobile Robots

The System of Coordinated Semi-Automatic Remote Control by T...

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2023 International Ural Conference on Electrical Power Engineering, UralCon 2023

作者： Filaretov, Vladimir Katsurin, Alexey Institute of Automation and Control Processes Robotic Systems Laboratory Vladivostok Russia Far Eastern Federal University Institute for Problems of Marine Technologies Vladivostok Russia

ISBN: (纸本)9798350303391

The paper discusses a method that ensures the coordinated operation of two mobile robots, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. At the same time, the task of remote control of the manipulator of the main mobile robot performing operations in the cramped conditions of the working area, when the objects of work are out of sight of its vision system, is solved. In this situation, the vision system of an auxiliary and more maneuverable mobile robot is used to monitor the objects of work when performing various operations with them. In addition, this vision system is able to change the spatial orientation by rotating about two mutually perpendicular axes. The mathematical apparatus proposed in the paper allows to take into account the different current spatial orientation of the base platforms of both mobile robots at the angles of roll, pitch and yaw in the absolute coordinate system. The results of the simulation confirmed the efficiency of the proposed method. © 2023 IEEE.

关键词： Mobile robots

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Method of automatic formation of the underwater manipulator motion program based on noise three-dimensional models

Method of automatic formation of the underwater manipulator ...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Yukhimets, Dmitry Popova, Olivia Sevastopol State University Sevastopol Russia Institute of Automation and Control Processes Feb Ras Vladivostok Russia Far Eastern Federal University Department of Automation and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper presents the method of automatic formation of the multi-link manipulator (MM) of underwater vehicle (UV) movement program using noise three-dimensional model of underwater objects obtained by their computer vision system (CVS). A feature of the proposed method is the automatic selection of a set of elementary trajectories (straight lines and circular arcs) in the trajectory of the working tool (WT) of MM laid on the surface of a three-dimensional model of an object unknown in advance. The specified allocation takes place using the RANSAC algorithm, which allows considering a large amount of noise contained in the specified model. This makes it possible to increase the accuracy of performing underwater technological operations using MM by providing more accurate stabilization of the UV during MM operation. The conducted mathematical modeling has shown that the proposed algorithm is workable and effective in conditions of high noise of three-dimensional models and can be used for automatic performing technological operations. © 2023 IEEE.

关键词： Manipulators

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Modeling and Optimizing Large-Scale Production-Level Transportation Systems

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Journal of Applied and Industrial Mathematics 2022年第3期16卷 512-523页

作者： Nurminskiy, E.A. Shamray, N.B. Far Eastern Federal University Vladivostok690090 Russia Institute of Automation and Control Processes Far East Branch Russian Academy ofSciences Vladivostok690041 Russia

Abstract: Large-scale economic modeling is becoming a reality for major businesses, and it pushestheir analytic and planning departments into very complicated areas of big data analytics andcontrol. At the same time, it demands research communities in academia and elsewhere to developadequate tools to operate models with millions of variables and gigabytes of data, wheretraditional off-the-shelf solutions fail. In the present paper, we describe our experience with onerather common high-dimensional logistics problem and some of the mathematical andcomputational ideas we applied to deal with it. © 2022, Pleiades Publishing, Ltd.

关键词： Data Analytics

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Optimization of the Ambulance Fleet Location and Relocation

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Journal of Applied and Industrial Mathematics 2021年第2期15卷 234-252页

作者： Kochetov, Yu. A. Shamray, N.B. Sobolev Institute of Mathematics Novosibirsk630090 Russia Institute of Automation and Control Processes Vladivostok690041 Russia

Abstract: We study the problem of optimal location of the ambulance fleet at the base *** objective is to minimize the average waiting time for ambulance arrival. We elaboratea simulation model that describes a workday of the emergency medical service (EMS). This modeltakes into account the stochastic nature of the problem and the changes in road network *** solve the problem, we develop an algorithm of genetic local search with the four types ofneighborhoods. The simulation model in this algorithm is used to compute the value of theobjective function. We study the influence of neighborhoods on the accuracy of the obtainedsolution. Computer simulation is performed on the example of the EMS of Vladivostok city. Weshow that it is possible to reduce the average waiting time by 1.5 times. The estimates are obtained of the impact oftraffic congestion on the average waiting time. © 2021, Pleiades Publishing, Ltd.

关键词： Ambulances

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Synthesys of Adaptive control System for Thrusters of Underwater Robots Using Technical Diagnostics

Synthesys of Adaptive Control System for Thrusters of Underw...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Zuev, Alexander Filaretov, Vladimir Zhirabok, Alexey Protsenko, Alexander Institute of Marine Technology Problems Vladivostok Russia Institute of Automation and Control Processes Vladivostok Russia Far Eastern Federal University Department of Automatics and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper describes the development of adaptive control system for thrusters of underwater robots that allows you to compensate for the consequences of single and paired faults. This system., due to the additional control signals formed., make it possible to maintain operability and ensure stabilization of the most important characteristics of thrusters in the event of unexpected faults. control signals are formed taking into account estimates of the values of deviations of the parameters of the thrusters from their nominal values and errors in the readings of sensors of angular velocity of thrusters. The operability and high efficiency of the developed system was confirmed by simulation. © 2023 IEEE.

关键词： Adaptive control systems

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Gasification of Solid Fuels in Low-Temperature Gas Generator for Flying Vehicle: A Novel Computational Model and Numerical Analysis of the Effect of Gasifier Length on its Operation

SSRN

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SSRN 2024年

作者： Fetsov, Sergey Borovik, Ksenia G. Lutsenko, N.A. Institute of Automation and Control Processes The RAS The Far Eastern Branch Russia

In this paper, the gasification of solid fuels in a combined charge of a low-temperature gas generator for flying vehicle equipped with a ramjet engine is considered. The gas generator includes a sequential arrangement of a propellant and a fuel for generation of hydrocarbon gases used to cool the engine before burning in the combustion chamber. A computational model has been developed to simulate the gasification process of porous or granular materials, which uses the laws of conservation of energy, momentum and mass for each phase and takes into account the change in the molar mass of the gas mixture. To implement this model, OpenFOAM has been chosen, which is the leading free, open-source software for computational fluid dynamics and heat transfer. The developed numerical model and OpenFOAM solver have been verified using data from experiments on hexamethylenetetramine (urotropine) gasification;the verification has showed a good agreement between the calculation results and experimental data. A numerical study of the effect of gasifier length on the gasification process at varying inlet gas temperature and inlet gas flow rate has been carried out using polyethylene, polymethyl methacrylate, and urotropine as fuels. It has been shown that as the length of the gasifier increases, its operating time increases not proportionally but less. Moreover, the ratio of the relative change in the length of the gasifier to the corresponding relative change in its operating time may be different for different fuels. It has been revealed that the reason for the disproportionate dependence of the operating time on the gasifier length is the delay in the gasification process at the initial time, while the velocity of the gasification wave doesn’t depend on the gasifier length. An important law has been discovered that when the change in the length of the gasifier is the same as the change in the filtration flow rate of the incoming gas (that is, when the corresponding Strouhal num

关键词： Porous materials

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Femtosecond Laser-Induced Periodic Surface Structures Formation on optical fibers

Femtosecond Laser-Induced Periodic Surface Structures Format...

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2024 International Conference Laser Optics, ICLO 2024

作者： Bronnikov, Kirill Gladkikh, Semyon Terentiev, Vadim Simonov, Victor Mikerin, Sergey Babin, Sergey Kuchmizhak, Aleksandr Dostovalov, Alexander Institute of Automation and Electrometry of the Sb Ras Novosibirsk Russia ITMO University Saint-Petersburg Russia Institute of Automation and Control Processes of the Feb Ras 5 Radio St Vladivostok690041 Russia Far Eastern Federal University Pacific Quantum Center Vladivostok690041 Russia

ISBN: (纸本)9798350390674

Highly regular thermochemical laser-induced periodic surface structures (TLIPSS) were produced on the thin Ti metal film deposited on a curved side surface of optical fiber using femtosecond IR laser pulses. The significant dependence of structures regularity on the laser polarization direction relative to the fiber axis was revealed. Results of TLIPSS formation on fiber tip and their practical applications are presented. © 2024 IEEE.

关键词： Femtosecond lasers

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Dynamics of Plane Strains in Heteromodular Isotropic Elastic Media

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Journal of Applied and Industrial Mathematics 2021年第1期15卷 39-49页

作者： Dudko, O.V. Mantsybora, A.A. Institute of Automation and Control Processes Far Eastern Branch of RussianAcademy of Sciences Vladivostok690041 Russia

Abstract: Under consideration are the features of nonlinear dynamics of a heteromodular elasticmedium under the plane strain. Some mathematical model of the heteromodular isotropic elasticmedium is given by a stress-strain relation with variable elastic moduli that are nonanalyticfunctions of deformation invariants. In this case, we show that the two plane-polarized combinedshock waves called quasi-longitudinal and quasi-transverse ones can appear in the material. Tocalculate the velocities of these waves, we obtain some formulas that include the parameters ofboth the prior deformed state and the boundary impact action. By example, we solve thetwo-dimensional self-similar boundary value problem concerning the reflection of a plane shockcompression wave from a rigid obstacle and demonstrate how to use the information on the typesof nonlinear waves in the heteromodular medium. We show that the nature of the wave fronts inthe reflected wavepackage depends significantly on the incident angle of the shock compressionwave. © 2021, Pleiades Publishing, Ltd.

关键词： Shock waves

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Experimental comparison of imaging photoplethysmography and laser speckle contrast imaging for blood flow assessment

Experimental comparison of imaging photoplethysmography and ...

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International Conference on Laser Optics

作者： Alexei A. Kamshilin Laboratory 24 Institute of Automation and Control Processes FEB RAS Vladivostok Russia

ISBN: (数字)9798350390674

ISBN: (纸本)9798350390681

In this work, responses of cortical vessels to the administration of a metabolic agent were measured in rats using contactless imaging photoplethysmography and laser speckle contrast imaging systems providing full field of view visualization of the blood flow. It was found that blood-flow changes detected by two systems differ significantly due to different nature of the interaction of light with tissues underlying these methods.

关键词： Visualization Lasers Imaging Measurement by laser beam Speckle Rats Photoplethysmography

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