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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes Feb Ras Robotics Laboratory Vladivostok Russia M.D. Ageev Institute of Marine Technology Problems Feb Ras Laboratory of Robotic Systems Vladivostok Russia Admiral G.I. Nevelskoy Maritime State University Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia

ISBN: (纸本)9798350395044

The paper presents the results of developing a method for generating reference control signals that describe the desired law of movement of various mechatronic objects (unmanned aerial vehicles, mobile land and underwater robots, etc.) along smooth trajectories specified by parametric splines. In order to maintain high dynamic accuracy of control of these mechatronic objects, including when solving group control problems, it is proposed to adjust their reference movement speed, taking into account the specified restrictions on the developed accelerations. Taking into account these restrictions is necessary to reduce the reference speed in sections of the trajectory with increased curvature. To implement the proposed approach, a method was developed and a system was synthesized, the performance of which was confirmed by the results of numerical simulation. The presented system is designed to operate in conditions where the reference trajectory of a mechatronic object is unknown in advance and is formed (or adjusted) directly during the mission without the possibility of preliminary calculations. Also, this system does not require complex calculations and can be implemented on the basis of low-power on-board computers. © 2024 IEEE.

关键词： Motion planning

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Formation control of AUV on the Base of Visual Tracking of AUV-Leader

Formation Control of AUV on the Base of Visual Tracking of A...

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2021 International Russian automation Conference, RusAutoCon 2021

作者： Filaretov, Vladimir Yukhimets, Dmitry Institute of Automation and Control Processes Feb Ras Robotics Laboratory Vladivostok Russia Institute of Marine Technology Problem Feb Ras Institute of Automation and Control Processes Feb Ras Vladivostok Russia

ISBN: (纸本)9780738131566

In this paper, a method for the synthesis of a group control system for AUV moving in the leader-follower mode was proposed. The position of the follower relative to the leader is proposed to be determined using an on-board video camera, which recognized the light beacons installed on the leader's body. The obtained information is used to form an estimate of the position of the target point in the coordinate system of the follower with a frequency sufficient for the implementation of high-precision robust control systems. A method for synthesizing a control system that provides a desired quality of control independently from changes in the parameters of the AUV-follower was proposed. The results of mathematical simulation confirmed the high quality of control provided by the proposed system. © 2021 IEEE.

关键词： Computer vision

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Calculation of Compositional Maps of Sea Surface Temperature from IR Measurements of US Satellites

Calculation of Compositional Maps of Sea Surface Temperature...

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2024 International Conference on Ocean Studies, ICOS 2024

作者： Aleksanina, Marina Dyakov, Sergey Ershova, Anastasia Far Eastern Branch The Russian Academy of Sciences Satellite Monitoring Laboratory of IACP FEB RAS Institute of Automation and Control Processes Vladivostok Russia Institute of Mathematics and Computer Technologies Far Eastern Federal University Vladivostok Russia

ISBN: (纸本)9798331532307

The work is devoted to approbation of a methodology for constructing and verifying composite maps of sea surface temperature (SST) with the preservation of thermal fronts. The equatorial part of the Northwestern Pacific Ocean region, characterized by weak temperature contrasts, significant clouds and high concentrations of water vapor, was chosen as the area for testing. Satellite and sub-satellite measurements were extracted from international databases. It is shown that the use of map provided by international databases based on a single satellite session requires additional cloud filtering. The developed composite maps are compared with their analogues. The advantage of the proposed approach is shown. A comparison of the temperatures of composite one-day maps and buoy measurements shows the accuracy of calculations within 0.6°C. The linear relationship has a slope coefficient close to one and a free term that does not exceed the accuracy of calculations. © 2024 IEEE.

关键词： Surface temperature

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Comparison Study of Different Types of Setting Reference Movements for Mechatronic Objects by Parametric Splines

Comparison Study of Different Types of Setting Reference Mov...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes Feb Ras Sevastopol State University Robotics Laboratory Sevastopol Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Robotic Systems Vladivostok Russia

ISBN: (纸本)9781665473729

The paper presents a comparative study of various ways of specifying program movements for mechatronic objects (MO) along complex spatial trajectories defined by parametric Bezier splines, B-splines and third-order Catmull-Rom splines. An expression is obtained to describe the dependence of the rate of change of the parameter setting the desired position of the MO with the program speed of its movement, taking into account information about the type of trajectory. As a result, using this expression, which is universal for all the specified parametric splines of the third order, it is ensured that the MO moves along the trajectory exactly at a given speed while simultaneously changing its orientation as desired. The application of the methods considered in this paper does not require complex iterative calculations and allows one to perform all the necessary calculations in real time, even on low-power on-board computers of various robots and robotic complexes. Numerical modeling was carried out to analyze the features of the use of these splines in solving practical problems. © 2022 IEEE.

关键词： Trajectories

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Mathematical Models and Algorithms of the Onboard Multiposition Integrated Inertial-Satellite Motion Detection System

Mathematical Models and Algorithms of the Onboard Multiposit...

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Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)

作者： A. V. Shurygin Institute of Automation and Control Processes FEB RAS Vladivostok Russia

The report outlines the problems of assimilation of navigation information delivered by spaced on-board sensors for satellite positioning of a moving object (technological platform) combined with three-component specific force vector meters (3D newtonometers). The main mathematical constructions follow the "state–measurement" paradigm and are focused on solving the inverse problems of determining the movement of technological platform as a solid body. An ellipsoidal system and other coordinate systems that determine solutions are selected as the base coordinate system. Algorithms for calculating kinematic parameters and spatial orientation of technological platform, characteristics of motion causality - forces and moments are presented. A numerical solution to the problem of vector gravimetry is proposed. An original digital test stand of the system for assimilating integrated satellite and inertial navigation information has been developed.

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Comparison of Structure, Transport Properties and Thermoelectric Power Efficiency of Thin CrSi and CoSi Films on Si(111) and Si(100) Substrates

Comparison of Structure, Transport Properties and Thermoelec...

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IEEE International Conference on Electrical Engineering and Photonics (EExPolytech)

作者： Dmitrii L. Goroshko Konstantin N. Galkin Evgenii. Yu. Subbotin Olga A. Goroshko Semen A. Balagan Andrey M. Maslov Igor M. Chernev Oleg V. Kropachev Dmitrii A. Khoroshilov Sergei A. Dotsenko Nikolay G. Galkin Optics and Electrophysics Laboratory Institute of Automation and Control Processes of FEB RAS Vladivostok Russia

ISBN: (数字)9798350388879

ISBN: (纸本)9798350388886

The paper compares the formation conditions, crystal structure, conductivity, and thermoelectric properties of thin CrSi and CoSi films on silicon substrates with (111) and (100) orientations. It is found that, despite the insufficiently good conductivity, the films have a noticeable Seebeck coefficient (up to 70 μV/K) in the temperature range of 200-450 K: positive for CrSi and negative for CoSi. The maximum power factor is estimated at 2 to 3 mW/(m2×K). For CoSi, first-principles calculations of the phonon structure and lattice thermal conductivity are performed, including in the form of nanowires. Estimates are made for the achievable dimensionless thermoelectric figure of merit of CoSi thin films: ZT=0.40–0.50 T=200-450 K.

关键词： Temperature distribution Reactive power Films Lattices Crystals Conductivity Thermal conductivity Silicon Nanowires Substrates

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Formation, Phonon Structure, Transport and Thermoelectric Properties of Multilayer Heterostructures Si/NC β-FeSi2/Si/ NC β-FeSi2/…/Si(111) and Si/NC α-FeSi2/Si/ NC α-FeSi2/…/Si(111)

Formation, Phonon Structure, Transport and Thermoelectric Pr...

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IEEE International Conference on Electrical Engineering and Photonics (EExPolytech)

作者： Konstantin N. Galkin Oleg V. Kropachev Olga A. Goroshko Evgenii. Yu. Subbotin Igor M. Chernev Dmitrii A. Khoroshilov Dmitrii L. Goroshko Nikolay G. Galkin Optics and Electrophysics Laboratory Institute of Automation and Control Processes of FEB RAS Vladivostok Russia

ISBN: (数字)9798350388879

ISBN: (纸本)9798350388886

Multilayer (4 and 8 layers) samples with embedded β-FeSi 2 and α-FeSi 2 nanocrystals (NCs) on silicon-on-insulator (SOI) substrates with (100) orientation and p-type conductivity have been grown. It has been established from Raman data that β-FeSi 2 NCs are formed with small portions of iron (0.5 nm) deposited at room temperature and annealed at T = 630°C with subsequent overgrowing with silicon, and α-FeSi 2 NCs are formed after short-term annealing at T = 1000°C and overgrowing with silicon. The effect of doping of intermediate silicon layers on the conductivity and Seebeck coefficient in multilayers (4 and 8) in the temperature range of 80–450 K was studied. It was shown that with maximum doping of intermediate layers (1019 cm -3 ) with the number of layers equal to 8, the maximum Seebeck coefficient 600 μV/K and the maximum power factor 2.5 mW/(m×K2) were observed at T= 450 K, which is due to the contribution of injected holes from β-FeSi 2 nanocrystals.

关键词： Resistance Reactive power Temperature distribution Annealing Nanocrystals Silicon-on-insulator Nonhomogeneous media Silicon Laser beams Substrates

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Plumbene layer grown on Si(111)3×3−B and its restructuring by Mg adsorption

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Physical Review B 2025年第12期111卷 125401-125401页

作者： A. N. Mihalyuk L. V. Bondarenko A. Y. Tupchaya Y. E. Vekovshinin N. V. Denisov D. V. Gruznev A. V. Zotov A. A. Saranin Institute of Automation and Control Processes FEB RAS 690041 Vladivostok Russia Institute of High Technologies and Advanced Materials Far Eastern Federal University 690950 Vladivostok Russia

Using scanning tunneling microscopy observations, the Si(111)3×3−B surface was experimentally proved to be a suitable substrate for hosting high-buckled plumbene. Magnesium (Mg) adsorbed onto the grown plumbene intercalates between the Pb layer and Si(111)3×3−B substrate to form the Pb/Mg/Si(111):B atomic sandwich. Meanwhile, the Pb layer undergoes significant transformations: its original coverage of 2.0 monolayers (ML) reduces to 1.33 ML of Pb, as revealed via the density functional theory (DFT) ab initio random structure search analysis. The layer is arranged in a striped 3×1 structure, which, together with the substrate, adopts the overall 3×3 periodicity. DFT analysis of the band structures of the grown Pb layers revealed that they might possess unique electronic properties. However, the intrinsic properties of the layers appear to be overshadowed by the electronic properties of the real Si(111):B substrate, which underwent a strong subsurface p−type doping. The dominated contribution of the substrate bands to the electronic properties was confirmed in the in situ low-temperature transport measurements, which showed that the Si(111):B substrate with and without plumbene, as well as Pb/Mg/Si(111):B samples, display very similar conductivity values. The obtained results demonstrate that, while considering possible applications, the substrate hosting the prospective low-dimensional structures (e.g., two-dimensional Xenes) must meet not only the structural but also the electronic requirements.

关键词： Scanning tunneling microscopy

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Luminescent Properties of Nanocomposites Based on Porous Silicon, Nickel, and Nickel Oxide in the Photon Energy Range of 1.4 - 2.9 eV

Luminescent Properties of Nanocomposites Based on Porous Sil...

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2022 International Conference on Electrical Engineering and Photonics, EExPolytech 2022

作者： Galkin, Nikolay G. Yan, Dmitrii T. Galkin, Konstantin N. Nepomnyaschiy, Aleksandr V. Goroshko, Dmitrii L. Institute of Automation and Control Processes of Feb Ras Optics and Electrophysics Laboratory Vladivostok Russia Far Eastern State Transport University Department of Physics and Theoretical Mechanics Khabarovsk Russia Institute of Automation and Control Processes of Feb Ras Laboratory of Laser Methods for Studying Substances Vladivostok Russia

ISBN: (数字)9781665490306

ISBN: (纸本)9781665490306

This paper presents the results of studying the effect of time (5, 6, 7, and 8 minutes) of nickel electrodeposition (Ni ED) at room temperature and annealing at 450°C in an argon atmosphere on the structure, composition, and photoluminescent (PL) properties of mesoporous silicon (meso-PS) and its nanocomposite with Ni (meso-PS/Ni). The SEM and EDX spectroscopy data showed the predominant concentration of Ni on the surface and an insignificant concentration in the near-surface region of the meso-PS. According to Raman and PL spectroscopy data, it was established that after Ni ED in a NiCl2 solution, nickel sub oxide (NiOx) with a band gap of up to 2.8 e V is formed in the meso-PS surface layer, which, after short-term annealing (5 and 6 min), is transformed into nickel monoxide nanocrystals (NiO), which leads to a strong (0.2 - 0.9 eV) 'blue' shift of the PL maximum (2.4-2.6 eV) of the nanocomposite with meso-PS/Ni with a multiple increase in the PL amplitude. With an increase in the time of Ni ED and storage in air, NiOx, is not formed, and the detected significant (2-18 times) increase in the PL amplitude with a small 'red' shift of 0.05-0.1 eV is presumably associated with the formation of radiative recombination centers in the form of ions Ni in the meso-PS matrix. Annealing in argon in this case leads to a decrease in the PL intensity without shifting the PL maxima. © 2022 IEEE.

关键词： Digital storage

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An Approach to the Construction of High-Quality Position Force control Systems for Autonomous Underwater Vehicles with a Multi-Link Manipulator

An Approach to the Construction of High-Quality Position For...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Timoshenko, Aleksandr Zuev, Aleksandr Filaretov, Vladimir Institute of Marine Technology Problems Feb Ras Institute of the World Ocean Far Eastern Federal University Laboratory of Intelligent Information Sustems for Marine Robots M.D. Ageev Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Intelligent Information Sustems for Marine Robots M.D. Ageev Vladivostok Russia Institute of Automation and Control Processes Feb Ras Sevastopol State University Laboratory of Robotic Systems Vladivostok Russia

ISBN: (纸本)9798350382457

In this paper, a new approach is proposed to the construction of control systems for autonomous underwater vehicles equipped with multi-link manipulators for high-precision execution of various technological operations on underwater infrastructure objects, including those requiring force action on these objects, in fully automatic mode. The approach is based on creating a force effect on the work object using the thrusters of the underwater vehicle. In this case, all mutual influences from the manipulator moving in a viscous water space are taken into account, including nominal mutual influences between its links, the action of the added masses and moments of inertia of the liquid, as well as viscous friction. At the same time, the values of the added masses and moments of inertia of the liquid are proposed to be identified before the start of any technological operations using sliding mode observers and identification methods based on Kalman filters. Sliding mode observers allow us to estimate the values of generalized external torques acting in each actuator of the manipulator, as well as the values of rotational velocities and accelerations of their output shafts. The resulting minor displacements of the underwater vehicle during the execution of technological operations, due to errors in determining the force effect on the body of the vehicle from the operating manipulator, are compensated with the help of onboard stabilization systems of the underwater vehicle. © 2023 IEEE.

关键词： Manipulators

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