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Ocean Studies (ICOS), International Conference on

作者： Aleksandr Timoshenko Aleksandr Zuev Vladimir Filaretov Laboratory of intelligent information sustems for marine robots M.D. Ageev Institute of Marine Technology Problems FEB RAS Institute of the World Ocean Far Eastern Federal University Vladivostok Russia Laboratory of intelligent information sustems for marine robots M.D. Ageev Institute of Marine Technology Problems FEB RAS Vladivostok Russia Laboratory of robotic systems Institute of Automation and Control Processes FEB RAS Sevastopol State University Vladivostok Russia

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.

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Development of the method for estimating the velocity of motion of the AUV along a trajectory given by parametric curve

Development of the method for estimating the velocity of mot...

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2020 International Conference Nonlinearity, Information and Robotics, NIR 2020

作者： Yukhimets, Dmitry Karmanova, Svetlana Far Eastern Federal University Laboratory of Robotic Systems Institute of Automation and Control Processes Feb Ras Department of Automation and Control Vladivostok Russia

ISBN: (纸本)9781728187631

The paper presents an algorithm that allows determining the velocity required for the motion of an autonomous underwater vehicle (AUV) along the trajectory described by a third-order parametric spline with consideration of the saturation of the thrusters. The velocity setting up on the basis of the proposed method has constant value and does not lead to exceedance the maximum allowed values of thrusters forces and moments on any part of the trajectory. The resulting expressions allow to estimate the program velocity of the motion in advance, before the motion *** simulation results confirm the efficiency of the proposed method for determining the program velocity of the AUV motion. © 2020 IEEE.

关键词： Autonomous underwater vehicles

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Description and fault diagnosis in autonomous underwater vehicles based on ontologies

Description and fault diagnosis in autonomous underwater veh...

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Ocean Studies (ICOS), International Conference on

作者： Timoshenko Alexander Zuev Alexander Mursalimov Eduard Gribova Valeria Inzartsev Alexander Department of Automation and Robotics Laboratory of intelligent systems for marine robots Far Eastern Federal UniversityInstitute of Marine Technology Problems FEB RAS Vladivostok Russia Laboratory of Intelligent Systems Institute of Automation and Control FEB RAS Vladivostok Russia Laboratory of Control Systems Institute of Marine Technology Problems FEB RAS Vladivostok Russia

ISBN: (纸本)9781665473736

The paper proposes new ontologies for describing and diagnosing malfunctions of subsystems of autonomous underwater vehicles (AUV) as a part of the development of a previously created approach to the intelligent diagnosis of these vehicles using knowledge bases. To implement this approach, it is proposed to use two knowledge bases, one of which describes malfunctions, features for their identification and actions necessary to adapt to the negative consequences caused by the appearance of these malfunctions. The other database contains information about the main subsystems of the AUV, devices and replaceable modules, as well as the states they may be in. Knowledge bases are used in the work of the intelligent control-emergency system (ICES) on board the AUV, which allows for comprehensive functional diagnostics of all subsystems of the device, including payload modules, as well as adaptation to the consequences of emerging malfunctions, taking into account the actual cause-and-effect relationships between them. To test the system’s operability, a prototype was developed. The results of the prototype simulation showed that ICES performs the tasks and can be implemented on the onboard computers of existing AUV using well-known programming technologies.

关键词： Performance evaluation Autonomous underwater vehicles Simulation Knowledge based systems Prototypes Ontologies Programming

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Designing a Method for Constructing Distributed Open ACS Based on the ESP-NOW Wireless Protocol

Designing a Method for Constructing Distributed Open ACS Bas...

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2020 International Russian automation Conference, RusAutoCon 2020

作者： Yukhimets, Dmitry Sych, Alexander Sakhnenko, Andrey Institute of Automation and Control Processes Feb Ras Laboratory of Robotic Systems Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Intelligent Control Systems Vladivostok Russia Far Eastern Federal University Department of Automation and Control Vladivostok Russia

ISBN: (纸本)9781728161303

A new approach to the implementation of open distributed automatic control systems based on use of cheap computing nodes from the manufacturer Espressif, exchanging data via the ESP-NOW wireless protocol, is proposed. Due to the used data transfer protocol, it became possible to quickly and losslessly transfer data packets between computing nodes, which favorably affected the operation of the entire system as a whole. The solution proposed in the work allows the use of distributed automatic control systems (ACS) to control complex mechatronic objects, such as industrial manipulators, and allows location of computing nodes at remote points in the workspace. This fact is confirmed by the performance indicators obtained during testing of a real system. The paper proposes the basic architecture of such a system and describes the features of the implementation of individual nodes, presents diagrams of the classes of microprograms contained in computing nodes. © 2020 IEEE.

关键词： Distributed parameter control systems

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Chomsky Was (Almost) Right: Ontology-Based Parsing of Texts of a Narrow Domain 4th

Chomsky Was (Almost) Right: Ontology-Based Parsing of Texts ...

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4th International Conference on Creativity in Intelligent Technologies and Data Science, CIT and DS 2021

作者： Geltser, Boris Gorbach, Tatiana Gribova, Valeria Karpik, Olesya Klyshinsky, Eduard Okun, Dmitrii Petryaeva, Margarita Shakhgeldyan, Carina Far East Federal University Vladivostok Russia Institute of Automation and Control Processes FEB RAS Moscow Russia Keldysh Institute of Applied Mathematics RAS Moscow Russia National Research University Higher School of Economics Moscow Russia Vladivostok State University of Economics and Service Vladivostok Russia

ISBN: (纸本)9783030870331

The common approach to the analysis of natural texts implies that semantic analysis should following the stage of parsing. However, medical texts are known as very complicated and written in a very specific language. Traditional parsers are demonstrating relatively small productivity here. In this article, we are demonstrating an opposite approach: ontology-based entailing of words in combination with simple shallow parsing rules. It allows us to increase UAS metrics from 0.82 for SpaCy to 0.834 for our approach. © 2021, Springer Nature Switzerland AG.

关键词： Ontology

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Imaging photoplethysmography to study blood supply in patients with systemic lupus erythematosus and systemic scleroderma

Imaging photoplethysmography to study blood supply in patien...

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International Conference on Laser Optics

作者： N. P. Podolyan A. V. Belaventseva A. V. Sakovskaia O.V. Mamontov R. V. Romashko A.A. Kamshilin Laboratory 24 Institute of Automation and Control Processes FEB RAS Vladivostok Russia Institute of Therapy and Instrumental Diagnostics Pacific State Medical University Vladivostok Russia Department of Circulation Physiology Almazov National Medical Research Centre Saint Petersburg Russia Pavlov First Saint Petersburg State Medical University Saint Petersburg Russia

ISBN: (数字)9798350390674

ISBN: (纸本)9798350390681

The parameters of facial blood supply were studied in patients with systemic lupus erythematosus and systemic scleroderma using a non-contact imaging photoplethysmography method synchronized with an electrocardiogram. Statistically significant differences in the amplitude and time of arrival of the pulse wave to different areas of the face were revealed in sick patients compared with the control group.

关键词： Lasers Imaging Photoplethysmography Optics Synchronization Blood Faces

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Development of synthesis method of functional diagnostic system for thrusters of underwater vehicles 23rd

Development of synthesis method of functional diagnostic sys...

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23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

作者： Zuev, Aleksander Zhirabok, Alexey Institute of Automation and Control Processes FEB RAS 5 Radio str Vladivostok690041 Russia Institute of Marine Technology Problems FEB RAS 5a Sukhanov str Vladivostok690091 Russia

ISBN: (纸本)9781916449046

This paper presents a new synthesis method of functional diagnostic system for thrusters of underwater vehicles (UVs). This system provides detection, localization and identification of minor faults in thrusters of the UV. Proposed method involves two main stages. At the first stage, a bank of diagnostic observers is built to detect and localize the emerging faults. At the same time, each observer is constructed according to a special procedure in such a way as to be sensitive to a different set of the possible faults. At the second stage, the additional observers working in a sliding mode regime are synthesized in order to accurately estimate error values in signals obtained from the UV thruster sensors, and to evaluate deviations of the thruster parameters from their nominal values due to the faults. The results of the simulation show the efficiency and high quality of all synthesized observers. © CLAWAR Association Ltd.

关键词： Fault detection

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The method of path planning for AUV-group moving in desired formation in unknown environment with obstacles

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IFAC-PapersOnLine 2020年第2期53卷 14650-14655页

作者： Vladimir Filaretov Dmitry Yukhimets Institute of Automation and Control Processes FEB RAS Vladivostok Russia

The paper proposes a new method for trajectory formation of the AUVs group in “leader-follower” mode in the given formation in the unknown environment containing obstacles. In this mode, the AUV-leader defines the motion trajectory at the safe distance from the detected obstacles in accordance with the given mission. The AUVs-followers follow the leader and during obstacles avoidance they move along set in advance trajectories within the formation to ensure the safe distance between the AUVs-followers. In addition, the motion of the AUVs-followers along the predetermined trajectories allows to avoid additional data exchange between the AUVs with a view to match their positions.

关键词： formation control autonomous mobile robots path planning obstacle avoidance unknown environment

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Formation of thermochemical laser-induced periodic structures on titanium films in a nitrogen-rich atmosphere 5

Formation of thermochemical laser-induced periodic structure...

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Advanced Laser Processing and Manufacturing V 2021

作者： Bronnikov, Kirill Dostovalov, Alexander Okotrub, Konstantin Kuchmizhak, Aleksandr Korolkov, Victor Babin, Sergey Institute of Automation and Electrometry of the SB RAS 1 Acad. Koptyug Ave. Novosibirsk630090 Russia Novosibirsk State University 2 Pirogova St. Novosibirsk630090 Russia Institute of Automation and Control Processes of the FEB RAS 5 Radio St. Vladivostok690041 Russia Far Eastern Federal University Vladivostok690041 Russia

ISBN: (数字)9781510646346

ISBN: (纸本)9781510646339

Recently, highly regular thermochemical laser-induced periodic surface structures (TLIPSS) have become the subject of active studies. TLIPSS are formed in the interference maxima due to the local oxidation of the material irradiated with ultrashort laser pulses and are characterized by the elevation of the relief that forms parallel oxide protrusions. The gas surrounding is expected to affect the morphology and chemical composition of the resulting TLIPSS;however, such effects were rarely studied so far. Here we present the results of the TLIPSS fabrication on glass-supported Si-Ti bilayer films using an astigmatic Gaussian IR femtosecond beam both in air and a nitrogen-rich atmosphere. The formation of ordered TLIPSS with the period of ≈ 920 nm is observed at slow scanning speeds (∼1 μm/s) and low fluences in a nitrogen-rich atmosphere. Raman spectroscopy revealed the presence of TiO2 (rutile) peaks, as well as bands centered at 280 cm-1 and 320 cm-1, which can be related to TiN in amorphous and polycrystalline phase. © 2021 SPIE.

关键词： Nitrogen

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One-dimensional spin-polarized electron channel in the two-dimensional PbBi compound on silicon

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Physical Review B 2021年第12期104卷 125413-125413页

作者： A. N. Mihalyuk L. V. Bondarenko A. Y. Tupchaya T. V. Utas Y. E. Vekovshinin D. V. Gruznev S. V. Eremeev A. V. Zotov A. A. Saranin Institute of Automation and Control Processes FEB RAS 690041 Vladivostok Russia School of Natural Sciences Far Eastern Federal University 690950 Vladivostok Russia Institute of Strength Physics and Materials Science SB RAS Tomsk 634055 Russia

Quantum phenomena at the ultimate atomic-scale two-dimensional limit attract increasing interest due to the emergence of exotic physics and potential applications in prospective electronic devices. In this work, we carried out a theoretical and experimental study of the atomic, electronic, and spin structures of the single-atomic-layer PbBi compounds grown on silicon surface. We found that adsorption of half-monolayer of Bi and half-monolayer of Pb onto Si(111) surface leads to the formation of an atomic layer consisting of rhombuslike motifs. The rhombuslike motifs are arranged into the 23×23 and 2×2 periodical structures. In the 23×23-PbBi phase, the motifs are oriented according to the C3 symmetry and this phase is characterized as a trivial insulating spin-split system. In the 2×2-PbBi phase, the motifs are oriented along a single direction giving rise to a one-dimensional metallic spin-polarized electron channel, which is of great relevance for spintronic-based applications. We traced the origin of the one-dimensional electronic states in the two-dimensional PbBi compound and discussed the interplay of these one-dimensional states with the geometry of the phase.

关键词： Electronic structure Fermi surface rashba coupling Spin texture Surface states 1-dimensional systems 2-dimensional systems Density functional theory Film deposition GGA Low-energy electron diffraction Scanning tunneling microscopy

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