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检索条件"机构=Institute of Automation and Control Process FEB RAS"

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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...

引用

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

Tool Path Planning Method for Industrial Manipulators Based ...

引用

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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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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2D Laser-Induced Periodic Surface Structures Formation on Thin Metal Films by Femtosecond Laser Radiation

2D Laser-Induced Periodic Surface Structures Formation on Th...

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2024 International Conference Laser Optics, ICLO 2024

作者： Bronnikov, K. Gladkikh, S. Mikerin, S. Terentiev, V. Simonov, V. Kuchmizhak, A. Dostovalov, A. 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

D(grid and honeycomb) highly regular thermochemical laser-induced periodic surface structures (TLIPSS) were produced on Ti, Cr and Hf thin metal film (30100 nm) deposited on a glass substrate using femtosecond IR lase... 详细信息

ISBN: (纸本)9798350390674

关键词： Laser materials processing

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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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Description and fault diagnosis in autonomous underwater vehicles based on ontologies

Description and fault diagnosis in autonomous underwater veh...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Alexander, Timoshenko Alexander, Zuev Eduard, Mursalimov Valeria, Gribova Alexander, Inzartsev Far Eastern Federal University Institute of Marine Technology Problems Feb Ras Laboratory of Intelligent Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia Institute of Automation and Control Feb Ras Laboratory of Intelligent Systems Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Control Systems Vladivostok Russia

ISBN: (纸本)9781665473729

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. © 2022 IEEE.

关键词： Autonomous underwater 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...

引用

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 System of Coordinated Operation of Two Underwater Vehicles in a Complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

引用

2023 International Conference on Ocean Studies, ICOS 2023

作者： Filaretov, Vladimir Katsurin, Alexey Institute of Automation and Control Processes Feb Ras Vladivostok State University Laboratory of Robotic Systems Laboratory of Automation and Robotics Vladivostok Russia Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems Feb Ras Laboratory of Intelligent Information Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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

Experimental comparison of imaging photoplethysmography and ...

引用

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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Development of a Dynamic Model of an Underwater Manipulator in Identification Form 9th

Development of a Dynamic Model of an Underwater Manipulator ...

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9th International Conference on Interactive Collaborative Robotics, ICR 2024

作者： Filaretov, Vladimir Zuev, Aleksandr Timoshenko, Aleksandr Institute of Automation and Control Processes FEB RAS 5 Radio St. Vladivostok690041 Russia M.D. Ageev Institute of Marine Technology Problems FEB RAS 5a Sukhanova St Vladivostok690091 Russia Far Eastern Federal University 12/2 Mordovtseva St. Vladivostok690091 Russia

ISBN: (纸本)9783031713590

The paper proposes a new method for constructing dynamic models of underwater manipulators installed on board autonomous underwater vehicles. These models are designed to identify unknown parameters of the interaction of an underwater manipulator with a viscous medium during its movement. A feature of these models is that unknown parameters, including coefficients of added masses and damping coefficients, are included in the equations of dynamics of the manipulator linearly relative to known kinematic parameters. These coefficients can be determined using classical identification methods such as the least squares method or methods based on the application of the linear Kalman filter. The identified parameters can then be used in adaptive underwater manipulator control systems to implement automatic execution of underwater technological operations. To do this, the identification procedure must be carried out in close proximity to the intended working area of the underwater vehicle with a manipulator, where the desired coefficients can be considered constant. The correctness of the proposed models and the possibility of identifying these coefficients were verified during mathematical simulation of the movement of an underwater vehicle with a manipulator mounted on it at various initial parameters of a viscous medium. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Kalman filters

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