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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Igor Mozharovskii Svetlana Shevlyagina Institute of Automation and Control Processes FEB RAS Vladivostok Russia Vladivostok State University Vladivostok Russia

ISBN: (数字)9798350395013

ISBN: (纸本)9798350395020

Oil refining is an energy-intensive process that continuously separates petroleum products. Refining companies are interested in products that meet all regulations and the efficiency of their production. It is possible to achieve cost minimization and increase the quality of the output product by using accurate soft sensors that can reliably predict the quality of the output product in real time. In this regard, research on the construction of reliable soft sensors in industrial production is necessary and relevant. To improve the estimation capability, the alternating conditional expectation algorithm, which is based on nonparametric optimal transformations, was used for nonparametric soft sensor design. As a result, the designed nonparametric soft sensor shows a better efficiency in predicting the quality index of the target distillation product with a significantly reduced root mean square error compared to multiple linear regression analysis.

关键词： Accuracy Soft sensors Refining Linear regression Training data Production Prediction algorithms

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Development of Method of Generating a Reference Movement Speed of a Group of UAVs

Development of Method of Generating a Reference Movement Spe...

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2024 International Conference on Ocean Studies, ICOS 2024

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

ISBN: (纸本)9798331532307

The article presents the results of the development of a method for the automatic formation of reference speeds for autonomous unmanned aerial vehicles of multirotor type, performing specified missions (such as monitoring of the sea and coastal territory in order to track populations of rare and endangered species, as well as evaluating the potential volumes of biological resources) singly or as part of a group (in formation). At the same time, the trajectories of these aircraft are set by smooth spatial curves - parametric splines of the third order, which makes it easy to adjust the specified trajectories during the mission. In order to maintain a high speed of movement of vehicles along trajectories with high accuracy of movement and saving formation, it is proposed to adjust the specified speed directly during the mission in such a way that the thrusters can ensure their required movements, taking into account the restrictions on the thrust vectors. At the same time, a simplified model of the dynamics of a quadcopter was used to calculate the values of reference speeds, taking into account the influence of wind force, environmental resistance, gravity and the total thrust vector of the propellers. The systems synthesized on the basis of this method can be implemented even on low-power onboard computing devices of unmanned aerial vehicles. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Robust Virtual Sensors Design

Robust Virtual Sensors Design

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2022 International Russian automation Conference, RusAutoCon 2022

作者： Zhirabok, Alexey Zuev, Alexander Shumsky, Alexey Far Eastern Federal University Department of Automatics and Robotics Vladivostok Russia Robotics Laborator Institute of Automation and Control Processes Feb Ras Vladivostok Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

The problem of robust virtual sensors design in linear systems under disturbance is studied. The suggested approach based on the reduced order model of the original system and singular value decomposition enables obtaining virtual sensor of minimal dimension insensitive or having minimal sensitivity to the disturbance. The problems is solved in three steps: at the first step, the linear model insensitive to the disturbance is designed;at the second step, a possibility to estimate the given variable is checked;finally, sliding mode observer is constructed. If the model insensitive to the disturbance does not exist, the minimal sensitivity is achieved. The theoretical results are illustrated by the example of three-tank system. © 2022 IEEE.

关键词： Linear systems

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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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Development of ROS-based Information-control System for Hybrid Unmanned Underwater Vehicle

Development of ROS-based Information-Control System for Hybr...

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Ocean Studies (ICOS), International Conference on

作者： Dmitry Yukhimets Mikhail Belousov Anton Gubankov Sevastopol State University 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: (数字)9798331532307

ISBN: (纸本)9798331532314

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.

关键词： Autonomous underwater vehicles Microcontrollers Oceans Computer architecture Microcomputers Hardware Software Trajectory Remote control

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Synthesis of Diagnostic Observers for Linear Systems Based on Optimal control Methods

Synthesis of Diagnostic Observers for Linear Systems Based o...

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2022 International Conference on control, automation and Diagnosis, ICCAD 2022

作者： Kabanov, Aleksey A. Zuev, Aleksandr V. Zhirabok, Aleksey N. Filaretov, Vladimir F. Department of Informatics and Control in Technical Systems Sevastopol State University Russia Laboratory of Intelligent Information Systems for Marine Robots Institute of Marine Technology Problems FEB RAS Russia Department of Automation and Robotics Far Eastern Federal University Russia Robotics Laboratory Institute of Automation and Control Processes FEB RAS Russia

ISBN: (数字)9781665497947

ISBN: (纸本)9781665497947

The paper considers the problem of fault identification in dynamic systems described by linear differential equations. To solve this problem, diagnostic observers constructed on the basis of optimal control methods are used. The proposed new method for the synthesis of such observers is based on the idea of introducing a new system with some auxiliary control which plays a role of an unknown vector function describing emerging faults. This control is proposed to be formed in such a way that it provides a minimum for the residual functional. Unlike popular approaches to solving the problem of fault identification based on observers operating in a sliding mode, the proposed method allows us to expand the class of systems for which the identification problem can be solved. It is known that the methods of sliding mode observers design impose certain restrictions on the systems under consideration. The suggested theory is illustrated by an example. The simulation results confirmed the operability of the diagnostic observers synthesized using the method proposed in the work. © 2022 IEEE.

关键词： Linear systems

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Unveiling the stacking-dependent electronic properties of the 2D ultrathin rare-earth metalloxenes family LnX2 (Ln = Eu, Gd, Dy;X = Ge, Si)

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Journal of Materials Chemistry C 2024年第16期12卷 5926-5933页

作者： Mihalyuk, Alexey N. Sheverdyaeva, Polina M. Chou, Jyh-Pin Matetskiy, Andrey V. Eremeev, Sergey V. Zotov, Andrey V. Saranin, Alexander A. Institute of High Technologies and Advanced Materials Far Eastern Federal University Vladivostok690950 Russia Institute of Automation and Control Processes FEB RAS Vladivostok690041 Russia Strada Statale 14 km 163.5 Trieste34149 Italy Department of Physics National Changhua University of Education No. 1 Jinde Rd. Changhua County Changhua City50007 Taiwan Institute of Strength Physics and Materials Science Tomsk634055 Russia

Studies of electronic effects in reduced dimensionality have become a frontier in nanoscience due to the exotic and highly tunable character of quantum phenomena. Recently, a new class of 2D ultrathin LnX2 metalloxenes composed of a triangular lattice of lanthanide ions (Ln) coupled with 2D-Xenes of silicene or germanene (X2) was introduced and studied with a particular focus on magnetic and transport properties. However, the electronic properties of metalloxenes and their effective functionalization remain mainly unexplored. Here, using a number of experimental and theoretical techniques, we trace the evolution of the electronic properties and magnetic ground state of metalloxenes triggered by external perturbations. We demonstrate that the band structure of LnX2 films can be uniquely modified by controlling the Xenes stacking, thickness, varying the rare-earth and host elements, and applying an external electric field. Our findings suggest new pathways to manipulate the electronic properties of 2D rare-earth magnets that can be adjusted for spintronics applications. © 2024 The Royal Society of Chemistry

关键词： Electronic properties

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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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Method of Visual Formation control for Large Group of AUV in Environment with Obstacles 1st

Method of Visual Formation Control for Large Group of AUV in...

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1st International Conference on Applied Intelligence, ICAI 2023

作者： Vladimir, Filaretov Dmitry, Yukhimets Vitaly, Oseledets Yuan, Changan Sevastopol State University Sevastopol Russia Institute of Automation and Control Processes FEB RAS Vladivostok Russia Institute of Marine Technology Problems FEB RAS Vladivostok Russia Guangxi Academy of Science Nanning530007 China

ISBN: (纸本)9789819708260

The paper proposes a modification of the method for formation control of the group of autonomous uninhabited underwater vehicles (AUVs) in the unknown environment containing obstacles for large group of AUV. AUVs move in the "leader-follower" mode in the given formation. The AUV-leader has information about the mission, moves to the target and defines the motion trajectory to safely avoid the detected obstacles. AUV-followers follow the leader, in accordance with the place given to them in the formation. For this movement, information about the current position of the AUV-leader is used. In the basic proposed method, the followers receive this information via hydroacoustic communication channels. Obstacles and the distance to them are determined via onboard rangefinders. The low bandwidth of hydroacoustic channels and large delays in data transmission do not provide safe and accurate movement of group members when they are close to an obstacle or to another AUV. To solve this problem, using onboard video cameras of AUV-followers and technical vision to determine the position of the leader, on which a special light beacons are installed, is proposed. This approach makes possible eliminating delays in the receiving of information by the followers and ensure the safe movement of the AUV group when using high-precision control systems. The main difficulty of using visual information in underwater environment is the limited visibility distance. To consider this limitation, some AUV-followers can act as leaders for other followers. This will allow to form groups from a large number of AUV. At the same time, a control system with a predictive model is used to ensure high accuracy of controlling the movement of the AUV inside the formation when bypassing obstacles. The effectiveness of the proposed method is confirmed by the results of mathematical simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Motion planning

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Highly regular nanogratings formation on amorphous semiconductors films by femtosecond laser radiation 7

Highly regular nanogratings formation on amorphous semicondu...

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Advanced Laser Processing and Manufacturing VII 2023

作者： Dostovalov, Alexander Bronnikov, Kirill Gladkikh, Semyon Mitsai, Evgeny Zhizhchenko, Alexey Kuchmizhak, Aleksandr Institute of Automation and Electrometry Siberian Branch of RAS Novosibirsk630090 Russia Institute of Automation and Control Processes Far Eastern Branch of RAS Vladivostok690041 Russia Pacific Quantum Center Far Eastern Federal University Vladivostok Russia

ISBN: (纸本)9781510667730

We present the results of direct laser-induced periodic surface structuring of semiconductors thin films (a-Si, a-Ge) deposited on glass substrate at different ambient environments (air, vacuum, nitrogen) resulting in regular gratings with the period of 600-900 nm at the laser wavelength of 1026 nm oriented either along (a-Si) or transverse (a-Ge) to the linear laser polarization direction. The processing speed has a different effect on morphology of obtained structures: on a-Si film, an increase of scanning speed leads to the reorientation of gratings and reduction of their period, while on a- Ge, the uniformity degradation and increase of the period are observed. Changing the ambient atmosphere from air to nitrogen and vacuum, when writing structures on a-Ge, helps to minimize the uniformity degradation and obtain highly regular nanogratings. © 2023 SPIE.

关键词： Nitrogen

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