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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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A Method for Underwater Pipeline Tracking from Stereo Images

A Method for Underwater Pipeline Tracking from Stereo Images

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Ocean Studies (ICOS), International Conference on

作者： Valeriy Bobkov Antonina Shupikova Alexander Inzartsev Processes Far Eastern Branch of RAS Institute of Automation and Control Vladivostok Russian Federation Institute of Automation and Control Processes Far Eastern Branch of RAS M. D. Ageev Institute of Marine Technology Problems Far Eastern Branch of RAS Vladivostok Russian Federation

ISBN: (数字)9798331532307

ISBN: (纸本)9798331532314

In this article, we consider the issue of underwater pipeline (UP) inspection with an autonomous underwater vehicle. As part of the unified approach to addressing the problem of UP tracking, we propose a number of methods based on processing of stereo images to recognize and calculate the position of UP; describe the developed technique of image vectorization and a computationally cost-effective modification of the Hough algorithm; and propose a method for UP tracking based on search for the centerline of the current UP segment using the validation criteria of fixed solution. The reliability criterion is based on analysis of generated 3D points of a scene. The analysis was carried out and comparative estimates of the developed algorithms were obtained in experiments with simulated and actual data. The advantage of methods using 3D point cloud analysis from stereo images over vectorization methods in terms of both accuracy and speed of data processing is shown for the UP tracking problem.

关键词： Point cloud compression Visualization Three-dimensional displays Image recognition Navigation Oceans Pipelines Inspection Search problems Reliability

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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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Causal-Transformer: Spatial-temporal causal attention-based transformer for time series prediction

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IFAC-PapersOnLine 2024年第14期58卷 79-84页

作者： Yaqi Zhu Fan Yang Andrei Torgashov Department of Automation Beijing National Research Center for Information Science and Technology Tsinghua University Beijing 100084 China Process Control Laboratory Institute of Automation and Control Processes Far-Eastern Branch Russian Academy of Sciences Vladivostok 690041 Russia

Real-time monitoring and accurate prediction of key variables are indispensable to ensure industrial production activities proceed as expected. With the increase in measurement data volume and the improvement of hardware computing power, the Transformer and its variants, due to their excellent capability in extracting global dependencies, are playing an increasingly important role among deep learning-based multidimensional time series prediction models. In addition, from the perspective of causality, cause variables contain parts of information in effect variables and can reduce the uncertainty of effect variables, which is beneficial for prediction. However, there has been relatively limited research on combining the Transformer and causal feature analysis. To fully use both advantages, this paper introduces the Causal-Transformer (CT) model, which utilizes semi-orthogonal projection to extract causal features from multiple input variables. A multi-head spatial-temporal causal attention mechanism is designed in the encoder block based on the classical Transformer model to simultaneously reduce feature dimensions and extract implicit causal features in both the temporal and spatial dimensions. The CT also utilizes the Granger causality analysis to select the causal teaching indicators of target variables to provide stable assistance by injecting explicit causality into the inputs of the decoder block. By leveraging more condensed and independent causal features, the CT possesses inherent advantages in predicting time series variables. Case study results show that the CT model outperforms the other models on the diesel refinery dataset, especially with a reduction of 46.0% and 30.4% in MSE towards the classic Transformer and informer in five-step prediction.

关键词： Machine learning Time series modelling Transformer Causal analysis Attention machenism

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Technology for Developing Applied Medical Intelligent Systems for Planing and Monitoring Treatment

Technology for Developing Applied Medical Intelligent System...

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IEEE Region 8 International Conference on Computational Technologies in Electrical and Electronics Engineering, SIBIRCON

作者： Kovalev Roman Igorevich Gribova Valeriya Victorovna Okun Dmitry Borisovich Laboratory of Intelligent Systems named after A. S. Kleshchev Institute of Automation and Control Processes Far Eastern Federal University Vladivostok Russia Laboratory of Intelligent Systems named after A. S. Kleshchev Institute of Automation and Control Processes Vladivostok Russia

ISBN: (数字)9798331532024

ISBN: (纸本)9798331532031

The paper describes the technology of creating applied medical intelligent systems for planning and monitoring treatment. It is based on the use of a specialized toolset. It can be used to develop treatment systems, regardless of the branch of medicine and the type of treatment. The use of the proposed technology can significantly reduce labor costs during development of decision support systems.

关键词： Decision support systems Planing Costs Knowledge based systems Surgery Cognition Planning Intelligent systems Monitoring Diseases

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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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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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On extended state Kalman filter-based identification algorithm for aerodynamic parameters

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control Theory and Technology 2024年第2期22卷 235-243页

作者： Wenyan Bai Ruizhe Jia Peng Yu Wenchao Xue Beijing Aerospace Automatic Control Institute Beijing100854China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China Key Laboratory of Knowledge Automation for Industrial Processes Ministry of EducationBeijing100083China Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing100190China

In this paper, the problem of time-varying aerodynamic parameters identification under measurement noises is studied. By analyzing the key aerodynamic parameters that affect the aircraft control system, a system model with extended states for identifying equivalent aerodynamic parameters is established, and error parameters are extended to the system state, avoiding the difficulty caused by the unknown dynamic in the system. Furthermore, an identification algorithm based on extended state Kalman filter is designed, and it is proved that the algorithm has quasi-consistency, thus, the estimation error can be evaluated in real time. Finally, the simulation results under typical flight scenarios show that the designed algorithm can accurately identify aerodynamic parameters, and has desired convergence speed and convergence precision.

关键词： Aerodynamic parameters Parameter identification Extended state Kalman filter

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Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 47-63页

作者： Yongliang Yang Zihao Ding Rui Wang Hamidreza Modares Donald C.Wunsch Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation&Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China School of Automation Beijng Institute TechnologyBeijing 100081China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Mechanical Engineering Department Michigan State UniversityEast LansingMI 48824 USA Department of Electrical&Computer Engineering Missouri University of Science&TechnologyRollaMO 65401 USA

In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller *** task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the ***-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance *** the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity *** this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task *** simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.

关键词： Adaptive impedance control data-driven method human-robot interaction(HRI) reinforcement learning velocity-free

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A Method for the Synthesis of Robust control Systems Providing High-Precision Movement and Stabilization of Autonomous Underwater Vehicle-Manipulator Systems 1

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7th International Russian automation Conference, RusAutoCon 2024

作者： Yukhimets, D.A. Zuev, A.V. Timoshenko, A.A. Institute of Automation and Control Processes Far East Branch of Russian Academy of Sciences 5 Radio St. Vladivostok690041 Russia M.D. Ageev Institute of Marine Technology Problems of Far East Branch of Russian Academy of Sciences 5 Building A Sukhanova St. Vladivostok690091 Russia

ISBN: (数字)9783031824944

ISBN: (纸本)9783031824937

The paper describes a method for synthesizing robust control systems for autonomous underwater vehicle-manipulator systems, which allow for high-precision movement of them along complex spatial trajectories and their stabilization at some point in the water space when performing manipulation operations in hover modes over work objects. The proposed system makes it possible to achieve this result even in the presence of uncertainties and inaccuracies in setting the parameters of dynamic models of an underwater robot, its propulsion and steering complex or manipulator by dividing the underwater vehicle control signal into two parts: the first is formed on the basis of these dynamic models with specified nominal parameters, the second provides compensation for uncertainties and inaccuracies in setting these parameters. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Dynamic model Manipulator Robust system Underwater vehicle Underwater vehicle-manipulator system

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