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2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Lipko, Ivan Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

ISBN: (纸本)9781665475952

The baseline path following algorithm based on PID controller for horizontal movement of the MiddleAUV is constructed. The MiddleAUV is small autonomous underwater vehicle designed to study the control algorithms. This article discusses the one case of PID controllers design and results of numerical simulations. The path is constructed using waypoints. The movement of the AUV between waypoints is accomplished by controlling the distance and yaw between the current position of the AUV and the waypoint. When the AUV approaches a waypoint, a special unit generates a new waypoint and the AUV continues moving. The main difficulty was configuring the controllers for the non-linear version of the AUV model. To solve this problem, we tuned the PID controller for the linear model and chose the best one for the nonlinear model. Numerical experiments were performed on the nonlinear mathematical model, which showed that the resulting PID controllers could be used as the basis for the robot's motion along the waypoints. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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The Influence of Uncertainties and Inaccuracies in the Parameters on the Underwater Vehicle Model

The Influence of Uncertainties and Inaccuracies in the Param...

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2022 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2022

作者： Lipko, Ivan Dementiev, Kirill Robotics and Intelligent Control Systems Laboratory Sevastopol State University Sevastopol Russia

ISBN: (纸本)9781665483698

The development of an underwater vehicle model is an important preparation step for potentially marine exploration. There are several complex factors that hinder the performance of this task, e.g., fluid and rigid-body physics. Moreover, real vehicles have different designs and dimensions. That fact complicates the calculations of dynamic parameters and requires the use of known approximation methods. This article discusses the research of uncertainties in the parameters of two different forms of underwater vehicle model approximations: cylindrical and rectangular prism. We simulate an underwater vehicle with several parameters, changed in the grid, and then compare the resulting paths. The mathematical models and simulation results are shown. © 2022 IEEE.

关键词： Vehicles

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Automated Suckering of Vines with a Mobile Robot and a Torque-controlled Suckering Tool 5

Automated Suckering of Vines with a Mobile Robot and a Torqu...

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5th IEEE International Conference on Smart systems and Technologies, SST 2022

作者： Stuhne, Dario Vatavuk, Ivo Hrabar, Ivan Vasiljević, Goran Kovačić, Zdenko University of Zagreb Faculty of EE&C Zagreb Croatia University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (数字)9781665482158

ISBN: (纸本)9781665482158

The research presented in this paper focuses on the development of fully automated and autonomous vine suckering, a seasonal viticulture activity required to remove all unwanted shoots from the vine trunks. This requires human workers to do a lot of strenuous work, often using only their hands or tools such as clippers or shears. The suckering is done during the early growing season (usually April-May) to provide more energy, water, and nutrients to the main shoots. Commercially available suckering machines appear to be a large-scale solution. However, their performance varies between 10% and 85% and their purely mechanical nature can easily cause damage to the vines. In this paper, we present a concept for autonomous suckering using a mobile robot equipped with a special suckering tool driven by a torque-controlled DC motor that protects the vine from damage. The proposed suckering system was designed, analysed and experimentally validated in a real vineyard. The results showed that the system was able to remove about two thirds of the unwanted shoots, reaching a suckering rate of more than 86 vines per hour. © 2022 IEEE.

关键词： Mobile robots

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Procedural Generation of Synthetic Dataset for Robotic Applications in Sweet Pepper Cultivation 5

Procedural Generation of Synthetic Dataset for Robotic Appli...

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5th IEEE International Conference on Smart systems and Technologies, SST 2022

作者： Vuletić, Jelena Polić, Marsela Orsag, Matko University of Zagreb Faculty of EE&C Zagreb Croatia University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (数字)9781665482158

ISBN: (纸本)9781665482158

In this paper, a deep learning based object detection model is developed for robotic applications in structured agricultural cultivation of sweet peppers (Capsicum annuum). We propose a realistic simulation based method for procedural generation of a labeled sweet pepper dataset. Realistic 3D models of fruit, leaves, and other relevant plant body parts are generated through photogrammetry, enabling generation of a large and relevant dataset. The dataset is labeled for both object detection and semantic segmentation by scene rendering in multiple layers and using artificial depth information. Smart augmentation techniques are deployed in procedural generation, as well as label filtering techniques for more realistic dataset labels. A MobileNet-SSD based deep learning model is trained through transfer learning on the generated dataset. The trained model is tested both in simulated environment, as well as on a relevant real-world setup. © 2022 IEEE.

关键词： Object detection

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Identification of the Horizontal Movement of the Underwater Vehicle MiddleAUV

Identification of the Horizontal Movement of the Underwater ...

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2022 International Russian Automation Conference, RusAutoCon 2022

作者： Lipko, Ivan Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

This article is devoted to the identification of the mathematical model of the underwater vehicle MiddleAUV. The central issues of the article are planning and conducting experiments, identifying and comparing simulation results with real data. The experiments were performed inside the pool of the laboratory of robotics and intelligent control systems of Sevastopol State University. Linear motions and circulations were performed at different speeds of rotation of the propellers. The main result obtained in this article is the transfer functions of the horizontal movement of a small autonomous underwater vehicle. The inputs to the transfer functions are the numbers that control propellers' angular velocity and outputs are the angular velocity of the yaw and general velocities during horizontal movement. The movement identification was carried out according to the data received from the onboard navigation module and the built-in bottom video camera. The bottom camera monitors the chessboard located at the bottom of the pool and allows us to get the relative coordinates of device location in the pool. To anyone interested in the identification of underwater vehicles. © 2022 IEEE.

关键词： Transfer functions

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Robustness to Disturbances of Ellipsoid-Shape Underwater Vehicle with Multi-Link Manipulator

Robustness to Disturbances of Ellipsoid-Shape Underwater Veh...

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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Lipko, Ivan Dementiev, Kirill Kramar, Vadim Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

This article is devoted to the issue of analyzing the influence of external disturbances on the underwater vehicle in the form of a flattened ellipsoid body with a multilink manipulator when performing technological operations. The relevance of the study is related to the automation of such operations as underwater welding, transfer of objects, twisting, bending, etc., performed underwater. For this purpose, we have built a mathematical model of the underwater apparatus with an ellipsoid shape, indicated the ways of influence of moments and forces arising in the manipulator on the apparatus body. It was found out that this influence leads to nonlinear effects in transients. This influence is different, depending on the axis in which the motion of the apparatus is performed. Since the body is flattened in the horizontal axis, the most unpleasant effect occurs in the vertical motion, due to the increased hydrodynamic resistance. The model is considered without a control loop in the apparatus, and it is the effect of the housing on the accuracy of movements of a multilink manipulator with a standard control system in the form of PID controllers that is important to us. © 2024 IEEE.

关键词： Underwater welding

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Passive Aerial Grasping of Ferrous Objects

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IFAC-PapersOnLine 2017年第1期50卷 10299-10304页

作者： Fiaz U.A. Toumi N. Shamma J.S. Robotics Intelligent Systems and Control (RISC) Laboratory King Abdullah University of Science and Technology Saudi Arabia

Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one. © 2017

关键词： aerial grasping autonomous systems Flying robots magnetic passive gripper robotics technology smart design

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Slip-based traction control system with an on-line road condition estimation for electric vehicles

Slip-based traction control system with an on-line road cond...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

In this paper a slip-based traction control system (TCS) with an on-line road condition estimation is presented. The system is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. The non-linear model of a small three-wheeled electric car, comprising the hardware in the loop, is used for the system testing.

关键词： Wheels Torque Roads Mathematical model Estimation Friction Equations

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An approach to determination of simple circular waits in reconfigurable multi-vehicle systems

An approach to determination of simple circular waits in rec...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study reconfigurable resource allocation systems, which require that control algorithm is modified online and, therefore, has low running time. In this paper we propose dynamical algorithms for determination of simple circular waits in reconfigurable systems, which are based on Johnson's algorithm, and aim at identifying only changes in the set of simple circular waits. Running time of the proposed algorithms is lower than running time of standard static methods. Algorithms are tested for a family of multi-vehicle systems and results confirm the advantages of using the dynamic algorithms.

关键词： Vehicles Heuristic algorithms Resource management Motion segmentation Algorithm design and analysis Complexity theory System recovery

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Path assignment and resource allocation control in reconfigurable multi-vehicle system

Path assignment and resource allocation control in reconfigu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular waits. Furthermore, we propose a path assignment algorithm that aims at lowering the structural complexity of the corresponding resource allocation system, while taking into account path length. Methods are tested in a simulation environment and results show their efficiency.

关键词： System recovery Vehicles Resource management Motion segmentation control systems Heuristic algorithms Superluminescent diodes

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