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检索条件"机构=Laboratory of Robotic Systems Institute of Automation and Control Processes FEB RAS"

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

Experimental comparison of imaging photoplethysmography and ...

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2024 International Conference Laser Optics, ICLO 2024

作者： Kamshilin, Alexei A. Institute of Automation and Control Processes Feb Ras Laboratory 24 Vladivostok Russia

ISBN: (纸本)9798350390674

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. © 2024 IEEE.

关键词： Photoplethysmography

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Formation, Phonon Structure, Transport and Thermoelectric Properties of Multilayer Heterostructures Si/NC β-FeSi2/Si/ NC β-FeSi2/.../Si(111) and Si/NC α-FeSi2/Si/ NC α-FeSi2/.../Si(111)

Formation, Phonon Structure, Transport and Thermoelectric Pr...

引用

2024 International Conference on Electrical Engineering and Photonics, EExPolytech 2024

作者： Galkin, Konstantin N. Kropachev, Oleg V. Goroshko, Olga A. Subbotin, Evgenii. Yu. Chernev, Igor M. Khoroshilov, Dmitrii A. Goroshko, Dmitrii L. Galkin, Nikolay G. Institute of Automation and Control Processes of Feb Ras Optics and Electrophysics Laboratory Vladivostok Russia

ISBN: (纸本)9798350388879

Multilayer (4 and 8 layers) samples with embedded β-FeSi2 and α-FeSi2 nanocrystals (NCs) on silicon-on-insulator (SOI) substrates with (100) orientation and p-type conductivity have been grown. It has been established from Raman data that β-FeSi2 NCs are formed with small portions of iron (0.5 nm) deposited at room temperature and annealed at T = 630°C with subsequent overgrowing with silicon, and α-FeSi2 NCs are formed after short-term annealing at T = 1000°C and overgrowing with silicon. The effect of doping of intermediate silicon layers on the conductivity and Seebeck coefficient in multilayers (4 and 8) in the temperature range of 80-450 K was studied. It was shown that with maximum doping of intermediate layers (1019 cm-3) with the number of layers equal to 8, the maximum Seebeck coefficient 600 μV/K and the maximum power factor 2.5 mW/(m×K2) were observed at T= 450 K, which is due to the contribution of injected holes from β-FeSi2 nanocrystals. © 2024 IEEE.

关键词： Silicon on insulator technology

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Comparison of Structure, Transport Properties and Thermoelectric Power Efficiency of Thin CrSi and CoSi Films on Si(111) and Si(100) Substrates

Comparison of Structure, Transport Properties and Thermoelec...

引用

2024 International Conference on Electrical Engineering and Photonics, EExPolytech 2024

作者： Goroshko, Dmitrii L. Galkin, Konstantin N. Subbotin, Evgenii. Yu. Goroshko, Olga A. Balagan, Semen A. Maslov, Andrey M. Chernev, Igor M. Kropachev, Oleg V. Khoroshilov, Dmitrii A. Dotsenko, Sergei A. Galkin, Nikolay G. Institute of Automation and Control Processes of Feb Ras Optics and Electrophysics Laboratory Vladivostok Russia

ISBN: (纸本)9798350388879

The paper compares the formation conditions, crystal structure, conductivity, and thermoelectric properties of thin CrSi and CoSi films on silicon substrates with (111) and (100) orientations. It is found that, despite the insufficiently good conductivity, the films have a noticeable Seebeck coefficient (up to 70 μV/K) in the temperature range of 200-450 K: positive for CrSi and negative for CoSi. The maximum power factor is estimated at 2 to 3 mW/(m2×K). For CoSi, first-principles calculations of the phonon structure and lattice thermal conductivity are performed, including in the form of nanowires. Estimates are made for the achievable dimensionless thermoelectric figure of merit of CoSi thin films: ZT=0.40-0.50 T=200-450 K. © 2024 IEEE.

关键词： Crystal orientation

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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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Development of a Method for Generating Extremely High Reference Motion Speeds of Mechatronic Objects Moving Alone or in a Group

Development of a Method for Generating Extremely High Refere...

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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

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

ISBN: (纸本)9798350395044

The paper presents the results of developing a method for generating reference control signals that describe the desired law of movement of various mechatronic objects (unmanned aerial vehicles, mobile land and underwater robots, etc.) along smooth trajectories specified by parametric splines. In order to maintain high dynamic accuracy of control of these mechatronic objects, including when solving group control problems, it is proposed to adjust their reference movement speed, taking into account the specified restrictions on the developed accelerations. Taking into account these restrictions is necessary to reduce the reference speed in sections of the trajectory with increased curvature. To implement the proposed approach, a method was developed and a system was synthesized, the performance of which was confirmed by the results of numerical simulation. The presented system is designed to operate in conditions where the reference trajectory of a mechatronic object is unknown in advance and is formed (or adjusted) directly during the mission without the possibility of preliminary calculations. Also, this system does not require complex calculations and can be implemented on the basis of low-power on-board computers. © 2024 IEEE.

关键词： Motion planning

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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...

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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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An Alternative control Structure for the Naphtha Distillation Plant Based on Multivariable Model Predictive control 5

An Alternative Control Structure for the Naphtha Distillatio...

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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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Comparison Study of Different Types of Setting Reference Movements for Mechatronic Objects by Parametric Splines

Comparison Study of Different Types of Setting Reference Mov...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes Feb Ras Sevastopol State University Robotics Laboratory Sevastopol Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Robotic Systems Vladivostok Russia

ISBN: (纸本)9781665473729

The paper presents a comparative study of various ways of specifying program movements for mechatronic objects (MO) along complex spatial trajectories defined by parametric Bezier splines, B-splines and third-order Catmull-Rom splines. An expression is obtained to describe the dependence of the rate of change of the parameter setting the desired position of the MO with the program speed of its movement, taking into account information about the type of trajectory. As a result, using this expression, which is universal for all the specified parametric splines of the third order, it is ensured that the MO moves along the trajectory exactly at a given speed while simultaneously changing its orientation as desired. The application of the methods considered in this paper does not require complex iterative calculations and allows one to perform all the necessary calculations in real time, even on low-power on-board computers of various robots and robotic complexes. Numerical modeling was carried out to analyze the features of the use of these splines in solving practical problems. © 2022 IEEE.

关键词： Trajectories

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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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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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