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检索条件"机构=Robotics Laboratory Institute of Automation and Control Processes FEB RAS Vladivostok"

共 343 条记录，以下是11-20 订阅

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Ontological Framework for Constructing Hybrid Prognoses and Risk Assessment of Critical Conditions of Patients

Ontological Framework for Constructing Hybrid Prognoses and ...

引用

2023 International Russian Smart Industry Conference, SmartIndustryCon 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)9781665464291

The paper describes a cloud-based ontological framework for designing hybrid cloud software systems and services for predicting patient conditions and assessing the risk of critical conditions and events. The proposed solution is based on integrated semantic models for the formation of knowledge, documents, hypotheses and reasoned decisions in medicine. These complexes combine several types of sources for the formation of knowledge bases and various methods and approaches to solving such problems (mathematical modeling, machine learning, and knowledge engineering). For a group of diseases or a section of medicine, knowledge bases are formed about diseases that have passed the verification procedure or that doctors are ready to trust a priori. The means of declarative description of the rules of interpretation of knowledge about the dynamics of the development of diseases and numerical values from predictive models are provided. © 2023 IEEE.

关键词： Decision support systems

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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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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...

引用

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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Method of automatic formation of the underwater manipulator motion program based on noise three-dimensional models

Method of automatic formation of the underwater manipulator ...

引用

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

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

引用

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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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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Calculation of Compositional Maps of Sea Surface Temperature from IR Measurements of US Satellites

Calculation of Compositional Maps of Sea Surface Temperature...

引用

2024 International Conference on Ocean Studies, ICOS 2024

作者： Aleksanina, Marina Dyakov, Sergey Ershova, Anastasia Far Eastern Branch The Russian Academy of Sciences Satellite Monitoring Laboratory of IACP FEB RAS Institute of Automation and Control Processes Vladivostok Russia Institute of Mathematics and Computer Technologies Far Eastern Federal University Vladivostok Russia

ISBN: (纸本)9798331532307

The work is devoted to approbation of a methodology for constructing and verifying composite maps of sea surface temperature (SST) with the preservation of thermal fronts. The equatorial part of the Northwestern Pacific Ocean region, characterized by weak temperature contrasts, significant clouds and high concentrations of water vapor, was chosen as the area for testing. Satellite and sub-satellite measurements were extracted from international databases. It is shown that the use of map provided by international databases based on a single satellite session requires additional cloud filtering. The developed composite maps are compared with their analogues. The advantage of the proposed approach is shown. A comparison of the temperatures of composite one-day maps and buoy measurements shows the accuracy of calculations within 0.6°C. The linear relationship has a slope coefficient close to one and a free term that does not exceed the accuracy of calculations. © 2024 IEEE.

关键词： Surface temperature

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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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