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22th Annual Conference Towards Autonomous Robotic systems, TAROS 2021

作者： Haggart, Rory Aitken, Jonathan M. Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783030891763

Simultaneous localisation and mapping (SLAM) relies on low-cost on-board sensors such as cameras and inertial measurement units. It is crucial that the surroundings are visible to the cameras to maximise the accuracy of the system. An estimation strategy is proposed to augment ORB-SLAM2 that considers feature extraction capability, distribution of the extracted features in the image frame, and the ability of the algorithm to track features over time. The method is tested on challenging datasets, and the output is evaluated against different visibility conditions. The proposed method is shown to react appropriately and consistently to ‘less visible’ conditions such as fog, sunlight, and rapid motion in real time, with minimal computational load. © 2021, Springer Nature Switzerland AG.

关键词： Cameras

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A Minimalist Solution to the Multi-robot Barrier Coverage Problem 22nd

A Minimalist Solution to the Multi-robot Barrier Coverage Pr...

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22th Annual Conference Towards Autonomous Robotic systems, TAROS 2021

作者： Green, Thomas Kamel, Kevin Li, Siyuan Shinn, Christopher Toscano, Paolo Wang, Xintong Ye, Yuchen Groß, Roderich Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783030891763

This paper addresses the multi-robot barrier coverage problem. It presents a group of memory-less robots that encircle a group of herd agents, by moving along a polygonal barrier. The results, produced from simulations in CoppeliaSim, demonstrate high retention of herd agents, and robust performance across a range of simulated scenarios. © 2021, Springer Nature Switzerland AG.

关键词： Multipurpose robots

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Experimental Research of Modes of Operation of Local Autonomous Sources of Energy Supply with Induction Generator 4

Experimental Research of Modes of Operation of Local Autonom...

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4th IEEE International Conference on Modern Electrical and Energy System, MEES 2022

作者： Zachepa, Iurii Zachepa, Nataliia Khrebtova, Oksana Kobiliansky, Boris Turaev, Ilya Kremenchuk Mykhailo Ostrohradskyi National University Department of Systems of Automatic Control and Electric Drive Kremenchuk Ukraine Ukrainian Engineering Pedagogics Academy Department of Electromechanical and Computer Systems Kharkov Ukraine

ISBN: (纸本)9798350346831

The paper presents the results of experimental studies of autonomous power supply sources formed according to the 'internal combustion engine-induction generator' scheme. Autonomous local sources of energy supply according to this scheme are formed from existing electromechanical and electrotechnical equipment of other functional purposes only for the period of electricity demand. Such sources of electricity are universal for welding and other technological equipment of military and civil, including agricultural, machinery. According to the results, the viability of the proposed concept of creating autonomous power supply sources based on motor vehicles and electrical equipment has been proven. The limits of guaranteed excitation and subsequent trouble-free operation of autonomous local sources of power supply with power to consumers of various categories have been established. © 2022 IEEE.

关键词： Electric loads

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Adaptability analysis on the measurement device of UACV special machinery unlocking force

Adaptability analysis on the measurement device of UACV spec...

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2023 International Conference on Mechatronic engineering and Artificial Intelligence, MEAI 2023

作者： Yang, Mo Cai, Zizhuo Lin, Jing Li, Jiahao Ren, Haiyue Liu, Qiang School of Mechanical Engineering Nanjing University of Science and Technology 200 Xiaolingwei Street Nanjing210094 China Department of Automatic Control Systems Bauman Moscow State Technical University ul. Baumanskaya 2-ya 5/1 Moscow105005 Russia

ISBN: (纸本)9781510674608

During the unlocking process of the rotating-bolt locking special machinery head, there is a significant resistance. The aim is to select a motor for unmanned aerial combat vehicle (UACV) mounted external power special machinery drives, taking the special machinery unlocking force as the research subject. Adaptive analysis is conducted on the patented structure of the special machinery unlocking force measurement device previously designed. A virtual prototype model is established using the dynamic simulation software ADAMS to apply driving, constraints, and simulation parameters based on the model's principles. Addressing the phenomenon of the detachment of the guide rod slider from the tested bolt carrier during the operation of the special machinery unlocking force measurement device, it is hypothesized that the detachment time is related to the stiffness of the spring and the velocity of the lead screw slider. Through multiple comparative simulations, the correctness of the hypothesis is proven. It is demonstrated that increasing the velocity of the lead screw slider can completely eliminate the detachment time, whereas increasing the stiffness of the spring, although reducing the detachment time, still results in secondary detachment. Consequently, the conclusion is drawn that increasing the velocity of the lead screw slider is the way to resolve the detachment issue of the guide rod slider from the tested bolt carrier in the experiment. © 2024 SPIE.

关键词： Unmanned aerial vehicles (UAV)

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Research on the measurement device of UAV firearm unlocking force 4

Research on the measurement device of UAV firearm unlocking ...

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4th International Conference on Mechanical engineering, Intelligent Manufacturing, and Automation Technology, MEMAT 2023

作者： Yang, Mo Lin, Jing Li, Jiahao Cai, Zizhuo Ren, Haiyue Liu, Qiang School of Mechanical Engineering Nanjing University of Science and Technology 200 Xiaolingwei Street Nanjing210094 China Department of Automatic Control Systems Bauman Moscow State Technical University ul. Baumanskaya 2-ya 5/1 Moscow105005 Russia

ISBN: (纸本)9781510674820

In the current firearms dynamics research, the majority of studies focus on the extraction resistance and subsequent recoil forces, with relatively fewer studies on the unlocking force. This study focuses on the measurement of firearm unlocking force by analyzing the previously designed measurement device. By employing theoretical and dynamic simulation analyses, the variations of unlocking force over time were determined. A comparison of two sets of curves showed a high degree of coincidence, indicating the feasibility of the device in principle. Subsequently, to verify the accuracy of the measurements obtained by the device, a specific firearm was studied through simulation and experimental analysis, demonstrating the precision of the device's measurements. This structural device not only can be effectively used for measuring firearm unlocking force but also provides a new approach for experimental research on this force in firearms. © 2024 SPIE.

关键词： Unmanned aerial vehicles (UAV)

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Analysis of the Findings of the Study of the Time to Saturation of Current Transformer Magnetic Circuits Located at Electric Power Facilities

Analysis of the Findings of the Study of the Time to Saturat...

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International Ural Conference on Measurements (UralCon)

作者： Andrey Yablokov Anton Panashchatenko Department of Electric Power Systems Automatic Control Ivanovo State Power Engineering University “ISPU” Ivanovo Russian Federation

ISBN: (数字)9798350386028

ISBN: (纸本)9798350386035

Emergencies associated with incorrect operation of relay protection and automation (RPA) devices due to saturation of current transformers (CTs) can lead to great economic damage. The article presents an analysis of regulatory and technical documentation containing requirements for the quality of CT functioning in transient modes, statistical data on the results of calculations performed in accordance with the requirements of GOST R 58869–2019, as well as an analysis of the correctness of the assumptions introduced by it. To calculate the time to CTs saturation a special program was developed that automates the calculation methods, taking into account the assumptions focused on performing the manual calculations. The program takes into account the variation of the short circuit switching angle, the phase difference of the short circuit currents flowing through the branches feeding the short circuit point, the calculation of all CTs of a three-phase group with automatic selection of the worst result. The results obtained allow us to conclude about the relative number of CTs that do not meet the requirements of GOST R 58869–2019, the need to modernize existing methods and possible directions for such modernization. In addition, the article provides recommendations on the creation of automatic specialized software systems that can be used in the work of design, operating and research entities when they calculate the time to saturation of the CT magnetic circuits.

关键词： Current transformers Short-circuit currents Protective relaying Time measurement Power grids Circuit faults Transient analysis Protection Magnetic circuits Fault currents

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Pixel-based Hole Quality Evaluation in Robot Drilling Manufacturing Process 22

Pixel-based Hole Quality Evaluation in Robot Drilling Manufa...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Niu, Chaoyue Chen, Bin Smith, Erica Bramley, Robert Crawforth, Pete Mahfouf, Mahdi Kadirkamanathan, Visakan The Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom The Advanced Manufacturing Research Centre with Boeing University of Sheffield RotherhamS60 5TZ United Kingdom

ISBN: (纸本)9798331527471

Aircraft assembly entails drilling numerous holes, often in multi-material stacks, then joining parts with fasteners fitted through the holes. There are stringent quality requirements on the holes, and assessment of hole quality is crucial to ensuring the integrity of the joints. Carbon fibre reinforced polymer (CFRP) is a commonly used material in aircraft structures due to its desirable properties. However, it is susceptible to defects not associated with metals, such as delamination and uncut fibres. While there have been multiple metrics for assessment of these defects proposed in literature, relatively few attempts to consolidate them have been seen. Furthermore, common measurement methods used for assessing these defects (e.g. 3D-microscopy) are well established, but can be time-consuming;manual interrogation of raw inspection data can also be highly subjective. To address these challenges, this paper proposes a set of combined metrics along with an automatic image processing framework for fast assessment of delamination and uncut fibre defects. The combined metric for the delamination region is aggregated from across six factors and uncut fibre uniform metrics from across five factors. The image processing framework receives grayscale images as inputs, taken from an optical coordinate measuring machine, and outputs the combined metrics along with eleven separate metrics. Experimental results, using a preexisting dataset from twenty-four holes on two workpieces from a real robotic drilling operation, are given to demonstrate the effectiveness of the proposed combined metrics and the corresponding image processing framework. © 2024 IEEE.

关键词： Carbon fiber reinforced plastics

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Modeling and Simulation of Pollution Removal Efficiency in Activated Sludge Wastewater Treatment Processes

Modeling and Simulation of Pollution Removal Efficiency in A...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Sameh Chattaoui Raja Jarray Soufiene Bouallègue Research Laboratory in Automatic Control (LARA) National Engineering School of Tunis National Higher Engineering School of Tunis Tunis Tunisia Research Laboratory in Automatic Control (LARA) National Engineering School of Tunis High Institute of Industrial Systems of Gabès Gabès Tunisia

ISBN: (数字)9798331542726

ISBN: (纸本)9798331542733

Water pollution is a growing challenge for the environment and ecosystems, necessitating management of Wastewater Treatment Plants (WWTPs). Modeling the dynamical behaviors of these complex systems significantly affects the control and prediction performance. This study compares the performance of three widely used Activated Sludge Models (ASM1, ASM2, and ASM3) in removing key pollutants, mainly including Chemical Oxygen Demand (COD), Biochemical Oxygen Demand (BOD5), Total Suspended Solids (TSS), Total Nitrogen (TN), and Hydrogen potential (pH). Each model of the activated sludge process incorporates unique representation of biological and chemical processes like nitrification, denitrification, and phosphorus removal. The results demonstrate significant differences in the models' stability, sensitivity, and effectiveness under varied operational conditions. The ASM3 benchmark consistently performs well in extreme scenarios, ASM1 shows strong stability, and ASM2 balances efficiency and reliability. These findings provide actionable insights for optimizing WWTP's operations, guiding model selection based on specific treatment objectives.

关键词： Analytical models Oxygen Sensitivity Purification Biological system modeling Predictive models Stability analysis Wastewater treatment Sludge treatment Context modeling

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Influence of power supply on airport navigation lamps photometric test accuracy

Influence of power supply on airport navigation lamps photom...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Kacper Podbucki Jakub Suder Tomasz Marciniak Adam Dąrowski Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznan University of Technology Poznań Poland

The paper presents research on the accuracy of measuring illuminance and chromaticity of airport lamps. The impact of the type of DC and AC power supply on measurement was assessed with the use of electronic sensors. BH1750 and BH1745 type sensors in a microprocessor system with an I 2 C interface were used for the measurements. A professional luxmeter was used for comparison purposes. Experimental tests were carried out under laboratory conditions for three types of halogen lamps: approach system lamps, runway centerline lamps, and touchdown zone lamps.

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A Regularized LSTM Method for Predicting Remaining Useful Life of Rolling Bearings

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International Journal of Automation and computing 2021年第4期18卷 581-593页

作者： Zhao-Hua Liu Xu-Dong Meng Hua-Liang Wei Liang Chen Bi-Liang Lu Zhen-Heng Wang Lei Chen School of Information and Electrical Engineering Hunan University of Science and TechnologyXiangtan 411201China Department of Automatic Control and Systems Engineering University of SheffieldSheffield SI 3JDUK

Rotating machinery is important to industrial production. Any failure of rotating machinery, especially the failure of rolling bearings, can lead to equipment shutdown and even more serious incidents. Therefore, accurate residual life prediction plays a crucial role in guaranteeing machine operation safety and reliability and reducing maintenance cost. In order to increase the forecasting precision of the remaining useful life(RUL) of the rolling bearing, an advanced approach combining elastic net with long short-time memory network(LSTM) is proposed, and the new approach is referred to as E-LSTM. The E-LSTM algorithm consists of an elastic mesh and LSTM, taking temporal-spatial correlation into consideration to forecast the RUL through the LSTM. To solve the over-fitting problem of the LSTM neural network during the training process, the elastic net based regularization term is introduced to the LSTM *** this way, the change of the output can be well characterized to express the bearing degradation mode. Experimental results from the real-world data demonstrate that the proposed E-LSTM method can obtain higher stability and relevant values that are useful for the RUL forecasting of bearing. Furthermore, these results also indicate that E-LSTM can achieve better performance.

关键词： Deep learning fault diagnosis fault prognosis long and short time memory network(LSTM) rolling bearing rotating machinery regularization remaining useful life prediction(RUL) recurrent neural network(RNN)

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