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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Nada E. Abbas Tamara Petrovic Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This paper presents a decentralized graph-based exploration and inspection framework for Multi-Robot systems, designed to address challenges in subterranean and largescale environments. Unlike prior works that focus solely on exploration or inspection, this framework integrates volumetric exploration, semantic inspection, and dynamic task allocation into a unified decentralized system. A key novelty of this work is the seamless integration of these modules in a multi-robot setting, allowing UAVs to autonomously coordinate their tasks without relying on centralized control. The framework employs a hierarchical graph structure, utilizing a dense local graph for immediate navigation and a sparse global graph for long-term planning and repositioning. Extensive simulations in large-scale complex-shaped environments demonstrate that the proposed approach improves the completeness of the generated maps, reduces inconsistencies in the constructed mesh, and accelerates the overall exploration-inspection process compared to existing decentralized strategies.

关键词： Semantics Inspection Prediction algorithms Dynamic scheduling Aircraft navigation Robustness Planning Multi-robot systems Resource management Centralized control

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Two approaches (GC-ECD and electrochemical sensors signals processing) to the determination of carbonyl compounds as markers of air pollution 26

Two approaches (GC-ECD and electrochemical sensors signals p...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Institute of Automatic Control and Robotics Poznan University of Technology Division of Signal Processing and Electronic Systems Poznań Poland

ISBN: (纸本)9798350304985

This article presents the application possibilities of unmanned aerial vehicles (UAVs) for the rapid and efficient determination of carbonyl compounds: formaldehyde and acetaldehyde concentrations in gaseous environmental samples. One of the described methods is the use of special electrochemical sensors (PMS5003 and SEN0231) to measure air pollution in real time (every 10 seconds). The second method involves adsorbing gas samples into sorption tubes with XAD-2 cartridges and uses chromatographic analysis: gas chromatography coupled with a selective electron capture detector (GC-ECD). The proposed analytical technique allows the determination of carbonyl compounds at low concentration levels (μg/m3) using pre-derivatization of samples with the reagent 2,3,4,5,6-pentafluorobenzyl-hydroxylamine (PFBOA). Comparing the results obtained from electrochemical sensors and chromatographic analysis, we can conclude that there are discrepancies between the determined concentrations of formaldehyde in the analyzed gas samples. © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Formaldehyde

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Cascade LTI System for Acoustic Emission Digital Signal Processing: Result Visualization via Scalogram for Defect Pattern Representation

Cascade LTI System for Acoustic Emission Digital Signal Proc...

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Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Yeldos A. Altay Alexey V. Fedorov Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation

ISBN: (数字)9798331518752

ISBN: (纸本)9798331518769

Modern acoustic emission (AE) diagnostic systems are sensitive instruments for detecting developing defects. A significant limitation of the AE method is the difficulty of isolating signals against the background of interference, which significantly reduces the signal-to-interference ratio. Therefore, in this article a cascade filtering scheme for visualizing acoustic signatures through a scalogram is proposed to isolate AE signals that characterize the process of defect formation. Acoustic portraits of the isolated signals characterizing the process of defect formation are given. It is shown that the amplitude of the AE signal from a defective structure during crack formation is characterized by the highest values of the signal amplitude and has a rich frequency-time structure, the signal shape of which is determined by discrete AE.

关键词： Linear systems Visualization Time-frequency analysis Filtering Shape Instruments Interference Digital signal processing Acoustic emission Signal to noise ratio

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Adaptive Consensus control for Linear Multi-Agent System with Unknown Sinusoidal Disturbances

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IFAC-PapersOnLine 2023年第2期56卷 1198-1203页

作者： Sokrat Aldarmini Sergey Kolyubin Alexey Vedyakov Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia

This paper deals with consensus control for a multi-agent system, where agents are represented via state-space models. It is assumed that they are subjected to sinusoidal disturbances with unknown parameters in the input channel. The connections between the agents are represented by a cycle-free graph containing a spanning tree. An adaptive distributed control algorithm is proposed, guaranteeing asymptotic convergence of the agents’ states towards consensus, provided that the agent model satisfies the controllability condition. The control algorithm consists of a distributed observer, a distributed control law, and an adaptation law. The theoretical results are proven using LaSalle's invariance principle. Finally, a simulation example is presented to demonstrate the theoretical findings.

关键词： Consensus Adaptive control of multi-agent systems Distributed control and estimation

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Optimal control for Discrete-Time systems under Bounded Disturbances

arXiv

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arXiv 2024年

作者： Dogadin, Egor Peregudin, Alexey Shirokih, Dmitriy The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly observable sets. We provide exact solutions for state-feedback control and filtering problems, aligning with existing methods while offering improved computational efficiency. Moreover, our main contribution is the optimal solution to the output-feedback control problem for discrete-time systems which was not known before. Numerical simulations demonstrate the superiority of this result over previous sub-optimal ones. © 2024, CC BY.

关键词： Discrete time control systems

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The Cutting Tool Technical State Forecasting During the Technological Production Preparation Stages

The Cutting Tool Technical State Forecasting During the Tech...

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International Ural Conference on Measurements (UralCon)

作者： T. V. Basova Y. S. Andreev Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This study deals with the addressing the issue of ensuring the operational condition of the technological system in terms of quality parameters for manufacturing products within the required timeframe by developing and implementing the method for forecasting the technical state of the cutting tool (CT). The paper highlights the importance of determining and forecasting the technical state of the CT for enterprises in the instrument-making and mechanical engineering industries. To address the research question, an operational control method for the CT, based on the multisensory data fusion obtained from technical diagnostic and control systems on a computer numerical control (CNC) machine, was proposed. The forecasting of the CT's technical state was performed using artificial intelligence (AI) methods. The proposed approach for obtaining input data for developing predictive models differs in their reliability due to minimizing erroneous results from individual technical diagnostic and control systems.

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Parameter Estimation and Indirect Adaptive control of a Dynamically Positioned Surface Vessel

Parameter Estimation and Indirect Adaptive Control of a Dyna...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Andrei Yu. Zhivitskii Dmitrii N. Zakharov Kirill A. Shabanov Oleg I. Borisov Sergei V. Shavetov Anton K. Golubev Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

In this article dynamically positioned surface vessel model is considered. To achieve precise performance of the vessel with unknown parameters two control problem was solved. First one is online parametric identification. The estimation of unknown parameters of the surface vessel model is obtained by methods, which are gradient descent method, extended Kalman filter and dynamic regressor extension and mixing (DREM). Second problem is the design of the adaptive control based on the collected results from estimators. For this purposes inverse dynamics control is considered. The convergence of the system is shown in the modeling section. DREM estimation method showed best results.

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Four Quadrant AC-DC Converter control System Prototype for AC Locomotive Traction Drive

Four Quadrant AC-DC Converter Control System Prototype for A...

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Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

作者： Nikolai Poliakov Arina Arbuzina Margarita Arkharova Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

The article deals with the control system of the Four Quadrant AC-DC Converter control System for the locomotive traction electric drive. A simulation model “transformer-four quadrant converter- direct current link-equivalent active load of locomotive traction electric drive” based on the parameters of the power subsystem has been developed. The synthesis of the control system of the active front end power stage was carried out. A control system with phase locked loop and DC link observer is proposed for described system. An algorithm for setting the reference signal of PWM with phase shift at the PWM period for simultaneous operation of several four quadrant AC-DC converters with common direct current link has been developed. A model study of the developed system and analysis of electromagnetic processes in the DC link, primary and secondary windings of the transformer were carried out. A bench prototype for debugging the control system has been developed.

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RVWO: A Robust Visual-Wheel SLAM System for Mobile Robots in Dynamic Environments

RVWO: A Robust Visual-Wheel SLAM System for Mobile Robots in...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Jaafar Mahmoud Andrey Penkovskiy Ha The Long Vuong Aleksey Burkov Sergey Kolyubin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This paper presents RVWO, a system designed to provide robust localization and mapping for wheeled mobile robots in challenging scenarios. The proposed approach leverages a probabilistic framework that incorporates semantic prior information about landmarks and visual re-projection error to create a landmark reliability model, which acts as an adaptive kernel for the visual residuals in optimization. Additionally, we fuse visual residuals with wheel odometry measurements, taking advantage of the planar motion assumption. The RVWO system is designed to be robust against wrong data association due to moving objects, poor visual texture, bad illumination, and wheel slippage. Evaluation results demonstrate that the proposed system shows competitive results in dynamic environments and outperforms existing approaches on both public benchmarks and our custom hardware setup. We also provide the code as an open-source contribution to the robotics community 2 2 https://***/be2rlab/rvwo.

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Determination of the Finishing Operation Technological Features of an Aircraft Sensor Using The Industrial Internet of Things Tools

Determination of the Finishing Operation Technological Featu...

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Semyon Yudin Alexey Mikhailov Sergey Tretyakov Faculty of Control Systems and Robotics ITMO University Saint-Peterburg Russian Federation

A study of the plane-parallel surfaces finishing process of high-precision parts was carried out. The architecture of the IIoT environment based on the Winnum Platform for a double-acting flat-finishing machine has been developed. The requirements for surface roughness and the tolerance of flatness and parallelism are considered, and the reasons for their magnitude are determined. The analysis of studies on technological issues of manufacturing aircraft vibration sensors has been carried out. The types of technological finishing operation are considered, as well as the process of machine finishing of flat parallel surfaces for a double-acting flat-finishing machine is described. The kinematics of the finishing operation is considered. The need for the development of recommendations for determining the rational technological modes of finishing is revealed.

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