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1st IEEE International Conference on Industrial Cyber-Physical systems, ICPS 2018

作者： Borisov, Oleg I. Gromov, Vladislav S. Kolyubin, Sergey A. Pyrkin, Anton A. Dema, Nikolay Y. Salikhov, Vladimir I. Petranevsky, Igor V. Klyunin, Alexey O. Shavetov, Sergey V. Bobtsov, Alexey A. Faculty of Control Systems and Industrial Robotics ITMO University St. Petersbur Russia

ISBN: (纸本)9781538665312

This paper focuses on the design of an industrial cyber-physical system for workpieces production and processing using three articulated robots (Mitsubishi MELFA RV-3SDB, KUKA youBot and Kawasaki FS06N). These equipment is integrated within the control software center based on MATLAB. The main goal is to design unified system comprised of heterogeneous technical systems. The control strategy has three levels structure (orchestration, tactic and local levels). A range of issues addressed within the study covers spatial movements planning for articulated robots, navigation, computer vision, force control, sensory system. © 2018 IEEE.

关键词： MATLAB

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Parameter Estimation of Quadrotor Model

Parameter Estimation of Quadrotor Model

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Kakanov, Mikhail A. Tomashevich, Stanislav I. Gromov, Vladislav S. Borisov, Oleg I. Gromova, Fatimat B. Pyrkin, Anton A. Itmo University Faculty of Control Systems and Robotics St. Petersburg197101 Russia

ISBN: (纸本)9781728187631

This article is devoted to the estimation of unknown parameters of the quadrotor dynamic model. The linear regression model of the quadrotor was obtained. To estimate the unknown parameters of the regression model, the gradient approach and its modifications, such as the advanced Kalman filter, and dynamic regressor extension and mixing (DREM) methods were applied. The effectiveness of the proposed methods was confirmed by simulation. The results showed the benefits of the DREM algorithm, in particular, concerning the convergence rate. © 2020 IEEE.

关键词： Parameter estimation

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Computation of optical waveguide interaction for quantum gates implementation 8

Computation of optical waveguide interaction for quantum gat...

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8th International School and Conference "Saint Petersburg OPEN 2021" on Optoelectronics, Photonics, Engineering and Nanostructures, SPbOPEN 2021

作者： Lytaev, A.A. Popov, I.Y. Faculty of Control Systems and Robotics ITMO University St. Petersburg197101 Russia

The system of two coupled optical dual-mode waveguides is considered. The coupling of the system is studied to find a circuit for building a control switch for two qubit gates. The classical coupled mode theory is applied and the exact expressions for coupling coefficients are derived. The parameters of the system for performing the desired operations are numerically computed and analysed. The system describing the influence of intermodal interactions is solved numerically. The distortions are analysed. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Computation theory

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Analysis of the limiting behavior of a biological neurons system with delay 8

Analysis of the limiting behavior of a biological neurons sy...

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8th International School and Conference "Saint Petersburg OPEN 2021" on Optoelectronics, Photonics, Engineering and Nanostructures, SPbOPEN 2021

作者： Fedorov, E.G. Popov, I.Y. Faculty of Control Systems and Robotics ITMO University St. Petersburg197101 Russia

In this work an analytical and numerical analysis of the limiting behaviors of a system consisting of a pair of biological neurons was carried out. In this case connection between neurons will occur with a delay. As a neuron model, the FitzHugh-Nagumo model was chosen as a model that can reproduce many dynamic behaviors of a real neuron and, at the same time, is not very complex computationally. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Neurons

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The electron transmission properties in a non-planar system of two chained rings 8

The electron transmission properties in a non-planar system ...

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8th International School and Conference "Saint Petersburg OPEN 2021" on Optoelectronics, Photonics, Engineering and Nanostructures, SPbOPEN 2021

作者： Smolkina, M.O. Popov, I.Y. Bagmutov, A.S. Blinova, I.V. Faculty of Control Systems and Robotics ITMO University St. Petersburg197101 Russia

The electron transmission properties in a model of two chained orthogonal quantum rings with input and output wires were investigated by using the quantum graph theory and quantum waveguide theory. The model was obtained for three-dimensional space. It also was shown that changing of the orientation of second ring in the respect to the field is a way to control the electron transmission and reflection. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Transmissions

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Adaptive Regulation 1

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丛书名： Lecture Notes in control and Information Sciences

1000年

作者： Vladimir Nikiforov Dmitry Gerasimov

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic systems

Decentralized Energy Sharing Protocol using TÆMS Framework ...

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作者： Arbanas, Barbara Boljuncic, Sara Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： Energy management systems

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Influence of power supply on airport navigation lamps photometric test accuracy 26

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

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

作者： Podbucki, Kacper Suder, Jakub Marciniak, Tomasz Darowski, Adam Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

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 I2C 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. © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Lighting

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Fast Prototyping of In-Pavement Airport Navigation Lamp Prism Classification 26

Fast Prototyping of In-Pavement Airport Navigation Lamp Pris...

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

作者： Suder, Jakub Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

The paper presents an analysis of fast selection of neural network for the purpose of visual analysis of mechanical wear on prism lenses of in-pavement airport navigational lighting systems. This issue is particularly important in terms of aviation safety and navigational lighting control, regulated by EASA and ICAO. The article is the next stage of the development of the system for the vision control of lamps, in which the concept of using a different neural network with an increased data set prepared by the authors is presented. The Deep Network Designer tool included in the Matlab 2022b environment was used. The solution using the GoogLeNet neural network allows for the classification of lamps with an accuracy of 88.37%. © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Airports

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Autonomous docking and energy sharing between two types of robotic agents

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IFAC-PapersOnLine 2018年第29期51卷 406-411页

作者： Babi, Anja Mandi, Filip Vasiljevi, Goran Mikovi, Nikola Faculty of Electrical Engineering and Computing LABUST Laboratory for Underwater Systems and Technologies University of Zagreb Unska 3 Zagreb Croatia Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Unska 3 Zagreb Croatia

In order to achieve long-term autonomy after deployment, a method of energy sharing within a heterogeneous swarm of marine robots was devised and implemented. This paper describes hardware and software solutions as well as guidance and control algorithms developed with the goal of allowing powerful energy-rich overactuated surface platforms to approach, dock, and wirelessly recharge less mobile sensor-rich agents upon request using visual servoing. The basic image processing algorithm uses data acquired by the Microsoft Kinect sensor alternating between RGB and infra-red camera modes, depending on lighting conditions. The full search and docking procedure developed for long-term operation is described. The results of a series of experiments done both in an indoor testbed and in realistic outdoor conditions are discussed and some goals for future work are given. © 2018

关键词： Autonomous agents

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