Bulat Abbyasov, Alexandra Dobrokvashina, Roman Lavrenov, E. Kharisova, T. Tsoy, Liliya Gavrilova, S. Bulatov, E. Maslak, N. Schiefermeier-Mach, E. Magid
{"title":"Ultrasound sensor modeling in Gazebo simulator for diagnostics of abdomen pathologies","authors":"Bulat Abbyasov, Alexandra Dobrokvashina, Roman Lavrenov, E. Kharisova, T. Tsoy, Liliya Gavrilova, S. Bulatov, E. Maslak, N. Schiefermeier-Mach, E. Magid","doi":"10.1109/SIBCON50419.2021.9438910","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438910","url":null,"abstract":"Ultrasound imaging is a widely used technique in medicine. It is a non-invasive medical procedure that uses sound waves to produce pictures of the inside of the human body. Ultrasound helps to diagnose conditions of soft tissues and detecting a wide range of medical diseases and pathologies. This paper presents a 3D model and a Gazebo plugin of a medical ultrasound sensor that performs ultrasound imaging of an abdomen surface. The ultrasound device is represented as an end-effector for a KUKA IIWA LBR manipulator model but can also be used for other manipulator models. We introduce an implementation of a complex abdomen 3D model that consists of fat, muscle, and intestine tissue layers. Each tissue has its unique parameters used by the Gazebo medical ultrasound plugin. The developed ultrasound sensor was successfully tested in the Gazebo simulator and was able to provide visualizing a structure of the abdomen internals for further diagnostics.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115448789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Expanding the Field of Synchronized Phasor Measurements Application in Power Systems","authors":"A. Mokeev, S. Piskunov","doi":"10.1109/SIBCON50419.2021.9438862","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438862","url":null,"abstract":"Expansion of synchronized measurement application due to the use of equivalent synchrophasors and higher harmonic synchrophasors is considered. The use of equivalent synchrophasors will significantly increase the number of power system mode calculated parameters. The application of equivalent synchrophasors will increase the controllability and reliability of the power system. Before calculating the equivalent current and voltage synchrophasors in IEDs, it is necessary to first determine the current and voltage values, active and reactive power. Various algorithms of reactive power measurements are considered. The disadvantages of using the Hilbert transform to calculate reactive power in the presence of higher harmonics are indicated. More efficient algorithms for measuring reactive and apparent power are proposed. Algorithms for the equivalent synchrophasors formation have been developed, which make it possible to calculate reactive power in various ways: as the sum of reactive harmonic powers, based on the apparent and active power, by the fundamental harmonic, etc. Using equivalent synchrophasors will allow calculating symmetric components of currents, voltages, powers taking into account higher harmonics. Higher harmonic synchrophasors can be used to restore the secondary current of the measuring transformer due to its nonlinear distortions caused by the core saturation. Secondary current restoration is performed based on the previously obtained relationship between the saturation degree of the current measuring transformer and higher harmonic synchrophasor values. The simulation results of secondary current restoration using the virtual Simulink model are given. The simulation results confirmed the effectiveness of the proposed algorithm and its potential for use in differential protection devices of transformers, motors, power lines, etc. The proposed approach can be used in other technology fields for the restoration of sinusoidal and modulated signals at nonlinear distortions.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114956051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Assessment of Map Construction in vSLAM","authors":"A. Bokovoy, K. Muraviev","doi":"10.1109/SIBCON50419.2021.9438884","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438884","url":null,"abstract":"Vision-based Simultaneous Localization and Mapping (vSLAM) is a challenging task in modern computer vision. vSLAM is particularly important as mobile robotics application. It allows to localize the robot and build the map of unknown environment in 3D in real-time. During research and development of new methods, it needs extensive evaluation on trajectory and map quality compared to known methods. In this work we focus on map quality estimation. We develop the simulated ground-truth data in photo-realistic environment and introduce new metrics in order to estimate map quality. We evaluate neural network based vSLAM methods with our framework in order to show that it fits map quality estimation more than standard approaches. Open-source implementation of our map metrics is available at https://github.com/CnnDepth/slam_comparison","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114258617","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Substantiation of Methods and Development of an Algorithm for Neural Network Estimation of Object Classification Parameters in Aerial Imagery","authors":"V. T. Nguyen, F. Pashchenko","doi":"10.1109/SIBCON50419.2021.9438851","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438851","url":null,"abstract":"The final decision on the nomenclature of the input parameters of the neural network is made as a result of rather lengthy comparative experiments. To reduce the number of these experiments, it is advisable to determine the importance of each of the possible parameters of computer vision. Since modern formalized methods for assessing the importance of the classification parameters of objects in aerial imagery do not meet the accuracy requirements, it was decided to use expert estimation to form the convolution parameters. It is proposed to use the method of paired comparisons, which is explained by its proven efficiency in cases of a large number of test objects, with which the parameters of object classification in aerial images are associated. In this case, the input data of the model is a vector, the elements of which will be matrices of expert assessments of the significance of computer vision parameters. As a result, a model of the processes of integration of object classification parameters on aerial imagery used to recognize unidentified objects and previously classified objects has been developed. The developed model is used to determine the parameters of computer vision, which can be used in neural network tools for optimizing scanners for processing airborne data based on the automation of an expert assessment of current parameters.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114546764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"The optimal excitation voltage for spherical slotted antenna coated by two layers of dielectric material and plasma","authors":"O. Dautov, M. S. Al-abadi","doi":"10.1109/SIBCON50419.2021.9438871","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438871","url":null,"abstract":"the optimal excitation voltage for spherical slotted antenna coated by two layers of dielectric material and plasma was analyzed numerically in this paper. By utilizing the Integra-functional equations method, the effect of excitation voltage across the slot on the radiation pattern are analyzed here by MATHCAD. Adjust the excitation voltage on a certain value can helps improve the radiation pattern for antenna and for more efficiency, the value of excitation voltage across the slot should be less than the value of electrical permittivity for plasma layer.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124614335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Implementation of Audio Recognition System for Unmanned Aerial Vehicles","authors":"Edgar R. Solis, D. Shashev, S. Shidlovskiy","doi":"10.1109/SIBCON50419.2021.9438906","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438906","url":null,"abstract":"It is important to establish protocols for dealing with suspicious Unmanned Aerial Vehicles (UAVs). To do this, it is necessary to develop efficient UAV recognition systems. This paper describes the process of planning and implementing a drone recognition system that focuses on the audio signals generated by UAVs. To do this, a small UAV audio data set was created, using Mel Frequency Cepstral Coefficients as the audio feature analyzed by both a Support Vector Machine model (SVM) and a Convolutional Neural Network (CNN) to create a system able of recognizing the audio generated by UAVs. The resulting system was evaluated and compared, and based on the results, the SVM models was chosen to implement the audio recognition system. Further advantages and disadvantages of UAV audio signal recognition systems, as well as recommendations for their implementation were noticed during this research.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129655312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Physically-based comments to the operating stability for pulse control","authors":"Y. Kolokolov, A. Monovskaya","doi":"10.1109/SIBCON50419.2021.9438927","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438927","url":null,"abstract":"The paper considers interesting nuances connected with interpretations of the operating stability for pulse modes. The consideration begins from the small-signal position typical for engineering to estimate the operating limits of a permissible parametric volume. Next, classical and modified bifurcation diagrams are involved to show model-based bifurcation boundaries of the operating process and physically-based thresholds of stability degradation. Next, regularities and uncertainties of the dynamics evolution revealed in the parametrical space are translated into the phase space to establish bilateral phase-parametric relations. Thus a general picture of natural potentialities and unavoidable restrictions of the considered pulse control becomes apparent. Such picture demonstrates variants how it could be possible to avoid some paradoxical conclusions concerning the stability. The presented results seem to be applicable to the control of physical processes in dynamics of systems with variable structures.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126696046","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
D. Masaev, M. Talanov, Evgeniy Zykov, A. Suleimanova, Alexander S. Toschev, V. Erokhin
{"title":"Design and implementation of memristive neuron leakage integrator, and learning feedback","authors":"D. Masaev, M. Talanov, Evgeniy Zykov, A. Suleimanova, Alexander S. Toschev, V. Erokhin","doi":"10.1109/SIBCON50419.2021.9438877","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438877","url":null,"abstract":"In this paper we present results of the simulation and physical implementation of eSTDP and iSTDP learning functions for memristive devices, bio-plausible neurons, and soma leakage integrator. The implementation of the STDP is implemented as memristive neuron schematic with excitatory, and inhibitory inputs. Wiring schematic for all cases as well as the simulatory experiments results are implemented in LTSpice simulator. The physical implementation is done via analog op-amps resistors and capacitors.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121684063","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Glushchenko Anton, Petrov Vladislav, Lastochkin Konstantin
{"title":"Stability Assessment of Direct Neural Control Scheme with Reference Model using Online and Offline Training","authors":"Glushchenko Anton, Petrov Vladislav, Lastochkin Konstantin","doi":"10.1109/SIBCON50419.2021.9438914","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438914","url":null,"abstract":"A scheme of direct neural network based control with a reference model is considered. The analysis of the neural controller sustainability is made with the help of the Lyapunov second method theorems in case of its offline and online training using the backpropagation method. For offline training, it is shown that such process is stable. But the occurrence of situations, which are not included in the training set, leads to the deterioration of the control quality. This problem can be solved using online training. However, for such a case, it is proved that the boundedness of all neural controller signals and, consequently, the closed loop neuro-control system (i.e. stability) is not guaranteed. The absolute values of the weights and biases of the neural network (controller) can become infinite. The dead zones and various modifications of training equations, e.g. the regularization, can be applied to overcome this problem. But a more correct approach is the derivation of formulas of the neural network online training, which would initially guarantee the stability of the closed control loop. This is the aim of further research.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130143336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Determining Distance to an Object and Type of its Material Based on Data of Capacitive Sensor Signal and Machine Learning Techniques","authors":"Polina Kozyr, A. Saveliev, Lev Kuznetsov","doi":"10.1109/SIBCON50419.2021.9438932","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438932","url":null,"abstract":"Capacitive proximity sensors allow detecting the presence of nearby objects without any physical contact with them, as well as in poor visibility conditions in the presence of dust or smoke. Tactile sensors in robotic devices provide additional information about the environment to the robot control system, and particularly serve as a feedback element for an object gripping system or a robot's coordination and gait system. In this work, tactile sensors were used to determine the distance from the object to the sensor and to recognize the type of object material. An array of capacitive sensors of four cells was used. We tested the effectiveness of seven machine learning methods (support vector machine (SVM), decision tree, naive Bayesian classifier (NBC), random forest, k-nearest neighbors method, gradient boosting, neural network model (Keras, ReLU activation function) in the problem of determining the distance to an object, as well as its type of material. According to the results of the experiment, the most accurate method for recognizing the type of object material was the k-nearest neighbors method (96.9%), and the most accurate method for determining the distance to an object based on the output signal of capacitive sensors and the object material was a random forest (78.7%).","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130776391","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}