2021 International Siberian Conference on Control and Communications (SIBCON)最新文献

{"title":"Estimation of the Effect of Multiplicative Noise on Signal Resolution Conditions Using a Statistical Criterion","authors":"Artyushenko Vladimir Mikhaylovich, Volovach Vladimir Ivanovich","doi":"10.1109/SIBCON50419.2021.9438918","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438918","url":null,"abstract":"We analyzed the effect of multiplicative noise on signal resolution characteristics when a statistical criterion for processing is used in the receiving device. The receiver is optimal for resolving two signals in the sense of detecting against the background of additive white noise. It is shown that the complex envelope of the signal at the output of the analyzed receiver can be considered as a flat vector with correlated components having different variances. However, with fast multiplicative noise, the named components become uncorrelated, and their variances become equal. It is shown that the delay time resolution intervals and frequency shift resolution intervals with known statistical characteristics of signals, additive and multiplicative noise are uniquely determined by the probabilities of correct and false resolution. It is pointed out that the use of a statistical criterion allows us to determine quantitative values of resolution intervals in a fairly wide range of changes in the parameters of additive and multiplicative noise, significantly exceeding the Woodward criterion for example. Thus, the use of statistical criteria leads to an increase in the efficiency of radio systems.","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":"117067278","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":"Real-Valued Arithmetic Linearly-Constrained Beamforming in Symmetric Adaptive Arrays","authors":"V. Djigan","doi":"10.1109/SIBCON50419.2021.9438854","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438854","url":null,"abstract":"This paper presents computational procedures of two adaptive filtering algorithms for antenna arrays with odd symmetry. The algorithms are designed for the antenna arrays of radio systems, which receive information signals below the thermal noise. The linearly constrained versions of the algorithms without desired signal are often used in this scenario. The constraints are imposed onto the adaptive filtering algorithms to protect the distortion of main lobe of the antenna array radiation pattern. In the case of the antenna array with odd symmetry, it is possible to modify Toeplitz correlation matrix of the received signals to the persymmetric one and to obtain the adaptive filtering algorithms, which have the most of calculations in real-valued arithmetic. This allows to decrease the computational complexity of the algorithms and to improve the steady-state performance of the adaptive antenna array. The considered algorithms are the Linearly Constrained Recursive Least Squares and the Least Mean Square ones. The simulation example demonstrates the performance of a circular adaptive antenna array, which uses these algorithms for the weight calculation and spatial filtering of the incoming signals.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"3 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":"117346402","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":"Low-Resolution Quantizer’s Output Signal Analysis in Presence of Multipath Fading Effects","authors":"A. Gvozdarev, Yury A. Bryukhanov","doi":"10.1109/SIBCON50419.2021.9438876","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438876","url":null,"abstract":"The research performed the statistical analysis of nonlinear distortions caused by the ADC unit in presence of the additive white Gaussian noise and the multipath fading effects described with the Nakagami-m envelope distribution. The ADC assumes to operate within the arbitrary input process levels including the overload situation that is being resolved with either the saturation or the reset. For all the assumed cases the input and output process’ probability density functions were derived and the expressions for arbitrary order moments were obtained and applied for output variance calculation. The effects of energy suppression, induced by the quantizer’s nonlinearity are analyzed as a function of its bit-resolution, input process root-mean-square level and fading severity. The obtained results can be helpful for various problems of communication quality calculation, for instance for the problem of white space energy base detection in cognitive radio networks.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"196 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":"115652316","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":"Improved Graphical User Interface for Crawler Robot Servosila Engineer","authors":"Alexandra Dobrokvashina, Ramil Safin, Yang Bai, Roman Lavrenov","doi":"10.1109/SIBCON50419.2021.9438926","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438926","url":null,"abstract":"Robots are widely used in many areas of modern life, and a teleoperated control plays a significant role in critical mission applications. For such applications Graphical User Interface (GUI) is one of the most popular interfaces for robot navigation and manipulation manual control. In this article, we present an improved GUI for a Russian crawler robot Servosila Engineer, which provides an operator with images from four cameras of the robot, a 3D view of a current configuration and an ability to control every joint of the robot. In addition to minor adjustments and extensions of a previous version of the GUI, a special attention is paid for modelling and control of the robot gripper.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"47 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":"128327134","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":"Neurotechnologies to Manage a Robotic System : (Keynote paper)","authors":"M. Talanov","doi":"10.1109/sibcon50419.2021.9438921","DOIUrl":"https://doi.org/10.1109/sibcon50419.2021.9438921","url":null,"abstract":"In my talk I will discuss the AI and brain-computer interface (BCI) technologies overview in the context of integration with robotic and biological systems starting from classical Rosenblatt perceptron till current breaking through technologies of BCI that could change the scientific outlook of the field. This is what we currently broadly call now AI and neurotechnology. Two bright examples are ResNet inspired by the projections of a mammalian cortical column and U-Net with close to ResNet ideas and topology. The other interesting cortical column inspired NN architecture is hierarchical temporal memory introduced by the Numenta company. These brain or neuro inspired approaches are widely used in machine learning, computer vision, natural language processing, path planning and broader in robotics.In the neurotechnology field I want to reference a lot of interesting and projects dedicated to BCI. Starting from works of Miguel Nicolelis where researchers connected the robotic hand via a computer system with a motor cortex of a monkey and later Lebedev group demonstrated the adaptation of a mammalian brain to create the representation of robotic limb extending biological limbs. I want to pay the special attention to works of Kevin Warwick that implemented invasive nervous system to nervous system interface and the robot managed by neurons of a rat brain developed and trained during the experiment.The commercial company Neuralink recently demonstrated the most advanced 1536-channel BCI exploiting wireless Blue-tooth interface to record and process a brain activity. Elon Musk in his Neuralink presentation last year demanded that one of the nearest goals of the company is spinal cord injury and the recovery of the lost motor control of limbs. Several projects in neurorehabilitation targeted to the motor control demonstrated recently important success using medical programmed neurostimulators.The perspective but currently in early state of the development is the direction of neurosimulation based models that could be used for the robotic system control (exoskeleton) or as neuroprosthesis as the part of closed loop system for example projects simulating the spinal cord, where I can see interesting future opportunities both in medicine and robotics.","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":"129641764","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":"Embedded ArUco: a novel approach for high precision UAV landing","authors":"Artur Khazetdinov, A. Zakiev, T. Tsoy, M. Svinin, E. Magid","doi":"10.1109/SIBCON50419.2021.9438855","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438855","url":null,"abstract":"This paper presents a novel approach for precise UAV landing using visual sensory data. A new type of fiducial marker called embedded ArUco (e-ArUco) was developed specially for a task of a robust marker detection for a wide range of distances. E-ArUco markers are based on original ArUco markers approach and require only ArUco detection algorithms. The applicability of developed markers was validated using UAV landing experiments in a virtual environment. Both a developed marker and a landing algorithm were implemented within the ROS framework and tested in the Gazebo simulator. According to our virtual experiments, an average landing accuracy was 2.03 cm with a standard deviation of 1.53 cm.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"501 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":"133640251","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":"Development of a Software Package for the Analysis of Compromising Emanation Using LabVIEW","authors":"Igor I. Kagin, E. A. Simakhin, S. G. Arabian, L. Kessarinskiy, A. P. Durakovskiy","doi":"10.1109/SIBCON50419.2021.9438939","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438939","url":null,"abstract":"At present, automated measuring systems are used to analyze compromising emanation by data transmission interfaces. The software, namely the one that implements the control system for measuring equipment, was developed for operating systems that do not meet the information security requirements, as well as do not currently have technical support. The use of such operating systems does not provide the required level of protection against unauthorized access of documents reflecting the results of analysis of compromising emanation by various data transmission interfaces. The use of protected operating systems of the Unix family or operating systems of the Windows family for this purpose solves the security problem. In this regard, it is necessary to develop new software that meets the specified requirements for information security and provides cross-platform, ease of development and control interface, interaction with measuring equipment, excluding violations of normal operation, as well as business continuity. A hardware and software complex comprising attested measuring device and software for development of applications in LabVIEW, is developed. A list of informative frequencies with respective values of signal power emitted in the data transmission interface under study is given.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"117 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":"133909863","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":"Live Displacement Estimation for Rough Terrain Mobile Robot: BART LAB Rescue Robot","authors":"Bibhu Sharma, Branesh M. Pillai, J. Suthakorn","doi":"10.1109/SIBCON50419.2021.9438919","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438919","url":null,"abstract":"This paper illustrates a sensorless based live displacement estimation (LDE) method for rescue robot manuevering in an unknown environment. Live displacement estimation is crucial at the instance when a heavy load is encountered as a disturbance on its path, which requires the pushing motion to alleviate the problem. This paper focuses on a pushing task, where a rescue robot pushes an object so that it can follow a path without sliding it away. Pushing is also mechanically unstable, and thus various control problems arise. Consequently, the successful completion of a pushing manipulation task requires planning. Therefore, for successful pushing operation of an object in an unknown environment it requires the precise estimation of the live displacement. LDE estimates the position and the estimated torque using the varying inertia observer (VIO), which is a variant of Disturbance Observer (DOB). The validity of the LDE was confirmed by a teleoperated rescue robot in various terrains.","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":"129312740","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":"Automation of Laser Single-Event Effect Testing of Integrated Circuits for Space Missions","authors":"A. Tsirkov, D. Savchenkov, A. A. Novikov, A. Pechenkin","doi":"10.1109/SIBCON50419.2021.9438870","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438870","url":null,"abstract":"a division of labor plays significant role in the efficiency of laser SEE Testing. The highest efficiency can be achieved when testers fulfill their roles in a global task: one is engaged in debugging and monitoring the testing progress at the facility, another one participates in the preparation and performance monitoring of the device under test (DUT). This article describes the architecture of our software for SEE testing that consists of two parts: the one responsible for the functional testing of the DUT and another one responsible for the SEE testing logic. Separating these two parts allows them to be developed independently by different specialists. The DUT part of software controls a wide variety of equipment including National Instruments PXI/PXIe modules which are commonly used for functional testing of the devices under test. The laser SEE testing part of software controls all parts of the laser facility (laser beam positioning and pulse synchronization, visualization of exposure area, etc.) and the acquisition of laser SEE testing data. One of the main points of this paper is the idea of communication between the apps on different platforms (Microsoft .NET and NI LabVIEW) over local area network.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"72 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":"126160683","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":"Development of Pneumatic Artificial Muscles and an Anthropomorphic Gripper Control Module","authors":"V. Ryabchevsky, A. Nikonov, G. Nikonova","doi":"10.1109/SIBCON50419.2021.9438893","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438893","url":null,"abstract":"The article discusses the development of a prototype of pneumatic artificial muscles for \"soft\" anthropomorphic holding devices. It gives the description of the development of a device for controlling artificial muscles of anthropomorphic devices and robotic systems based on adaptive grippers. A control system and the digital-analog information input-output module hardware has been developed. The control module performs tasks associated with providing communication between the computer and the programmable logic controller of a robot. It also analyzes the sensors state and transmits control signals to the actuators. The UART interface is used for communication and integration of devices into a local area network. The module can be connected via WiFi and Ethernet interfaces, which facilitates the prompt exchange of device commands with each other and with a computer. The input-output module interacts with only one interface and it is possible to connect only one pre-selected interface, which eliminates errors in the interaction between devices on the network. A program has been developed to update the robot control system and add the ability to control the robot and adjacent automation. The software and hardware platform is used, providing electrical compatibility with industrial standards signals. The digital and analog input and output program unit interacts with sensors and actuators of the manipulator and is fully compatible with the IEC61131-5 standard. The use of a robotic arm with pneumatic muscles contributes to the improvement and expansion of the field of application of a remote control system with tactile feedback, which allows feeling a distant object.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"24 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":"130198699","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}