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

{"title":"Robot arm planning and control by τ-Jerk theory and vision-based recurrent ANN observer","authors":"I. Carvajal, E. Martínez-García, Roman Lavrenov, E. Magid","doi":"10.1109/SIBCON50419.2021.9438857","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438857","url":null,"abstract":"This work describes a planning path-tracking control for a 6-axis robot manipulator in palettes assembly. Two biologically inspired approaches motivated this work: the general $tau - mathcal{J}erk$ theory for trajectory tracking and a recurrent bi-layer Hopfield artificial neural network. Equidistant Cartesian points generate free-collision paths between the robot and the palette. Nonlinear regression-based 3rd grade polynomials represents polynomial assembling trajectories. A variational method optimizes paths length. The method is validated through numeric simulations, showing feasibility and effectiveness.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"7 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":"127124002","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":"Modelling a TurtleBot3 Based Delivery System for a Smart Hospital in Gazebo","authors":"Ruslan Safin, Roman Lavrenov, K. Hsia, E. Maslak, N. Schiefermeier-Mach, E. Magid","doi":"10.1109/SIBCON50419.2021.9438875","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438875","url":null,"abstract":"The design of a “smart hospital” environment is described in this paper. Mobile ground robots perform transportation tasks between multiple stations located in different rooms while navigating in an environment with moving objects such as humans and other mobile robots. The robot is equipped with a distance sensor (LIDAR), based on the indicators of which objects are detected and the robot is localized. Robots can be assigned tasks to be executed through a centralized interface. Tasks are assigned to a specific robot, and, depending on the type of task, the robot is autonomously directed to the station associated with the task in the building. We are considering the concept of defining possible robot behaviors as a finite set of states with certain transitions. To test the system, a hospital map was constructed in a Gazebo simulation.","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":"128981714","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":"Empirical Evaluation of Theta*-RRT and GRIPS Algorithms","authors":"Zain Alabedeen Ali, Brian Angulo, V. Golovin, K. Yakovlev","doi":"10.1109/SIBCON50419.2021.9438901","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438901","url":null,"abstract":"Motion planning is a fundamental task for wheeled mobile robots. This task becomes challenging when the kinematic constraints of the robot (differential-drive, car-like, etc.) are to be taken into account. In this work we analyze and empirically compare two promising approaches to construct kinematically-feasible trajectories for differential drive robots – Theta*-RRT and GRIPS. Both of these approaches utilize geometric path planning but differ in the way how it is done. Theta*-RRT relies on sampling-based planning biased towards the geometric path. GRIPS modifies the path and tries to connect its elements with the steering function that respects kinematic constraints. We evaluate both approaches in simulation and on the real robot highlighting their pros and cons. Our evaluation shows that there is no universal winner and we provide suggestions on when to use specific method.","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":"117041967","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":"Robust Adaptive Multi-Agent Coverage Control for Flood Monitoring","authors":"Dongfen Guo, Yang Bai, M. Svinin, E. Magid","doi":"10.1109/SIBCON50419.2021.9438872","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438872","url":null,"abstract":"This paper presents a control strategy for monitoring a dynamically changing flood zone by using a group of unmanned aerial vehicles (UAVs) and an unmanned surface vehicle (USV). The strategy requires to allocate UAVs in the flood zone, achieving an optimal coverage efficiency. As the flight duration of UAVs is limited, they need to be called back to the USV for recharging or for battery swapping. Therefore, the UAVs are required to be allocated near the USV while covering the flood area. A robust adaptive control controller is proposed to implement the aforementioned strategy, the validity of which is tested under simulations.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"20 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":"132013181","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":"Features of the Software Component of the Memory Test SetupBased on the Object-Oriented Approach in LabVIEW Development Environment","authors":"I. Shvetsov-Shilovskiy","doi":"10.1109/SIBCON50419.2021.9438930","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438930","url":null,"abstract":"This paper is dedicated to the features of the software component of the memory test setup based on the object-oriented approach in LabVIEW environment. The specificities of the software development for test setups used for the control of the electronics device’s parameters are described. The paper concerns the advantages and disadvantages of the object-oriented approach in the software development process in LabVIEW and the challenges which may arise during the remodeling of the program written in the procedure programming paradigm using the object-oriented methodology. The actor model is described as well as its modification made for use in the developed software solution. Reasons that necessitated modification of the standard actor model are discussed. The specific features of the architecture of the developed software are described. Solutions aimed at building a universal program project are presented; they ensure that minimal adaptation is needed to perform functional and parametric control of any memory device. Among these solutions are the universal interface between the program executed on PC and the program responsible for the high-speed input and output executed on programmable logic device (PLD). For various architectures of the program executed on PLD there was conducted a comparison of the hardware resources used and a compilation time.","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":"131389771","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":"Functional Requirements Synthesis in Creation of Modular UAV Multisensory System Payload for Mountain Snow Search and Rescue Missions","authors":"A. Russkin, M. Alekhin, A. Iskhakova","doi":"10.1109/SIBCON50419.2021.9438883","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438883","url":null,"abstract":"This study summarizes results of functional requirements synthesis in creation of unmanned aerial vehicle modular sensor system payload for mountain rescue and snow search operations. A proposed suite of multi-channel remote biophysical monitoring equipment includes: high resolution video camera, night vision camera, uncooled thermal imaging camera, directional audio recorder, compact scanning lidar, cell phone signal detection system, radio-frequency beacon tracker, active avalanche beeper, subsurface radar, bio-radar. Variable fixed units for telemedicine missions are complemented with emergency medical equipment and removable first aid kits.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"44 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":"131744194","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":"Synthesis of Directivity Pattern for Various Antenna Arrays Configurations of Vertical Atmospheric Sensing Radar Station","authors":"D. Dmitriev, V. N. Ratushnyak, A. Gladyshev, M. Buravleva, A. I. Chernovolenko","doi":"10.1109/SIBCON50419.2021.9438940","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438940","url":null,"abstract":"The issues of forming the required radiation pattern of an adaptive antenna array for scanning the atmosphere using small-element antennas in vertical sensing radars are considered in the article. These radars operate in pulsed mode and use Fresnel and Bragg Scattering from turbulent formations and various reflections of electromagnetic waves in various atmosphere layers. Low-element adaptive antenna arrays have low cost, high mobility and low hardware costs for organizing atmospheric scanning. The subject of intensive research is adaptive antenna arrays application in radar and radio navigation systems. It allows to form the required directional pattern, to electrically scan the space by changing the amplitude-phase distribution on the adaptive antenna arrays elements, to increase the probability of receiving useful signal, including signals reception against the background of multipath. The results of modeling special radiation patterns for different configurations of antenna arrays with a small number of antenna elements are presented.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"6 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":"131241110","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":"Stabilizing the Beams of a Large-Sized Satellite Antenna within the Frame of an Engineering Approach to Antenna Synthesis : (Keynote paper)","authors":"Y. Choni","doi":"10.1109/SIBCON50419.2021.9438888","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438888","url":null,"abstract":"In my speech, I intend to talk about engineering approach to antenna synthesis and its role in the research that our team conducts for the well known company \"Reshetnev Information Satellite Systems\".For communication via a geostationary satellite, a plurality of needle-like beams is required to cover the working area within its boundaries. Uneven solar heating distorts the surface of a huge umbrella-reflector, disrupting the required set of beams. In case of multibeam hybrid mirror antennas, cluster adaptive tuning paves the way for beams' stabilization. As the field of the terrestrial beacon, focused by mirror, bears the imprint of the reflector, its current state can be detected from the signals received by the antenna array.The synthesis of the best-fit paraboloid from the signals of a hexagonal cluster is reduced to minimizing the MSD using the concept of shapes' deviation, which we introduced for antenna synthesis. Finding six parameters of the paraboloid from seven (!) signals seems to be a simple task. However, the relationship between the sought-for parameters and the signals is so special that the gradient is oriented almost perpendicularly to the true direction even in the region close to the optimal point. It's amazing how the equipotential surface is shaped like a screw?Reconstruction of the reflector surface without any priori assumptions turned out to be possible within the framework of engineering heuristics, which partially steams from V.N. Dymski’ notion of energetically optimal solution of antenna synthesis. In the area near the reflector, the phase distribution of the field radiated by the antenna array, excited in accordance with the complex conjugate signals from the terrestrial beacon, is compared to the phases of a plane wave propagating towards the beacon. P.V. Romanov, my postgraduate student, raised a sound idea that the points at which the phase difference is constant are the sought reflector points.Evaluation of the consistency and effectiveness of the above approaches requires multivariate calculations. Therefore, the time consumption for modeling a large reflector antenna becomes a decisive factor. We use an extremely fast algorithm based on some robust engineering assumptions that we call acoustic approach.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"41 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":"114308065","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 Effect of Frequency Offset on the Probability of Bit and Packet Errors in Processing Signals with Chirp Spread Spectrum Modulation","authors":"S. Mukhamadiev, E. Dmitriyev, E. V. Rogozhnikov, Natalia V. Duplishcheva, Y. Kryukov","doi":"10.1109/SIBCON50419.2021.9438858","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438858","url":null,"abstract":"In this paper, we consider the LoRa technology [2] and the chirp spread spectrum (CSS) modulation used to transmit the LoRa signal. Currently, LoRa is used in the Internet of Things applications, in building automated power supply networks for efficient energy use, in controlling the consumption of resources such as water, heat, gas, electricity, and for solving environmental monitoring problems. The main problem of IoT systems is frequency desynchronization resulting from the instability of the reference generators in the receiving and transmitting equipment from the use of low-cost IoT devices. The central problem of this paper is the effect of the frequency offset on the bit error ratio (BER) and packet error ratio (PER) during signal demodulation for various parameters of the transmitter and receiver. This paper presents the results of mathematical modeling and the dependence of the BER and PER on the magnitude of the frequency error during signal processing.","PeriodicalId":150550,"journal":{"name":"2021 International Siberian Conference on Control and Communications (SIBCON)","volume":"13 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":"114309054","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":"Simultaneous Parametric and Functional Testing of Digital VLSI During Radiation Experiments","authors":"S. Arabyan, V. Shuvalov, L. Kessarinskiy, A. Shirin, D. Boychenko","doi":"10.1109/SIBCON50419.2021.9438892","DOIUrl":"https://doi.org/10.1109/SIBCON50419.2021.9438892","url":null,"abstract":"In the light of the improvements of integration technologies and testing instruments, an automated testing system based on state-of-the-art technical solutions for automatic test equipment is introduced. The use of PXIe-6570 in the development process of automatic test equipment is presented. Some aspects of importance when migrating to PXIe-6570 are given. Efficiency of newly developed features of PXIe-6570 is demonstrated on the introduced automated testing system. The advantage of digital pattern instruments over digital waveform instruments is presented in the comparison of the essential features of those instruments. The architecture of the project developed in Digital Pattern Editor is given. The application for conducting parametric measurements of the microcircuitry is described. It is shown that digital pattern instruments enhance the facilities of development of automated testing systems with the features of modularity, which allows to make small changes in the modules, without affecting the whole project and to customize given projects to conduct tests on various microcircuits.","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":"121648098","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}