Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342210
N. Morozova
This paper presents the distributed formation control of a multi-agent systems with first- and second-order dynamics. The proposed control algorithms are based on the virtual leaders approach. The modifications of the base controls which ensures that agents avoid collisions and obstacles are considered in this paper. Specific rules that allow each agent to calculate the virtual leaders' position and the priority of each leader are suggested. The formation topology is chosen by the agents dynamically depending on the number of neighbouring agents, only local information is used by the agents. Obstacle avoidance is implemented with the help of potential repulsive function. Based on the developed discrete-time algorithm, solution for maintaining formation and avoiding collisions and obstacles while moving towards the target point, is proposed. Simulation results are presented, indicating capabilities of the algorithms.
{"title":"Formation control and obstacle avoidance for multi-agent systems with dynamic topology","authors":"N. Morozova","doi":"10.1109/SCP.2015.7342210","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342210","url":null,"abstract":"This paper presents the distributed formation control of a multi-agent systems with first- and second-order dynamics. The proposed control algorithms are based on the virtual leaders approach. The modifications of the base controls which ensures that agents avoid collisions and obstacles are considered in this paper. Specific rules that allow each agent to calculate the virtual leaders' position and the priority of each leader are suggested. The formation topology is chosen by the agents dynamically depending on the number of neighbouring agents, only local information is used by the agents. Obstacle avoidance is implemented with the help of potential repulsive function. Based on the developed discrete-time algorithm, solution for maintaining formation and avoiding collisions and obstacles while moving towards the target point, is proposed. Simulation results are presented, indicating capabilities of the algorithms.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122296719","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}
Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342142
S. Andrianov, N. Edamenko
When designing the control systems of particle beams we should pay great attention to the problem of tolerances, ensuring availability of the system to set limits on the admissible deviations of criterion value from the optimum value. However, in the simulation process, and during operation of the accelerator we are facing with the problem of determining the actual values of function parameters characterizing the observed state of the system. Naturally, that the problem of measurement monitoring of control parameters needs to be addressed in a physical terms, which leads to the need for selection of appropriate methods for describing and solving the problem of identification. From a general point of view, the problem of identification is one of the subproblems of optimal control theory of dynamic systems. Moreover, the methods developed for the identification problems are wide application and for searching of optimal solutions. In this article we consider the basic techniques and algorithms, which can be used to solve optimization problems (including identification) of system parameters controlling of particles beams.
{"title":"Parametric identification of distributed control systems","authors":"S. Andrianov, N. Edamenko","doi":"10.1109/SCP.2015.7342142","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342142","url":null,"abstract":"When designing the control systems of particle beams we should pay great attention to the problem of tolerances, ensuring availability of the system to set limits on the admissible deviations of criterion value from the optimum value. However, in the simulation process, and during operation of the accelerator we are facing with the problem of determining the actual values of function parameters characterizing the observed state of the system. Naturally, that the problem of measurement monitoring of control parameters needs to be addressed in a physical terms, which leads to the need for selection of appropriate methods for describing and solving the problem of identification. From a general point of view, the problem of identification is one of the subproblems of optimal control theory of dynamic systems. Moreover, the methods developed for the identification problems are wide application and for searching of optimal solutions. In this article we consider the basic techniques and algorithms, which can be used to solve optimization problems (including identification) of system parameters controlling of particles beams.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"265 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123477541","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}
Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342087
S. Peregudin, S. Kholodova
A system of nonlinear partial differential equations is considered that models perturbations in a layer of an ideal electrically conducting rotating fluid bounded by spatially and temporally varying surfaces with allowance for inertial forces and diffusion of magnetic field. The system is reduced to a scalar equation. The solvability of initial boundary value problems arising in the theory of waves in conducting rotating fluids can be established by analyzing this equation.
{"title":"Modeling and analysis of the large scale magneto hydrodynamics waves","authors":"S. Peregudin, S. Kholodova","doi":"10.1109/SCP.2015.7342087","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342087","url":null,"abstract":"A system of nonlinear partial differential equations is considered that models perturbations in a layer of an ideal electrically conducting rotating fluid bounded by spatially and temporally varying surfaces with allowance for inertial forces and diffusion of magnetic field. The system is reduced to a scalar equation. The solvability of initial boundary value problems arising in the theory of waves in conducting rotating fluids can be established by analyzing this equation.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127986949","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}
Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342054
A. Ekimov, M. V. Svirkin
The present work is devoted to the study of the asymptotic equilibrium state for different classes of linear and nonlinear systems. The second method of Lyapunov is used as a basic research method. On the basis of Zubov Theorem sufficient conditions for the existence of an asymptotic equilibrium state are obtained.
{"title":"Analysis of asymptotic equilibrium state of differential systems using Lyapunov function method","authors":"A. Ekimov, M. V. Svirkin","doi":"10.1109/SCP.2015.7342054","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342054","url":null,"abstract":"The present work is devoted to the study of the asymptotic equilibrium state for different classes of linear and nonlinear systems. The second method of Lyapunov is used as a basic research method. On the basis of Zubov Theorem sufficient conditions for the existence of an asymptotic equilibrium state are obtained.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128144002","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}
Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342145
N. Bilchenko
The problems of intended for the atmosphere entry hypersonic aircraft surfaces optimal effusion heat protection mathematical modeling are considered. The physico-chemical processes (the dissociation and the ionization) in laminar boundary layer of compressible gas are appreciated. The Groups theory approach to distributed parameters systems optimization is applied. An optimal control in the first approximation in analytical form is obtained. Some possibilities of special blow laws use for hypersonic aircraft surfaces heat protection nearing to optimal are considered. Computation experiments numerical results are discussed.
{"title":"Permeable surfaces hypersonic aircraft optimal heat protection mathematical modeling","authors":"N. Bilchenko","doi":"10.1109/SCP.2015.7342145","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342145","url":null,"abstract":"The problems of intended for the atmosphere entry hypersonic aircraft surfaces optimal effusion heat protection mathematical modeling are considered. The physico-chemical processes (the dissociation and the ionization) in laminar boundary layer of compressible gas are appreciated. The Groups theory approach to distributed parameters systems optimization is applied. An optimal control in the first approximation in analytical form is obtained. Some possibilities of special blow laws use for hypersonic aircraft surfaces heat protection nearing to optimal are considered. Computation experiments numerical results are discussed.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130464903","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}
Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342221
N. Zhabko
The problem of parameter identification of nonlinear dynamic models in horizontal and vertical planes of autonomous underwater vehicle is considered in this paper. To estimate the parameters of nonlinear models the algorithm based on the prediction error minimization is proposed, and then the estimated nonlinear models are used to find the adequate linear model for motion control system synthesis.
{"title":"Parameter identification of autonomous underwater vehicle dynamic model","authors":"N. Zhabko","doi":"10.1109/SCP.2015.7342221","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342221","url":null,"abstract":"The problem of parameter identification of nonlinear dynamic models in horizontal and vertical planes of autonomous underwater vehicle is considered in this paper. To estimate the parameters of nonlinear models the algorithm based on the prediction error minimization is proposed, and then the estimated nonlinear models are used to find the adequate linear model for motion control system synthesis.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129005880","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}
Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342163
Stanislav T. Rogovskiy
Solution of the problem of a hinged band-shaped plate, weakened by a crack parallel to the bearings, is found. The crack is assumed to be loaded with a bending moment and shear forces. Relation between the stress intensity factor at the crack tip, crack's location, and plate's parameters has been examined.
{"title":"Stress state of a band-shaped plate weakened by a crack","authors":"Stanislav T. Rogovskiy","doi":"10.1109/SCP.2015.7342163","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342163","url":null,"abstract":"Solution of the problem of a hinged band-shaped plate, weakened by a crack parallel to the bearings, is found. The crack is assumed to be loaded with a bending moment and shear forces. Relation between the stress intensity factor at the crack tip, crack's location, and plate's parameters has been examined.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133493494","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}
Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342049
A. V. Shchennikov, V. N. Shchennikov, E. V. Shchennikova
A general method of error estimation for ordinary differential equations systems linearization with use of the part of state variables is developed on the base of Lyapunov function method. It is stated for a wide class of non-linear differential equations.
{"title":"Estimation of linearization error with use of part and all of state variables","authors":"A. V. Shchennikov, V. N. Shchennikov, E. V. Shchennikova","doi":"10.1109/SCP.2015.7342049","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342049","url":null,"abstract":"A general method of error estimation for ordinary differential equations systems linearization with use of the part of state variables is developed on the base of Lyapunov function method. It is stated for a wide class of non-linear differential equations.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130686557","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}
Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342209
Serge E. Miheev, P. Morozov
The amplitude and frequency analysis of continuous digital audio contained in the WAV-file of the unfixed length is produced with further playback on the basis of amplitude-frequency characteristics that are functions of time. Unlike traditionally used for these wavelets, there is no task of the original sound wave shape approximation, because the human ear cannot distinguish the shape of the sound wave, but only a set of harmonic amplitudes composing it. Therefore, negligible time outrunning or lag in phases of harmonic amplitude time-functions are acceptable, but the result of the analysis must be in a form available to change playback rate while preserving the frequency characteristics. To obtain the high quality of synthesized speech, frequency-phase detector is developed, which allows to identify the main frequency of the input digitized speech. The criterion of current quality, that lies in detector foundation, in addition to the standard deviation was enriched with penalty functions. This eliminates the harmonic amplitude gaps caused by local extremes in the pure standard deviation. Due to the gap smoothing the “pulsebeat” effect is eliminated. Additional smoothing was occurred by a lowpass filter. Thus, it provides high quality of digital output synthesized speech, despite the significant difference of its shape from the input one.
{"title":"Speech signals analysis using a frequency detector and smoothing first and second derivatives","authors":"Serge E. Miheev, P. Morozov","doi":"10.1109/SCP.2015.7342209","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342209","url":null,"abstract":"The amplitude and frequency analysis of continuous digital audio contained in the WAV-file of the unfixed length is produced with further playback on the basis of amplitude-frequency characteristics that are functions of time. Unlike traditionally used for these wavelets, there is no task of the original sound wave shape approximation, because the human ear cannot distinguish the shape of the sound wave, but only a set of harmonic amplitudes composing it. Therefore, negligible time outrunning or lag in phases of harmonic amplitude time-functions are acceptable, but the result of the analysis must be in a form available to change playback rate while preserving the frequency characteristics. To obtain the high quality of synthesized speech, frequency-phase detector is developed, which allows to identify the main frequency of the input digitized speech. The criterion of current quality, that lies in detector foundation, in addition to the standard deviation was enriched with penalty functions. This eliminates the harmonic amplitude gaps caused by local extremes in the pure standard deviation. Due to the gap smoothing the “pulsebeat” effect is eliminated. Additional smoothing was occurred by a lowpass filter. Thus, it provides high quality of digital output synthesized speech, despite the significant difference of its shape from the input one.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116495127","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}
Pub Date : 2015-12-03DOI: 10.1109/SCP.2015.7342239
A. Rogov, Mikhail B. Gippiev, Ivan Shterkel
This article presents methods that are used for historical shorthand documents recognition. We distinguish following tasks: binarization, clusterization, lines recognition and determination of symbols types (main, superscript, subscript). Each method is evaluated in terms of recall, precision and F-measure criteria. The best method for binarization of shorthand documents appeared to be the modified threshold method. We proposed following methods for graphic symbols clustering: the method of segments lengths comparison, the method of projections comparison and the method of baskets. The best result is achieved with the method of baskets. We also present the algorithms of lines recognition and symbols classification. Lines recognition is performed using two methods: nearest neighbour and relations graph construction. Symbols classification is done by single and by double approximation methods and their modification. The best result of lines segmentation is demonstrated by the method of relations graph construction, and the best result of determination of symbols types is demonstrated by the modified double approximation method.
{"title":"Models for decryption of historical shorthand documents","authors":"A. Rogov, Mikhail B. Gippiev, Ivan Shterkel","doi":"10.1109/SCP.2015.7342239","DOIUrl":"https://doi.org/10.1109/SCP.2015.7342239","url":null,"abstract":"This article presents methods that are used for historical shorthand documents recognition. We distinguish following tasks: binarization, clusterization, lines recognition and determination of symbols types (main, superscript, subscript). Each method is evaluated in terms of recall, precision and F-measure criteria. The best method for binarization of shorthand documents appeared to be the modified threshold method. We proposed following methods for graphic symbols clustering: the method of segments lengths comparison, the method of projections comparison and the method of baskets. The best result is achieved with the method of baskets. We also present the algorithms of lines recognition and symbols classification. Lines recognition is performed using two methods: nearest neighbour and relations graph construction. Symbols classification is done by single and by double approximation methods and their modification. The best result of lines segmentation is demonstrated by the method of relations graph construction, and the best result of determination of symbols types is demonstrated by the modified double approximation method.","PeriodicalId":110366,"journal":{"name":"2015 International Conference \"Stability and Control Processes\" in Memory of V.I. Zubov (SCP)","volume":"478 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121443025","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}
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