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Approach to Efficient Task Allocation in a Collaborative Robotic System Using Modified Cost Functions 基于修正成本函数的协作机器人系统高效任务分配方法
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110787
R. Galin, Saniya B. Galina
The presented article considers the formation and engagement of a mixed heterogeneous team within a robotic system designed for completing collaborative tasks. A qualitative comparative analysis of approaches, methods and algorithms related to efficient task allocation in a collaborative robotic system by reducing the time and/or costs is carried out. A method and its corresponding algorithm for task allocation in a mixed heterogeneous team of a collaborative robotic system are presented. The proposed algorithm for task allocation with cost minimization is applicable for a mixed heterogeneous team consisting of humans and collaborative robots (i.e., heterogeneous groups of participants of various types). Thus, the within the problem statement the following is considered: different cost functions for different types of team members; limited robot activity; the dependence of the cost of robots for performing a certain type of work on the number of people. The developed method and algorithm of task allocation and work distribution within a CRS with minimizing the costs is applicable to a mixed heterogeneous team consisting of humans and cobots (groups of participants of different types), taking into account the specific heterogeneity of team members, as well as the mandatory requirements for safe interaction of participants within a CRS. The simulation of five scenarios of task allocation between the participants using the proposed solution is carried out. The results of the experiment showed the increased efficiency of a mixed heterogeneous team functioning.
本文考虑了在机器人系统中为完成协作任务而设计的混合异质团队的形成和参与。通过减少时间和/或成本,对协作机器人系统中有效任务分配的方法、方法和算法进行了定性比较分析。提出了协作机器人系统中混合异构团队的任务分配方法及其相应算法。本文提出的任务分配成本最小化算法适用于由人类和协作机器人组成的混合异构团队(即由各种类型的参与者组成的异构群体)。因此,在问题陈述中考虑了以下内容:不同类型的团队成员的不同成本函数;机器人活动受限;机器人完成某种工作的成本与人数的依赖关系。考虑到团队成员的特定异质性,以及对CRS中参与者的安全交互的强制性要求,所开发的CRS中任务分配和工作分配的方法和算法具有最小的成本,适用于由人类和协作机器人(不同类型的参与者组)组成的混合异构团队。利用所提出的解决方案对参与者之间任务分配的五种场景进行了仿真。实验结果表明,混合异质团队运作效率提高。
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引用次数: 1
Combined Method of Cognitive Assessment of the Specialist Professional Potential 专家职业潜能认知评价的组合方法
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110755
I. F. Yasinskiy, Tatyana V. Gvozdeva, V. Tyutikov
An important issue that arises before every person is the choice of a profession. It is obvious that the potential of success in different areas can be influenced both by the knowledge and skills acquired in the process of study, as well as the character traits of a person. The article proposes an intelligent predictive system that allows to assess the student's capabilities in the area of analytics. The topic relevance is explained by the need to increase the importance of connection between the employer and the university on the formation of knowledge, skills and abilities of the student that are in demand on the labor market. When designing the prognostic structure of the system, a hybrid intellectual approach is used that combines the advantages of known methods. It includes a neural network model and a method of accounting of arguments groups. The most demanded professions in the labor market have been identified. Professional skill maps are compiled, based on the description of the requirements. The training samples of are supplemented with images generated by the Monte Carlo method. Using data on the student's progress in selected key disciplines, as well as other available information, the system offers a numerical equivalent of the potential for the declared professions. Such recommendation allows the student to timely and consciously adjust the orientation in the educational process, which positively affects the competitiveness of the labor resources produced by the higher education institution.
每个人都面临的一个重要问题是选择职业。很明显,在不同领域取得成功的潜力既受学习过程中获得的知识和技能的影响,也受一个人的性格特征的影响。本文提出了一个智能预测系统,可以评估学生在分析领域的能力。主题相关性的解释是,需要增加雇主和大学之间的联系的重要性,以形成劳动力市场所需的学生的知识、技能和能力。在设计系统的预测结构时,使用了一种混合智能方法,结合了已知方法的优点。它包括一个神经网络模型和一种计算参数组的方法。劳动力市场上需求量最大的职业已经确定。根据需求描述,编制专业技能图。的训练样本辅以蒙特卡罗方法生成的图像。该系统利用学生在选定的关键学科上的进步数据以及其他可用信息,提供了申报专业潜力的等效数值。这种推荐可以使学生在教育过程中及时、自觉地调整取向,对高等学校生产的劳动力资源的竞争力产生积极的影响。
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引用次数: 0
Investigation of the Temperature Condition of Electric Motors Using the Comsol Package 用Comsol软件包研究电动机的温度状况
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110836
S. Oskin, Zaur Hamedovich Naguchev, Dmitry Mikhailovich Taranov
Operation of electric drives in agroindustrial complex has confirmed the necessity of controlling the temperature condition of electric machines. Overheating of electric motor can occur due to its operation in a non-nominal mode, including the change of rotor speed. For adequate adjustment of electric motors temperature protection systems and maximum use of their overload capacity it is necessary to have mathematical models of states, taking into account real operating conditions and changes of operating mode. It is proposed to carry out such modeling in the Comsol software. Taking into account the previously obtained aerodynamic models, the model of thermal state of electric motor is implemented in this software. Patterns of thermal fields both outside the electric machine and inside were obtained. The simulation was carried out at different rotor speeds and taking into account the cooling air temperature. It was confirmed that the most heated part is the frontal part of stator windings. Results of simulation showed that the temperature of the most heated parts of the electric motor corresponded to the maximum permissible value for the given class of insulation. Thermal imaging of the electric motor has proved the adequacy of the simulation to the real values of the temperature of the outer shell of the electric machine. The experiment with built-in thermocouples in the most critical places of the electric motor has also proved the correspondence of temperature data to the data obtained during modeling.
农工综合体电传动的运行,证实了对电机温度工况进行控制的必要性。电动机在非标称模式下运行,包括转子转速的变化,都可能导致电动机过热。为了充分调整电动机温度保护系统,最大限度地利用其过载能力,有必要建立考虑实际运行条件和运行模式变化的状态数学模型。建议在Comsol软件中进行这种建模。结合已有的气动模型,在该软件中实现了电机的热状态模型。得到了电机内外的热场图。在考虑冷却空气温度的情况下,对不同转子转速进行了仿真。结果表明,定子绕组的正面部分受热最大。仿真结果表明,电机受热最多的部分的温度对应于给定绝缘等级的最大允许值。电机的热成像证明了仿真与电机外壳温度真实值的充分性。在电机最关键部位采用内置热电偶进行的实验也证明了温度数据与建模时得到的数据的一致性。
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引用次数: 0
Classification of Incoming Messages of the University Admission Campaign 大学招生活动的讯息分类
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110769
N. Smirnov, A. S. Trifonov
This paper deals with the task of text messages classification. The authors analyzed and reviewed the results of other researchers in this task and provided a brief overview of the machine learning and deep learning methods used in the study. The dataset of 1200 incoming messages of university admission campaign was used in the study. The authors pre-processed message texts, classified messages in three ways and applied three types of text vectorization. Based on machine learning and deep learning methods, the authors developed and applied multiclass and binary message classifiers. The paper presents classification metrics and confusion matrices for tasks of multiclass and multilabel classification. The models that provide the highest f1 score were selected as the best models.
本文主要研究短信分类问题。作者分析和回顾了其他研究人员在这项任务中的结果,并简要概述了研究中使用的机器学习和深度学习方法。本研究使用的数据集为1200条大学录取信息。对短信文本进行预处理,对短信进行三种分类,并应用了三种文本矢量化方法。基于机器学习和深度学习方法,作者开发并应用了多类和二元消息分类器。本文提出了多类别和多标签分类任务的分类度量和混淆矩阵。选取f1得分最高的模型作为最佳模型。
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引用次数: 0
Solving the Inverse Kinematics Problem for a Seven-Link Robot-Manipulator by the Particle Swarm Optimization 用粒子群算法求解七连杆机械臂运动学逆问题
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110817
V. A. Karapetyan, V. Miryanova
The article is devoted to the algorithm’s development for a multi-link redundant robot manipulator’s autonomous operation. A manipulator with seven degrees of freedom (DOF) is considered. It is well known that the inverse kinematics problem (IKP) plays an important role in planning the robotic manipulators’ movement. The multi-link robot manipulator’s IKP, unlike a direct task, requires more calculations and time due to the complex nonlinear equations’ presence. One of the actual solving the IKP methods is the particle swarm optimization algorithm. The proposed approach based on methods for solving the direct kinematics problem, which avoids complex calculations and the singularity problem.
研究了多连杆冗余度机器人机械手自主操作的算法开发。考虑具有七自由度的机械臂。众所周知,逆运动学问题在机器人运动规划中起着重要作用。与直接任务不同,多连杆机械手的IKP由于存在复杂的非线性方程,需要更多的计算和时间。粒子群优化算法是实际解决iip问题的方法之一。该方法基于求解直接运动学问题的方法,避免了复杂的计算和奇异性问题。
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引用次数: 0
Identification of a Depressive State Among Users of the Vkontakte Social Network Vkontakte社交网络用户抑郁状态的识别
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110824
A. Zotkina, A. Martyshkin
The article examines the analysis of the depressive state of social network users. It is noted that the VKontakte social network will be used as a social platform for collecting information in the study. It is noted that a combination of vocabulary-based and machine learning methods is used to achieve the highest accuracy. Two methods based on vocabulary are considered: the dictionary-based method and the corpus method. The stages of analysis are considered: collecting data obtained using the VK_API script creation module, preprocessing data through the natural language processing pipeline (deleting raw data that does not carry a semantic role), creating a model and evaluating it. It is noted that the implementation of this task uses a high-level Python programming language with dynamic strict typing and automatic memory management, the syntax of which contains a natural language processing module (NLTK). The paper presents 4 machine learning classifiers: support vector machine (SVM), k—nearest neighbor method (KNN), random forest, logistic regression, LSTM. It is revealed that machine learning algorithms such as decision tree, support vector machine, logistic regression and LSTM demonstrate good accuracy in detecting the depressive mood of a social network user. The LSTM network showed the greatest accuracy during this experiment. In conclusion, the main conclusions on the work done are formulated.
本文对社交网络用户的抑郁状态进行了实证分析。值得注意的是,VKontakte社交网络将被用作研究中收集信息的社交平台。值得注意的是,使用基于词汇表和机器学习方法的组合来实现最高的准确性。考虑了两种基于词汇的方法:基于词典的方法和基于语料库的方法。考虑了分析的各个阶段:收集使用VK_API脚本创建模块获得的数据,通过自然语言处理管道对数据进行预处理(删除不承担语义角色的原始数据),创建模型并对其进行评估。值得注意的是,该任务的实现使用具有动态严格类型和自动内存管理的高级Python编程语言,其语法包含自然语言处理模块(NLTK)。本文提出了4种机器学习分类器:支持向量机(SVM)、k近邻法(KNN)、随机森林、逻辑回归、LSTM。研究表明,决策树、支持向量机、逻辑回归和LSTM等机器学习算法在检测社交网络用户的抑郁情绪方面表现出良好的准确性。LSTM网络在实验中显示出最高的准确率。最后,对所做的工作提出了主要结论。
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引用次数: 0
Mathematical Model of a Micro Grid for a Hybrid Autonomous Station Based on Renewable Energy Sources for the Republic of Ingushetia 印古什共和国可再生能源混合自治站微电网数学模型
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110814
G. Titova, M. Malsagov
Part of the Russian population lives in small settlements in remote areas in remote areas at long distances from each other and is not connected to centralized power systems. For the peasant farms of the Republic of Ingushetia, the issues of creating an autonomous power supply system in the highlands, independent of external circumstances, are relevant for the life and development of economic activity. microgeneration based on renewable energy sources for the trade of goods and services on the international market with a certificate of "green" energy makes the products of enterprises more competitive. The classification of microgenerating hybrid systems based on renewable energy sources is presented. Optimization of the internal structure of microgenerating hybrid systems by types and installed capacity for each type of equipment included in the autonomous electrical complex has been carried out. The problem of finding the value of objective functions for optimal combinations of equipment, taking into account the parameters of reliability and capital costs of an autonomous power supply system, is formulated. A parametric model and algorithm of an optimal microgenerating hybrid system based on renewable energy sources have been developed.
部分俄罗斯人口居住在偏远地区的小定居点,彼此之间距离很远,没有连接到集中的电力系统。对于印古什共和国的农民农场来说,在高地建立一个独立于外部环境的自主电力供应系统的问题与经济活动的生活和发展有关。基于可再生能源的微型发电在国际市场上进行商品和服务贸易,获得“绿色”能源证书,使企业的产品更具竞争力。介绍了基于可再生能源的微发电混合系统的分类。对自主电力综合体中各类型设备的类型和装机容量进行了微发电混合系统内部结构优化。提出了考虑自主供电系统可靠性和资金成本参数的设备最优组合目标函数的求值问题。建立了基于可再生能源的最优微发电混合系统的参数化模型和算法。
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引用次数: 0
Vulnerability of Biometric Protection 生物识别防护的脆弱性
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110772
Kuzmina Yliana, Azovtseva Arina, Perminova Anastasia
Every year, biometric systems are becoming increasingly popular. This is facilitated by the successful application of biometrics in various areas of human life. In particular, forensics (it was the first and most important area of fingerprinting, and remains so until now), locks and safes equipped with a scanner, encryption devices in computers and mobile devices, payment for purchases in stores, and so on. This article tells about the need to ensure the security of personal data, the growing popularity of the collection and processing of biometric personal data, its advantages and disadvantages, analyzed the characteristic features of biometric identification and authentication, explored the market for bio-metric products, examined the problems of biometric protection in face geometry and fingerprints. Since one of the most popular and widely practiced biometric systems is fingerprints, the practical part of the work was to create a fingerprint cast to bypass the blocking of any device using this type of biometric identification. Also, the need for using a thermogram for biometric authentication is identified and substantiated in the article. Based on the study, the authors put forward a number of recommendations to improve the reliability of personal data security and eliminate biometric authentication vulnerabilities by fingerprint and face image.
每年,生物识别系统都变得越来越受欢迎。生物识别技术在人类生活的各个领域的成功应用促进了这一点。特别是,取证(它是指纹识别的第一个也是最重要的领域,直到现在仍然如此)、配备扫描仪的锁和保险箱、计算机和移动设备中的加密设备、商店购物支付等等。本文讲述了保障个人数据安全的需要,生物特征个人数据的收集和处理日益普及,其优缺点,分析了生物特征识别和认证的特点,探索了生物特征产品的市场,考察了生物特征在人脸几何形状和指纹保护方面存在的问题。由于最流行和广泛使用的生物识别系统之一是指纹,因此该工作的实际部分是创建指纹铸型,以绕过使用这种生物识别类型的任何设备的封锁。此外,在文章中确定并证实了使用热像图进行生物识别认证的必要性。在此基础上,作者提出了提高个人数据安全可靠性,消除指纹和人脸图像生物识别认证漏洞的若干建议。
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引用次数: 0
Integrative Approach to Creation of Information Systems and Entropy Analysis of Linguistic Information 信息系统创建与语言信息熵分析的综合方法
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110775
E. Rusyaeva, Aleksandr Poltavsky, G. Akhobadze
An integrative approach is presented as a particular dialectical method for building information-analytical and expert systems (IAS, ES). This method is based on the complex use of expert assessments and automated analysis of text objects. The fundamental basis of the method was the classical entropy analysis of sign systems of information theory in combination with modern elements of digital and cognitive expert linguistic analytics. The method is relevant for the formation of information and analytical projects and a formalized model of linguistic analysis of texts.
一种综合的方法是作为一种特殊的辩证方法来构建信息分析和专家系统(IAS, ES)。该方法是基于复杂使用专家评估和文本对象的自动分析。该方法的基本基础是信息论中符号系统的经典熵分析,并结合现代数字和认知专家语言分析的元素。该方法与信息和分析项目的形成以及文本语言分析的形式化模型相关。
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引用次数: 1
Digital Twins: Forecasting and Formation of Optimal Control Programs for NPP Power Units 数字孪生:核电厂机组最优控制方案的预测与形成
Pub Date : 2023-03-27 DOI: 10.1109/SmartIndustryCon57312.2023.10110766
Elena Jharko, K. Chernyshov
Industries, especially in the energy sector, are using digital twins to improve work efficiency and optimize operating modes. Digital twins have based on models that accurately describe the geometry, physical properties, behavior, and rules that characterize an object. The article presents an example of functional decentralization of digital twin models as a decomposition of an NPP power unit (PU) with a VVER-1000 reactor as a control object into a set of technological subsystems of functional groups. Approaches to the digital twins’ creation of NPP PU and the main directions for using digital twins based on dynamic models of a PU in advanced control systems for NPP power units are presented. Within the framework of the intelligent operator support system, a "three-stage" approach to the problem of forecasting the state of the NPP PU, based on digital twins, and the principles of forming the PU optimal control are proposed. The proposed approaches to creating digital twins are used to create intelligent support systems for operators.
各行业,特别是能源行业,正在利用数字孪生来提高工作效率和优化运营模式。数字孪生基于精确描述物体特征的几何、物理属性、行为和规则的模型。本文提出了一个数字孪生模型功能去中心化的例子,将一个以VVER-1000反应堆为控制对象的核电站动力装置(PU)分解为一组功能组的技术子系统。提出了核电厂动力装置数字孪生的创建方法,以及基于动力装置动态模型的数字孪生在核电厂动力装置先进控制系统中应用的主要方向。在智能操作员支持系统的框架下,提出了一种基于数字孪生的核电厂机组状态预测的“三阶段”方法,并给出了机组最优控制的形成原则。提出的创建数字孪生的方法用于为运营商创建智能支持系统。
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引用次数: 0
期刊
2023 International Russian Smart Industry Conference (SmartIndustryCon)
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