Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings" ER(ZR) 2020, Ufa, Russia, 15-18 April 2020 /
This book features selected papers presented at the 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings"--ER(ZR) 2020, held in Ufa, Russia, on 15-18 April 2020. The contributions, written by professionals, researchers and students, cover topics in the...
| Corporate Authors: | International Conference on Electromechanics and Robotics "Zavalishin's Readings" Online) |
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| Other Authors: | International Conference on Electromechanics and Robotics "Zavalishin's Readings", Ronzhin, A. L., Shishlakov, Vladislav., SpringerLink (Online service) |
| Format: | eBook |
| Language: | English |
| Published: |
Singapore :
Springer,
[2021]
Singapore : [2021] |
| Physical Description: |
1 online resource (551 pages). |
| Series: |
Smart innovation, systems, and technologies ;
187. |
| Subjects: |
| Summary: |
This book features selected papers presented at the 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings"--ER(ZR) 2020, held in Ufa, Russia, on 15-18 April 2020. The contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. The Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900-1968) - a Russian scientist, corresponding member of the USSR Academy of Sciences and founder of the school of valve energy converters based on electric machines and valve converters energy. The first conference was organized by the Institute of Innovative Technologies in Electromechanics and Robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006. |
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| Item Description: |
International conference proceedings. "Due to the COVID-19 pandemic in the world, for the first time ER(ZR)-2020 was organized as a virtual conference." Intro -- Organization -- Committees -- Foreword -- Preface -- Contents -- About the Editors -- Part IKeynote Lectures -- 1 Aerial Robots and Infrastructure of Their Working Environment -- 1.1 Introduction: What Is AR, UAV, UAS -- 1.2 Components of Unmanned Aerial System -- 1.2.1 Main Functional Means -- 1.2.2 Supporting Resources -- 1.2.3 Personnel -- 1.2.4 Means of Integration with Other Systems -- 1.2.5 Software -- 1.2.6 Documentation -- 1.3 Service Stations -- 1.3.1 Motivation -- 1.3.2 Classification of Replenishment Service Stations. 1.3.3 Known Solutions Realizing Open Pads Conception. Classification Criteria -- 1.3.4 Platforms Based on Intelligent Contact Pads -- 1.3.5 Charging Stations Based on Flat Parallel Electrodes -- 1.4 Conclusion -- References -- 2 Microgrippers: Principle of Operation, Construction, and Control Method -- 2.1 Introduction -- 2.2 Applications and Specifics of Microgripping Devices -- 2.3 Examples of Microgripper Designs -- 2.4 Information System Architecture -- 2.5 Control System of Intelligent Capillary Microgripper -- 2.6 Construction Prospects -- 2.7 Conclusion -- References. 3 Worm-Like Locomotion Systems for In-Pipe Robots and Its Fuzzy Sliding Mode Controller Design -- 3.1 Introduction -- 3.2 The Principle and Mathematical Model of WLLS -- 3.2.1 Composition and Motion Principle -- 3.2.2 The Mathematical Description -- 3.2.3 State-Space Model of WLLS -- 3.3 The Design of Sliding Mode Controller -- 3.4 The Design of Fuzzy Rules -- 3.5 Simulation -- 3.6 Conclusion -- References -- Part IIRobotics and Automation -- 4 Tactical Level of Intelligent Geometric Control System for Unmanned Aerial Vehicles -- 4.1 Introduction -- 4.1.1 Motivation -- 4.1.2 Related Works. 4.1.3 Main Contributions -- 4.2 The Principles of Intelligent Geometric Control -- 4.2.1 The Purpose of Intelligent Geometric Control -- 4.2.2 Hierarchical System to Control a Dynamic Object -- 4.3 Tactical Control Level -- 4.3.1 Trajectory Tracking Problem -- 4.3.2 Pontryagin's Maximum Principle -- 4.3.3 A Set of Control Rules for Pursuing a Target -- 4.4 Executive Control Level -- 4.5 Simulation of UAV Movement and Mission Execution -- 4.6 Conclusion -- References -- 5 Three-Dimensional Consensus-Based Control of Autonomous UAV Swarm Formations -- 5.1 Introduction. 5.2 Preliminary Notes and Used Models -- 5.2.1 Multi-UAV System Model and UAV Model -- 5.2.2 Statement of Problems -- 5.2.3 Architecture of Interaction in a Decentralized Multi-UAV System -- 5.3 Strategy to Control 3D UAV Swarm Formations -- 5.3.1 Formation Control for Horizontal Path Following -- 5.3.2 Formation Control for Descending Path Following -- 5.4 Simulation Results -- 5.5 Conclusions -- References -- 6 Approach to UAV Swarm Control and Collision-Free Reconfiguration -- 6.1 Introduction -- 6.2 UAV Swarm Control Approach -- 6.3 Reconfiguration Algorithms -- 6.4 Results -- 6.5 Conclusion. Includes bibliographical references and author index. This book features selected papers presented at the 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings"--ER(ZR) 2020, held in Ufa, Russia, on 15-18 April 2020. The contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. The Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900-1968) - a Russian scientist, corresponding member of the USSR Academy of Sciences and founder of the school of valve energy converters based on electric machines and valve converters energy. The first conference was organized by the Institute of Innovative Technologies in Electromechanics and Robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006. |
| Physical Description: |
1 online resource (551 pages). |
| Bibliography: |
Includes bibliographical references and author index. |
| ISBN: |
9789811555800 981155580X 9811555796 9789811555794 9789811555817 9811555818 9789811555824 9811555826 |