Valeri Kroumov

3D path planning for mobile robots using annealing neural network

This paper presents a novel potential field based 3D path planning technique for differential drive mobile robots, moving in known environment. The path planners are based on description of the obstacles by simulated annealing neural networks. The generated paths are piecewise linear with changing directions at the corners of the obstacles. The proposed planner can be successfully applied to snake robots, flying robots, and control of Gantry cranes. Several simulation results show the effectiveness of the proposed algorithm.

Modeling of novel type diaphragm pump

This work deals with modeling of magnetically driven new type diaphragm pump and further development of driving control system for it. The pump has highly nonlinear behavior and complicated structure which makes the modeling task quite involved. After designing a motion model of the pump, an analysis of the magnetic field distribution and generated electromagnetic forces driving the pump is given. Several simulation results show the effectiveness of the proposed system model.

Enhancing education in automatic control via interactive learning tools

We present interactive learning tools for the education in classical automatic control. The tools are aimed at improving the understanding of and skills for analysis and design of control systems. The tools are implemented in MATLAB and can be used via the Internet. The tools are enhanced by detailed helps and hints and can be used by the students for solving seminar problems and individual learning. They can be implemented as a teaching aid during the lectures in classical automatic control, as well. Both, Japanese and English versions of the tools are developed.

Development of newly designed VHF interferometer system for observing earthquake-related atmospheric anomalies

Temporal correlation between atmospheric anomalies and earthquakes has recently been verified statistically through measuring VHF FM radio waves transmitted beyond the line-of-sight. In order to locate the sources of such atmospheric anomalies, we developed a VHF interferometer system (bistatic-radar type) capable of finding the arrival direction of FM radio waves scattered possibly by earthquake-related atmospheric anomalies. In general, frequency modulation of FM radio waves produces ambiguity of arrival direction. However, our system, employing high-sampling rates of the order of kHz, can precisely measure the arrival direction of FM radio waves by stacking received signals.

Path Planning Algorithm for Robot in 3D Environment Based on Neural Network

The problem of path planning is studied for the case of a robot moving in a three-dimensional known environment. An aggressive algorithm using a description of the obstacles based on neural network is proposed. The algorithm allows constructing an optimal path and the calculation speed for the proposed algorithm is comparatively fast. Simulation results show the effectiveness of the proposed algorithm.

Simulation environment for mobile robots testing using ROS and Gazebo

In the process of development a control strategy for mobile robots, simulation is important for testing the software components, robot behavior and control algorithms in different surrounding environments. In this paper we introduce a simulation environment for mobile robots based on ROS and Gazebo. We show that after properly creating the robot models under Gazebo, the code developed for the simulation process can be directly implemented in the real robot without modifications. In this paper autonomous navigation tasks and 3D-mapping simulation using control programs under ROS are presented. Both the simulation and experimental results agree very well and show the usability of the developed environment.

Performances of Different Control Laws for Automatic Oxygen Supply for Copd Patients

Many of the patients with pulmonary insufficiency are administered to breath either pure oxygen (O2) or high concentrations of oxygen from a mask or an intranasal tube. Depending on the level of the lung insufficiency the physician administers a certain amount of oxygen the patient have to inhale. The purpose of the oxygen therapy is to ensure that the patient’s arterial partial pressure of oxygen (PaO2) is maintained near the correct value. However, exercise is known to induce a decrease in the oxygen concentration in the blood and it is hard to predict how much PaO2 decreases during exercise from the common pulmonary function tests such as spirometry or arterial blood gas analysis.

A Closed Loop System for Controlling with Arterial Partial Pressure of Oxygen in Patients with Respiratory Abnormalities

Abstract A system for controlling the arterial partial pressure of oxygen in patients on long-term oxygen therapy is proposed. The system input is the flow of supplied oxygen and the output is the partial pressure of oxygen in the blood. After performing a parameter estimation of the model of pulmonary system, two schemes are compared: an P control and the proposed adaptive observer for estimation and further elimination of the disturbances to patient blood oxygen level.