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Full Chapter Proceedings of 15Th International Conference On Electromechanics and Robotics Zavalishin S Readings Er ZR 2020 Ufa Russia 15 18 April 2020 Andrey Ronzhin PDF
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Andrey Ronzhin
Vladislav Shishlakov Editors
Volume 187
Series Editors
Robert J. Howlett, Bournemouth University and KES International,
Shoreham-by-sea, UK
Lakhmi C. Jain, Faculty of Engineering and Information Technology,
Centre for Artificial Intelligence, University of Technology Sydney,
Sydney, NSW, Australia
The Smart Innovation, Systems and Technologies book series encompasses the
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series is to make available a platform for the publication of books on all aspects of
single and multi-disciplinary research on these themes in order to make the latest
results available in a readily-accessible form. Volumes on interdisciplinary research
combining two or more of these areas is particularly sought.
The series covers systems and paradigms that employ knowledge and intelligence
in a broad sense. Its scope is systems having embedded knowledge and intelligence,
which may be applied to the solution of world problems in industry, the environment
and the community. It also focusses on the knowledge-transfer methodologies and
innovation strategies employed to make this happen effectively. The combination of
intelligent systems tools and a broad range of applications introduces a need for a
synergy of disciplines from science, technology, business and the humanities. The
series will include conference proceedings, edited collections, monographs, hand-
books, reference books, and other relevant types of book in areas of science and
technology where smart systems and technologies can offer innovative solutions.
High quality content is an essential feature for all book proposals accepted for the
series. It is expected that editors of all accepted volumes will ensure that
contributions are subjected to an appropriate level of reviewing process and adhere
to KES quality principles.
** Indexing: The books of this series are submitted to ISI Proceedings,
EI-Compendex, SCOPUS, Google Scholar and Springerlink **
Editors
Proceedings of 15th
International Conference
on Electromechanics
and Robotics “Zavalishin’s
Readings”
ER(ZR) 2020, Ufa, Russia, 15–18 April 2020
123
Editors
Andrey Ronzhin Vladislav Shishlakov
St. Petersburg Institute for Informatics Saint Petersburg State University
and Automation of the Russian of Aerospace Instrumentation
Academy of Sciences St. Petersburg, Russia
St. Petersburg, Russia
© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature
Singapore Pte Ltd. 2021
This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whether
the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of
illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and
transmission or information storage and retrieval, electronic adaptation, computer software, or by similar
or dissimilar methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publication does not imply, even in the absence of a specific statement, that such names are exempt from
the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authors or the editors give a warranty, expressed or implied, with respect to the material contained
herein or for any errors or omissions that may have been made. The publisher remains neutral with regard
to jurisdictional claims in published maps and institutional affiliations.
This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd.
The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,
Singapore
Organization
General Chair
Yulia Antokhina
Co-chairs
Ramil Bakhtizin
Sergey Emelyanov
Anatoliy Ovodenko
Vladislav Shishlakov
Committees
Programme Committee
Karsten Berns, Germany
Nikolay Bolotnik, Russia
Yi-Tung Chen, USA
Sergey Chigvincev, Russia
Alexander Danilov, Russia
Vlado Delic, Serbia
Ivan Ermolov, Russia
Naohisa Hashimoto, Japan
Han-Pang Huang, Taiwan
Shu Huang, Taiwan
Viktor Glazunov, Russia
v
vi Organization
Organizing Committee
Radmir Aflyatunov
Oksana Emelyanova
Natalia Dormidontova
Maksim Ivanov
Organization vii
Nataliya Jarinova
Ilgiza Kaekberdin
Natalia Kashina
Timur Khabibullin
Boris Lushnikov
Alina Matova
Ekaterina Miroshnikova
Anna Motienko
Margarita Avstriyskaya
Irina Podnozova
Elena Reznik
Anton Saveliev
Ekaterina Savelyeva
Sergei Savin
Oksana Solenaya
Dmitry Tyurin
Andrey Yatsun
Foreword
ix
Preface
xi
xii Preface
Special thanks are due to the members of the Local Organizing Committee for
their tireless effort and enthusiasm during the conference organization. Hope for
and look forward to your attention to the ER(ZR)-2021. The conference website is
located at: http://suai.edu.ru/conference/zav-read/.
xiii
xiv Contents
Prof. Andrey Ronzhin is Director of St. Petersburg Institute for Informatics and
Automation of the Russian Academy of Sciences (SPIIRAS) and Head of the
Department of Electromechanics and Robotics Systems at St. Petersburg University
of Airspace Instrumentation. His research focuses on the interaction of autonomous
robotic systems and users in a cyber-physical environment. He is a member of
Scientific Board of Robotics and Mechatronics of the Russian Academy of
Sciences, the Academy of Navigation and Motion Control, Co-Chairman of
International Conference Interactive Collaborative Robotics – ICR. He is Deputy
Editor-in-Chief of SPIIRAS Proceedings Journal.
xxvii
Part I
Keynote Lectures
Chapter 1
Aerial Robots and Infrastructure
of Their Working Environment
Vladimir Fetisov
In robotics the term “aerial robot” (AR) is known from 1998, when Michelson [1]
described a new class of highly intelligent, small flying machines. Now the sense
covered under the term AR extends much further. In the field of aviation, robotic
flying machines are referred to as “unmanned aerial vehicles” (UAVs), or drones, by
simply saying.
Unmanned aerial vehicle (UAV) is defined as a pilotless aircraft, which is flown
without a pilot-in-command on-board and is either remotely and fully controlled
from another place (ground, another aircraft, ship, space) or programmed and fully
autonomous [2].
On the other hand, it is known for the following definition of AR: “An aerial
robot is a system capable of sustained flight with no direct human control and able to
perform a specific task” [3]. According to this definition, any contemporary UAV is
AR because UAV’s on-board flight controller with embedded navigation equipment
V. Fetisov (B)
Ufa State Aviation Technical University, Ufa, Russia
e-mail: photonltd@mail.ru
© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer 3
Nature Singapore Pte Ltd. 2021
A. Ronzhin and V. Shishlakov (eds.), Proceedings of 15th International Conference
on Electromechanics and Robotics “Zavalishin’s Readings”, Smart Innovation, Systems
and Technologies 187, https://doi.org/10.1007/978-981-15-5580-0_1
4 V. Fetisov
Main functional means of UAS include all components that are closely connected
with flights: UAVs, control station (CS), start and landing equipment, means of
transportation, navigation and communication equipment and service stations.
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