Adaptive Control Methods Department Lebedev Institute of Precision Mechanics and Computer Engineering
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    15.7.2009: Bachelor degree paper defense of M.E. Halizev.

    The 29th of June 2009 Bachelor degree paper «Development of control system of motion for compact mobile robot chassis» of MIPT student – Halizev M.E. was defenced.




    The paper of Michael deals with the problem of adaptive control system creation for the mobile robot. Michael has participated in development of adaptive system that provides realization of parallel car parking. The objective for Michael was to implement parallel parking on physical simulator of the mobile robot [A.A. Zhdanov, D.M. Klimov, V.V. Korolev, A.E. Utemov Modeling of parallel car parking process]. At first, it was necessary to modify adaptive control system in such a way that it can learn to guide the mobile robot parallel to barrier on the given distance. The implementation of this task has demanded refitting of sensor and executive robot systems along with control system. Due to reorganization of sensor system, the robot eyesight has been received «off-center eyesight», and executive robot mechanism, due to modification have provided possibility of robot motion as a car without in-place turn that used earlier. Program code of adaptive control system was modified in such way that control system could learn execution of given maneuver – drive along barrier on the given distance. As a result of real experiment it was showed that the robot by itself successfully utilizes driving along barrier, rounds barrier’s irregularities and step by step improves control quality. Thereby the objective of the project has been successfully completed by Michael.
    Download presentation for Bachelor degree defence speech

    2.2.2010: XII All-Russian scientific and technical conference "Neuroinformatics - 2010"
    25-29 january A.A. Zhdanov and A.E. Lebedev on XII All-Russian scientific and technical conference "Neuroinformatics - 2010" gave two lectures


    15.7.2009: Bachelor degree paper defense of M.E. Halizev.
    The 29th of June 2009 Bachelor degree paper «Development of control system of motion for compact mobile robot chassis» of MIPT student – Halizev M.E. was defenced.


    5.7.2009: MEDIAS 2009 Conference
    From 11th till 14th of May 2009, members of IPMCE A.A. Zhdanov, N.A. Sudarkin (Ph.D. candidate) and E.V. Krivtsov (Ph.D. candidate) delivered theirs reports on MEDIAS 2009 Conference.


    20.3.2009: Demo films on Youtube
    10.01.2009 the films demonstrating robot models (mobile robot and satellite) were placed on YouTube. One can see how the robots adapt to given conditions by itself.


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