Pub Date : 2023-12-14DOI: 10.32362/2500-316x-2023-11-6-57-67
A. V. Smirnov
Objectives. A valley is a region of an objective function landscape in which the function varies along one direction more slowly than along other directions. In order to determine the error of the objective function minimum location in such regions, it is necessary to analyze relations of valley parameters.Methods. A special test function was used in numerical experiments to model valleys with variables across wide ranges of parameters. The position and other valley parameters were defined randomly. Valley dimensionality and ratio were estimated from eigenvalues of the approximated Hessian of objective function in the termination point of minimum search. The error was defined as the Euclidian distance between the known minimum position and the minimum search termination point. Linear regression analysis and approximation with an artificial neural network model were used for statistical processing of experimental data.Results. A linear relation of logarithm of valley ratio to logarithm of minimum position error was obtained. Here, the determination coefficient R2 was ~0.88. By additionally taking into account the Euclidian norm of the objective function gradient in the termination point, R2 can be augmented to ~0.95. However, by using the artificial neural network model, an approximation R2 ~ 0.97 was achieved.Conclusions. The obtained relations may be used for estimating the expected error of extremum coordinates in optimization problems. The described method can be extended to functions having a valley dimensionality of more than one and to other types of hard-to-optimize algorithms regions of objective function landscapes.
{"title":"Investigation of influence of objective function valley ratio on the determination error of its minimum coordinates","authors":"A. V. Smirnov","doi":"10.32362/2500-316x-2023-11-6-57-67","DOIUrl":"https://doi.org/10.32362/2500-316x-2023-11-6-57-67","url":null,"abstract":"Objectives. A valley is a region of an objective function landscape in which the function varies along one direction more slowly than along other directions. In order to determine the error of the objective function minimum location in such regions, it is necessary to analyze relations of valley parameters.Methods. A special test function was used in numerical experiments to model valleys with variables across wide ranges of parameters. The position and other valley parameters were defined randomly. Valley dimensionality and ratio were estimated from eigenvalues of the approximated Hessian of objective function in the termination point of minimum search. The error was defined as the Euclidian distance between the known minimum position and the minimum search termination point. Linear regression analysis and approximation with an artificial neural network model were used for statistical processing of experimental data.Results. A linear relation of logarithm of valley ratio to logarithm of minimum position error was obtained. Here, the determination coefficient R2 was ~0.88. By additionally taking into account the Euclidian norm of the objective function gradient in the termination point, R2 can be augmented to ~0.95. However, by using the artificial neural network model, an approximation R2 ~ 0.97 was achieved.Conclusions. The obtained relations may be used for estimating the expected error of extremum coordinates in optimization problems. The described method can be extended to functions having a valley dimensionality of more than one and to other types of hard-to-optimize algorithms regions of objective function landscapes.","PeriodicalId":282368,"journal":{"name":"Russian Technological Journal","volume":"35 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138971485","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-14DOI: 10.32362/2500-316x-2023-11-6-76-88
M. Abdulkadyrov, A. N. Ignatov, N. N. Kulikova, E. S. Mityakov
Objectives. Effective import substitution can be achieved only through the creation and use of efficient domestic production capacities. The aim of this study is to develop and justify a method for the integrated assessment of the effects of projects aimed at the introduction of new equipment, including import substitution projects.Methods. The research was based on systemic and dialectical approaches, as well as systemic, comparative, economic and mathematical methods, and statistical analysis.Results. The paper proposes a method for the integrated assessment of production system development projects. In order to obtain a synthetic assessment, a system of indicators was developed to study the effects of production system development projects, i.e., projects for the introduction of new equipment. The effects of the introduction of new equipment can be divided into internal and external: potential development, socioeconomic, import independence, public, and environmental. The indicators are not current values, but changes in dynamics. A comprehensive consideration of the effects allows the existing criteria for decision-making to be expanded when implementing projects to develop the production system. It also allows the impact on both the enterprise and society to be assessed. The authors define both the quantitative and qualitative indicators for each group of effects. On the basis of the author’s system of indicators, a methodology for comparative comparison of indicators using normalized indices was developed and the calculation of a generalized indicator substantiated. The proposed system of indicators was successfully tested at the Lytkarino Optical Glass Factory science-intensive enterprise when assessing a new domestic device for the development of the production system.Conclusions. The results of the approved method for integrated assessment enabled the use of diverse indicators for the quantitative and qualitative assessment of the effects of the introduction of science-intensive projects. This included projects for import substitution of machinery and equipment. A combination of various effects will be relevant to any socioeconomic system, so the proposed integrated assessment method for evaluating the effects is universal to a certain extent. It can thus be adapted for scientific, technical and technological projects on import substitution of any industrial enterprise.
{"title":"Assessment of the effects of production system development projects: Case study of Lytkarino Optical Glass Factory","authors":"M. Abdulkadyrov, A. N. Ignatov, N. N. Kulikova, E. S. Mityakov","doi":"10.32362/2500-316x-2023-11-6-76-88","DOIUrl":"https://doi.org/10.32362/2500-316x-2023-11-6-76-88","url":null,"abstract":"Objectives. Effective import substitution can be achieved only through the creation and use of efficient domestic production capacities. The aim of this study is to develop and justify a method for the integrated assessment of the effects of projects aimed at the introduction of new equipment, including import substitution projects.Methods. The research was based on systemic and dialectical approaches, as well as systemic, comparative, economic and mathematical methods, and statistical analysis.Results. The paper proposes a method for the integrated assessment of production system development projects. In order to obtain a synthetic assessment, a system of indicators was developed to study the effects of production system development projects, i.e., projects for the introduction of new equipment. The effects of the introduction of new equipment can be divided into internal and external: potential development, socioeconomic, import independence, public, and environmental. The indicators are not current values, but changes in dynamics. A comprehensive consideration of the effects allows the existing criteria for decision-making to be expanded when implementing projects to develop the production system. It also allows the impact on both the enterprise and society to be assessed. The authors define both the quantitative and qualitative indicators for each group of effects. On the basis of the author’s system of indicators, a methodology for comparative comparison of indicators using normalized indices was developed and the calculation of a generalized indicator substantiated. The proposed system of indicators was successfully tested at the Lytkarino Optical Glass Factory science-intensive enterprise when assessing a new domestic device for the development of the production system.Conclusions. The results of the approved method for integrated assessment enabled the use of diverse indicators for the quantitative and qualitative assessment of the effects of the introduction of science-intensive projects. This included projects for import substitution of machinery and equipment. A combination of various effects will be relevant to any socioeconomic system, so the proposed integrated assessment method for evaluating the effects is universal to a certain extent. It can thus be adapted for scientific, technical and technological projects on import substitution of any industrial enterprise.","PeriodicalId":282368,"journal":{"name":"Russian Technological Journal","volume":"5 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138975472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-14DOI: 10.32362/2500-316x-2023-11-6-47-56
S. Y. Gorchakov
Objectives. The paper considers a satellite with an optoelectronic payload designed to take pictures of the Earth’s surface. The work sets out to develop a mathematical model for determining the dependencies between the state vector of the satellite, the state vector of the point being imaged on the Earth’s surface, and the distribution fields of the velocity vectors and accelerations of the motion of the image along the focal plane of the optoelectronic payload.Methods. The method is based on double differentiation of the photogrammetry equation when applied to a survey of the Earth’s surface from space. For modeling the orbital and angular motion of the satellite, differential equations with numerical integration were used. The motion parameters of the Earth’s surface were calculated based on the Standards of Fundamental Astronomy software library.Results. Differential equations of motion of the image were obtained. Verification of the developed mathematical model was carried out. The motion of the considered satellite was simulated in orbital orientation mode using an image velocity compensation model. The distribution fields of velocity vectors and accelerations of motion of the image of the Earth’s surface were constructed. The residual motion of the field of image following compensation was investigated.Conclusions. The proposed mathematical model can be used both with an optoelectronic payload when modeling shooting modes and estimating image displacements at the design stage of a satellite, as well as at the satellite operation stage when incorporating the presented model in the onboard satellite software. The presented dependencies can also be used to construct an image transformation matrix, both when restoring an image and when obtaining a super-resolution.
{"title":"Mathematical modeling of velocity and accelerations fields of image motion in the optical equipment of the Earth remote sensing satellite","authors":"S. Y. Gorchakov","doi":"10.32362/2500-316x-2023-11-6-47-56","DOIUrl":"https://doi.org/10.32362/2500-316x-2023-11-6-47-56","url":null,"abstract":"Objectives. The paper considers a satellite with an optoelectronic payload designed to take pictures of the Earth’s surface. The work sets out to develop a mathematical model for determining the dependencies between the state vector of the satellite, the state vector of the point being imaged on the Earth’s surface, and the distribution fields of the velocity vectors and accelerations of the motion of the image along the focal plane of the optoelectronic payload.Methods. The method is based on double differentiation of the photogrammetry equation when applied to a survey of the Earth’s surface from space. For modeling the orbital and angular motion of the satellite, differential equations with numerical integration were used. The motion parameters of the Earth’s surface were calculated based on the Standards of Fundamental Astronomy software library.Results. Differential equations of motion of the image were obtained. Verification of the developed mathematical model was carried out. The motion of the considered satellite was simulated in orbital orientation mode using an image velocity compensation model. The distribution fields of velocity vectors and accelerations of motion of the image of the Earth’s surface were constructed. The residual motion of the field of image following compensation was investigated.Conclusions. The proposed mathematical model can be used both with an optoelectronic payload when modeling shooting modes and estimating image displacements at the design stage of a satellite, as well as at the satellite operation stage when incorporating the presented model in the onboard satellite software. The presented dependencies can also be used to construct an image transformation matrix, both when restoring an image and when obtaining a super-resolution.","PeriodicalId":282368,"journal":{"name":"Russian Technological Journal","volume":"66 8","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138974916","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-14DOI: 10.32362/2500-316x-2023-11-6-68-75
D. A. Khrychev
Objectives. The work sets out to study the properties of the Wrońskian determinant of the system of solutions to a linear homogeneous equation in cases when the number of solutions is less than the order of the equation, comparing them with the known properties of the same determinant when the number of solutions is equal to the order of the equation.Methods. The work uses the methods of linear algebra according to the theory of ordinary differential equations, as well as mathematical and complex analysis.Results. It is shown that the vanishing of a considered determinant on an arbitrarily small interval implies its vanishing on the entire domain of definition; the solutions turn out to be linearly dependent. A stronger result is obtained in three cases: (1) if the coefficients of the equation are analytic functions; (2) if the number of solutions is equal to one; (3) if the number of solutions is one less than the order of the equation. Namely, if the set of zeros of the considered Wrońskian has a limit point belonging to the domain of definition of solutions, then the determinant is identically equal to zero and the solutions are linearly dependent.Conclusions. According to the obtained results, the Wrońskian of a system of solutions of a linear homogeneous equation can serve as an indicator of the linear dependence or independence of this system in cases where the number of solutions is lower than the order of the equation; here, the solutions are linearly dependent if and only if their Wrońskian is identically equal to zero. In this case, there is no need to check whether the determinant vanishes over the entire domain of definition, since it is sufficient to do this on an arbitrarily chosen interval or even (in the special cases listed above) on an arbitrarily chosen set having a limit point.
{"title":"Properties of the Wrońskian determinant of a system of solutions to a linear homogeneous equation: The case when the number of solutions is less than the order of the equation","authors":"D. A. Khrychev","doi":"10.32362/2500-316x-2023-11-6-68-75","DOIUrl":"https://doi.org/10.32362/2500-316x-2023-11-6-68-75","url":null,"abstract":"Objectives. The work sets out to study the properties of the Wrońskian determinant of the system of solutions to a linear homogeneous equation in cases when the number of solutions is less than the order of the equation, comparing them with the known properties of the same determinant when the number of solutions is equal to the order of the equation.Methods. The work uses the methods of linear algebra according to the theory of ordinary differential equations, as well as mathematical and complex analysis.Results. It is shown that the vanishing of a considered determinant on an arbitrarily small interval implies its vanishing on the entire domain of definition; the solutions turn out to be linearly dependent. A stronger result is obtained in three cases: (1) if the coefficients of the equation are analytic functions; (2) if the number of solutions is equal to one; (3) if the number of solutions is one less than the order of the equation. Namely, if the set of zeros of the considered Wrońskian has a limit point belonging to the domain of definition of solutions, then the determinant is identically equal to zero and the solutions are linearly dependent.Conclusions. According to the obtained results, the Wrońskian of a system of solutions of a linear homogeneous equation can serve as an indicator of the linear dependence or independence of this system in cases where the number of solutions is lower than the order of the equation; here, the solutions are linearly dependent if and only if their Wrońskian is identically equal to zero. In this case, there is no need to check whether the determinant vanishes over the entire domain of definition, since it is sufficient to do this on an arbitrarily chosen interval or even (in the special cases listed above) on an arbitrarily chosen set having a limit point.","PeriodicalId":282368,"journal":{"name":"Russian Technological Journal","volume":"70 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139003294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-14DOI: 10.32362/2500-316x-2023-11-6-99-108
Yu. V. Belysheva, D. D. Sutyagin, E. S. Zimina
Objectives. Snow cover has a complex multifactorial impact on the environment as a link between global climatic processes and the system of the Earth’s surface. Snow cover monitoring is one of the key tasks of hydrometeorology which also requires the systematic regular collection of its indicators. This work aims to develop an architecture of geoinformation technology for snow cover monitoring with the purpose of addressing the problem of automating the collection of snow cover indicators and their further maintenance. This architecture can also be used for other hydrometeorological monitoring tasks.Methods. This paper analyzes the existing fundamental basis of snow cover data collection and uses the method of systems approach to describe the architecture of distributed geoinformation technology.Results. The paper presents an architecture of distributed geoinformation technology focused on snow cover monitoring from measurements, data aggregation, and validation to their transfer to a centralized processing system. A prototype of portable user terminal modules for testing this technology is developed.Conclusions. The proposed architecture is capable of functioning in circumstances of limited telecommunication availability, while ensuring data integrity control and personalization of responsibility by introducing an electronic signature of each measurement session. This architecture can be expanded by developing and implementing modules for other types of measurements.
{"title":"Architecture of distributed geoinformation technology for snow cover monitoring in circumstances of limited telecommunications accessibility","authors":"Yu. V. Belysheva, D. D. Sutyagin, E. S. Zimina","doi":"10.32362/2500-316x-2023-11-6-99-108","DOIUrl":"https://doi.org/10.32362/2500-316x-2023-11-6-99-108","url":null,"abstract":"Objectives. Snow cover has a complex multifactorial impact on the environment as a link between global climatic processes and the system of the Earth’s surface. Snow cover monitoring is one of the key tasks of hydrometeorology which also requires the systematic regular collection of its indicators. This work aims to develop an architecture of geoinformation technology for snow cover monitoring with the purpose of addressing the problem of automating the collection of snow cover indicators and their further maintenance. This architecture can also be used for other hydrometeorological monitoring tasks.Methods. This paper analyzes the existing fundamental basis of snow cover data collection and uses the method of systems approach to describe the architecture of distributed geoinformation technology.Results. The paper presents an architecture of distributed geoinformation technology focused on snow cover monitoring from measurements, data aggregation, and validation to their transfer to a centralized processing system. A prototype of portable user terminal modules for testing this technology is developed.Conclusions. The proposed architecture is capable of functioning in circumstances of limited telecommunication availability, while ensuring data integrity control and personalization of responsibility by introducing an electronic signature of each measurement session. This architecture can be expanded by developing and implementing modules for other types of measurements.","PeriodicalId":282368,"journal":{"name":"Russian Technological Journal","volume":"8 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138973228","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-13DOI: 10.32362/2500-316x-2023-11-6-7-15
S. M. Ivanova, Z. V. Ilyichenkova
Objectives. This article discusses a new way of generating keyboard handwriting using a touch keyboard for authentication in currently existing mobile systems.Methods. Due to the insufficient reliability of single password authentication, the proposal is to use it in combination with characteristics which correspond to handwriting on mobile devices. This article demonstrates the possibility of using individual user characteristics in the formulation of keyboard handwriting on devices with touch keyboards. The type of keyboard used affects the characteristics of keyboard handwriting, so this aspect can be used to improve password authentication reliability. The authentication process in the information environment can be supplemented with data on the nature of the impact on a touch keyboard. The use of the built-in 3D Touch function is also of interest. This is available when working on mobile devices and appliances equipped with a touch keyboard. The paper demonstrates that the use of one parameter only is insufficient for accurate authentication. The study proposes a method of determining an acceptable error range for both the touch force and the intermediate interval during authentication. For this purpose, the Laplace function which formulates the interval of each characteristic depending on the required probability of user recognition is used.Results. Touch force and the intermediate interval are sufficient to obtain the necessary characteristics, in order to formulate a refined user portrait depending on the user’s keyboard handwriting. Experimental statistics are given separately for an average sample of three different users depending on touch force. They also provide the results of authentication when using both standard deviations of pressing and the intervals when using the touch keyboard for the iOSXcode platform.Conclusions. The conclusion relates to the possibility of user authentication by keyboard handwriting, formulated on the basis of both the touch force on the keyboard symbols and intervals between pressing. Using the values of the sample mean and standard deviations allows authentication according to the required recognition probability.
目的。本文讨论了在现有移动系统中使用触摸键盘生成键盘手写验证的新方法。由于单一密码验证的可靠性不足，建议将其与移动设备上的手写特征结合使用。本文展示了在带有触摸键盘的设备上使用键盘手写制定用户个人特征的可能性。所使用的键盘类型会影响键盘手写的特征，因此可以利用这一点来提高密码验证的可靠性。信息环境中的身份验证过程可以通过有关对触摸键盘影响性质的数据进行补充。内置 3D Touch 功能的使用也值得关注。在配备触摸键盘的移动设备和设备上工作时，可以使用该功能。论文表明，仅使用一个参数不足以实现准确的身份验证。研究提出了一种方法，用于确定认证过程中触摸力和中间间隔的可接受误差范围。为此，使用了拉普拉斯函数，该函数根据用户识别所需的概率来确定每个特征的区间。触摸力度和中间间隔足以获得必要的特征，从而根据用户的键盘笔迹绘制出精细的用户画像。根据触控力度，分别给出了三个不同用户平均样本的实验统计数据。他们还提供了使用 iOSXcode 平台触摸键盘时按压标准偏差和间隔的验证结果。结论涉及通过键盘手写进行用户身份验证的可能性，是根据键盘符号上的触摸力度和按压间隔制定的。使用样本平均值和标准偏差值可以根据所需的识别概率进行身份验证。
{"title":"Generation of keyboard handwriting during user authentication on mobile devices","authors":"S. M. Ivanova, Z. V. Ilyichenkova","doi":"10.32362/2500-316x-2023-11-6-7-15","DOIUrl":"https://doi.org/10.32362/2500-316x-2023-11-6-7-15","url":null,"abstract":"Objectives. This article discusses a new way of generating keyboard handwriting using a touch keyboard for authentication in currently existing mobile systems.Methods. Due to the insufficient reliability of single password authentication, the proposal is to use it in combination with characteristics which correspond to handwriting on mobile devices. This article demonstrates the possibility of using individual user characteristics in the formulation of keyboard handwriting on devices with touch keyboards. The type of keyboard used affects the characteristics of keyboard handwriting, so this aspect can be used to improve password authentication reliability. The authentication process in the information environment can be supplemented with data on the nature of the impact on a touch keyboard. The use of the built-in 3D Touch function is also of interest. This is available when working on mobile devices and appliances equipped with a touch keyboard. The paper demonstrates that the use of one parameter only is insufficient for accurate authentication. The study proposes a method of determining an acceptable error range for both the touch force and the intermediate interval during authentication. For this purpose, the Laplace function which formulates the interval of each characteristic depending on the required probability of user recognition is used.Results. Touch force and the intermediate interval are sufficient to obtain the necessary characteristics, in order to formulate a refined user portrait depending on the user’s keyboard handwriting. Experimental statistics are given separately for an average sample of three different users depending on touch force. They also provide the results of authentication when using both standard deviations of pressing and the intervals when using the touch keyboard for the iOSXcode platform.Conclusions. The conclusion relates to the possibility of user authentication by keyboard handwriting, formulated on the basis of both the touch force on the keyboard symbols and intervals between pressing. Using the values of the sample mean and standard deviations allows authentication according to the required recognition probability.","PeriodicalId":282368,"journal":{"name":"Russian Technological Journal","volume":"48 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138976895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-13DOI: 10.32362/2500-316x-2023-11-6-16-27
V. V. Golubov, S. V. Manko
Objectives. The work analyzes features of one of the most promising approaches to solve the problems for motion planning of autonomous robotic manipulators of various types and purposes using the rapidly exploring random tree (RRT) method. The development of modern robotics is shown to be inextricably linked with the improvement of the designs of the created samples, for which the placement of a manipulator on platform becomes a typical layout option. Prospects for using the RRT method as a constructive basis for creating a universal motion planner are evaluated for mobile and robotic manipulators, including autonomous robotic systems with a manipulator on a moving platform.Methods. The object of the research is the RRT method and its well-known modifications RRT* and RRT-Connect. The effectiveness of applying such methods for solving problems associated with planning the motions of robotic manipulators of various types was evaluated using computer and natural simulation methods.Results. Based on a review of the literature and the results of the research, the wide possibilities of the RRT method can be used for solving motion planning problems not only for mobile and robotic manipulators, but also for robotic systems on whose transport platform an onboard manipulator has been installed (including those having a redundant or reconfigurable structure). The effectiveness of the applied application of the RRT method is confirmed by examples of modeling a mobile platform with an onboard manipulator and the results of full-scale experiments with a prototype of the ARAKS reconfigurable mechatronic-modular robotic manipulators (RTU MIREA, Russia). It can be experimentally demonstrated and theoretically substantiated that the final dimension of the exploring tree, and hence the time of its construction up to reaching a given target state, is largely determined by the value of the growth factor.Conclusions. The generalization of the results obtained opens up real prospects for using the RRT method as a constructive basis not only for creating universal means for motion planning mobile robotic systems with an onboard manipulator, but also for solving the problems of automating the docking of autonomous mobile platforms.
{"title":"Features and perspectives of application of the rapidly exploring random tree method for motion planning of autonomous robotic manipulators","authors":"V. V. Golubov, S. V. Manko","doi":"10.32362/2500-316x-2023-11-6-16-27","DOIUrl":"https://doi.org/10.32362/2500-316x-2023-11-6-16-27","url":null,"abstract":"Objectives. The work analyzes features of one of the most promising approaches to solve the problems for motion planning of autonomous robotic manipulators of various types and purposes using the rapidly exploring random tree (RRT) method. The development of modern robotics is shown to be inextricably linked with the improvement of the designs of the created samples, for which the placement of a manipulator on platform becomes a typical layout option. Prospects for using the RRT method as a constructive basis for creating a universal motion planner are evaluated for mobile and robotic manipulators, including autonomous robotic systems with a manipulator on a moving platform.Methods. The object of the research is the RRT method and its well-known modifications RRT* and RRT-Connect. The effectiveness of applying such methods for solving problems associated with planning the motions of robotic manipulators of various types was evaluated using computer and natural simulation methods.Results. Based on a review of the literature and the results of the research, the wide possibilities of the RRT method can be used for solving motion planning problems not only for mobile and robotic manipulators, but also for robotic systems on whose transport platform an onboard manipulator has been installed (including those having a redundant or reconfigurable structure). The effectiveness of the applied application of the RRT method is confirmed by examples of modeling a mobile platform with an onboard manipulator and the results of full-scale experiments with a prototype of the ARAKS reconfigurable mechatronic-modular robotic manipulators (RTU MIREA, Russia). It can be experimentally demonstrated and theoretically substantiated that the final dimension of the exploring tree, and hence the time of its construction up to reaching a given target state, is largely determined by the value of the growth factor.Conclusions. The generalization of the results obtained opens up real prospects for using the RRT method as a constructive basis not only for creating universal means for motion planning mobile robotic systems with an onboard manipulator, but also for solving the problems of automating the docking of autonomous mobile platforms.","PeriodicalId":282368,"journal":{"name":"Russian Technological Journal","volume":"86 S66","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138976865","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Objectives. Following the imposition of sanctions against the Russian Federation, which included a ban on thesupply of foreign electronic equipment—including automation systems—to Russian enterprises, the continuingdevelopment of science and technology in Russia became a question of ensuring technological sovereignty accordingto the principle of import substitution. According to plans developed by the Ministry of Industry and Trade of theRussian Federation, the policy of import substitution, including automation systems, will ensure the replacement ofimported equipment with domestic counterparts.Methods. Approaches underlying the joint project of MIREA ‒ Russian Technological University and EnvironmentalIndustrial Policy Center to solve the problems of import substitution are described. Various substitution strategiesavailable in the world experience, as well as objective and subjective obstacles to their implementation in Russia,including the insufficiency of domestic regulatory legal acts and previously formed attachments to importedtechnologies and regulatory frameworks, are considered. Distinctive features of contemporary external relations areadduced to the necessity and urgency of developing technological sovereignty. The main functional requirementsfor a software and hardware platform for developing modern automated control systems (ACS) for mechanicalengineering applications, as well as the required capabilities of an engineering center for solving applied problemsof overcoming import dependence, are described. The components of the production of capital goods (engineering)and its role in the product life cycle are shown.Results. The selection of a pilot engineering object comprising a sectional glass-forming machine, along with asoftware-hardware complex including elements of industrial electronics and ACS, is justified. The main functionalelements of the ACS and their interrelations are shown.Conclusions. The results confirm the necessity of achieving complete import substitution for the creation of digitalproducts. Prospects for cooperation with interested organizations are shown.
Pub Date : 2023-08-01DOI: 10.32362/2500-316x-2023-11-4-16-25
E. Zaytsev, E. Nurmatova
Objectives. A multi-agent knowledge representation and processing system (MKRPS) comprises a distributed artificial intelligence system designed to solve problems that are difficult or impossible to solve using monolithic systems. Solving complex problems in an MKRPS is accomplished by communities of intelligent software agents that use cognitive data structures, logical inference, and machine learning. Intelligent software agents are able to act rationally under conditions of incompleteness and ambiguity of incoming information. The aim of the present work is to identify models and methods, as well as software modules and tools, for use in developing a highly efficient MKRPS.Methods. Agent-based modeling methods were used to formally describe and programmatically simulate the rational behavior of intelligent agents, expert evaluation methods, the mathematical apparatus of automata theory, Markov chains, fuzzy logic, neural networks, and reinforcement learning.Results. An MKRPS structure diagram, a multi-agent solver, and microservices access control diagram were developed. Methods for distribution of intelligent software agents on the MKRPS nodes are proposed along with algorithms for optimizing the logical structure of the distributed knowledge base (DKB) to improve the performance of the MKRPS in terms of volume, cost and time criteria.Conclusions. The proposed approach to the development and use of intelligent software agents combines knowledge-based reasoning mechanisms with neural network models. The developed MKRPS structure and DKB control diagram includes described methods for optimizing the DKB, determining the availability of microservices used by the agents, ensuring the reliability assurance and coordinated functioning of the computing nodes of the system, as well as instrumental software tools to simplify the design and implementation of the MKRPS. The results demonstrate the effectiveness of the presented approach to knowledge management and the development of a high-performance problem-oriented MKRPS.
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Objectives. Automatic modulation recognition of unknown signals is an important task for various fields oftechnology such as radio control, radio monitoring, and identification of interference and sources of radio emission. The paper aims to develop a method for recognizing the types of signal modulation under conditions of parametric a priori uncertainty, including the uncertainty of carrier frequency- and initial signal phase values. An additional task consists in estimating the offset values of the carrier frequency or signal phase at the initial stage of the recognition process.Methods. A multi-task learning with artificial neural network and the theory of cumulants of random variables are used.Results. For signals with a carrier frequency and initial phase shift, cumulant approaches for QAM-8, APSK-16, QAM-64, and PSK-8 modulations are calculated. A multi-task learning with artificial neural network using cumulant features and a data standardization algorithm is presented. The results of the experiment show that using multi-task learning with an artificial neural network provides high accuracy of recognizing QAM-8 and APSK-16, QAM-64 and PSK-8 modulations with small mismatches of the carrier frequency or initial phase. The accuracy of determining the offset values from the carrier frequency or the initial phase for QAM-8, APSK-16, QAM-64, and PSK-8 modulation is high.Conclusions. The multi-task learning with neural network using high-order signal cumulants makes it possible not only to recognize modulation types with high accuracy under conditions of a priori uncertainty of signal parameters, but also to determine the offset values of carrier frequency or initial signal phase from expected values.
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