A. V. Nikolaev, E. I. Starovoitov, D. V. Fedosov, A. V. Kolesnikov, M. A. Filin
The article deals with the issues of determining the position of unmanned vehicles (UV) in tunnels in the absence of signals from global navigation satellite systems (GNSS) and unfavorable operating conditions, such as low light, high humidity, radioactivity and others. The authors proposes a method for navigating unmanned vehicles based on the phenomenon of electromagnetic induction. On board the unmanned vehicle there is a high-frequency generator, a radio transmitting unit, a radio receiving unit, an information management system, and under the bearing or supporting surface of the unmanned vehicle propulsion unit there is a single-wire radio transmission line coordinated with the environment by means of an active load. The high-frequency generator transmits high-frequency current to the radio transmitting unit, which excites a single-wire radio transmission line, the single-wire radio transmission line emits a high-frequency radio signal supplied to the radio receiving unit for further conversion by the information management system into electrical control signals of an unmanned vehicle. Magnetic loops or electrical vibrators can be used as radiating antenna from the radio transmitting unit, and magnetic loops or ferrite probe excited by the high-frequency magnetic field of the radio transmission line can be used as receiving antenna. The article deals with the influence of the environment on the processes of radiation and reception of radio signals. Computer testing of the developed method was carried out with using three-dimensional electromagnetic modeling. Electrically small loop antennas located orthogonally were used to transmit and receive the radio signal. It was shown that the phase analysis of the transmission gain in both cases can provide ample information about the direction and deviation rate from the path which is set using the radio transmission line. The results of the study can be useful for the development of navigation systems for unmanned vehicles in conditions of limited availability of signals from GNSS.
{"title":"Navigation Technology of Unmanned Vehicles Based on Electromagnetic Induction","authors":"A. V. Nikolaev, E. I. Starovoitov, D. V. Fedosov, A. V. Kolesnikov, M. A. Filin","doi":"10.17587/mau.24.583-589","DOIUrl":"https://doi.org/10.17587/mau.24.583-589","url":null,"abstract":"The article deals with the issues of determining the position of unmanned vehicles (UV) in tunnels in the absence of signals from global navigation satellite systems (GNSS) and unfavorable operating conditions, such as low light, high humidity, radioactivity and others. The authors proposes a method for navigating unmanned vehicles based on the phenomenon of electromagnetic induction. On board the unmanned vehicle there is a high-frequency generator, a radio transmitting unit, a radio receiving unit, an information management system, and under the bearing or supporting surface of the unmanned vehicle propulsion unit there is a single-wire radio transmission line coordinated with the environment by means of an active load. The high-frequency generator transmits high-frequency current to the radio transmitting unit, which excites a single-wire radio transmission line, the single-wire radio transmission line emits a high-frequency radio signal supplied to the radio receiving unit for further conversion by the information management system into electrical control signals of an unmanned vehicle. Magnetic loops or electrical vibrators can be used as radiating antenna from the radio transmitting unit, and magnetic loops or ferrite probe excited by the high-frequency magnetic field of the radio transmission line can be used as receiving antenna. The article deals with the influence of the environment on the processes of radiation and reception of radio signals. Computer testing of the developed method was carried out with using three-dimensional electromagnetic modeling. Electrically small loop antennas located orthogonally were used to transmit and receive the radio signal. It was shown that the phase analysis of the transmission gain in both cases can provide ample information about the direction and deviation rate from the path which is set using the radio transmission line. The results of the study can be useful for the development of navigation systems for unmanned vehicles in conditions of limited availability of signals from GNSS.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"333 4-5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135565843","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}
S. G. Pushkov, L. L. Lovitsky, O. Yu. Gorshkova, I. V. Malakhova
Methods of the actual values of the angles of attack and slip determination in the technology of air data systems estimation using satellite navigation systems during aircraft flight tests of are stated. Also methods of parametric identification of mathematical models of on-board aerodynamic angles measurements errors are presented. The technology has been developed and implemented in the practice of flight tests at Flight Research Institute. The technology shows high efficiency of solving tasks of air data on-board systems, vertical separation systems, flight performance and takeoff and landing characteristics estimation in flight tests. The technology covers a wide range of issues of aerometric measurements, many of which have already been published. Here, attention is paid to measurements of aerodynamic angles. The features of determining the angles of attack and slip using data from air data systems, satellite and inertial navigation systems are shown. Equations for determining the angles of attack and slip during testing, factors of measurement errors, the structure of the mathematical model of the aerodynamic errors of the angle of attack on-board measurements are presented in a stationary approximation. Algorithms for solving problems in steady and unsteady modes of flight, takeoff and landing are considered. The completeness of the solution for the wind speed vector is noted. Estimates of methodological errors in determining aerodynamic angles using the technology are made. Compliance with modern requirements is showing. The effectiveness of the technology is confirmed by the materials of flight tests of a short-range aircraft. Typical examples of test materials presentation, features of measurements depending on the type of test mode, aerodynamic influence factors are shown.
{"title":"Methods for Parametric Identifi cation of Systematic Errors of Onboard Measurements of Aerodynamic Angles in Aircraft Flight Tests","authors":"S. G. Pushkov, L. L. Lovitsky, O. Yu. Gorshkova, I. V. Malakhova","doi":"10.17587/mau.24.598-607","DOIUrl":"https://doi.org/10.17587/mau.24.598-607","url":null,"abstract":"Methods of the actual values of the angles of attack and slip determination in the technology of air data systems estimation using satellite navigation systems during aircraft flight tests of are stated. Also methods of parametric identification of mathematical models of on-board aerodynamic angles measurements errors are presented. The technology has been developed and implemented in the practice of flight tests at Flight Research Institute. The technology shows high efficiency of solving tasks of air data on-board systems, vertical separation systems, flight performance and takeoff and landing characteristics estimation in flight tests. The technology covers a wide range of issues of aerometric measurements, many of which have already been published. Here, attention is paid to measurements of aerodynamic angles. The features of determining the angles of attack and slip using data from air data systems, satellite and inertial navigation systems are shown. Equations for determining the angles of attack and slip during testing, factors of measurement errors, the structure of the mathematical model of the aerodynamic errors of the angle of attack on-board measurements are presented in a stationary approximation. Algorithms for solving problems in steady and unsteady modes of flight, takeoff and landing are considered. The completeness of the solution for the wind speed vector is noted. Estimates of methodological errors in determining aerodynamic angles using the technology are made. Compliance with modern requirements is showing. The effectiveness of the technology is confirmed by the materials of flight tests of a short-range aircraft. Typical examples of test materials presentation, features of measurements depending on the type of test mode, aerodynamic influence factors are shown.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"336 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135566132","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}
The article presents a methodology for the synthesis of digital control systems for nonlinear objects with limiters under conditions of incomplete information. Closed-loop tracking systems with negative feedback are considered. Artificial neural networks are proposed to build a controller, which is included in series with the control object. This approach is effective when known classical methods do not allow to synthesize control. This is the case, for example, if the mathematical model is essentially nonlinear and is not fully defined. The developed methods allow us to expand the class of technical systems, for which the direct (without using various kinds of simplifications) synthesis of control laws that are close to optimal is possible. In addition, neural network controllers possess the properties of robustness, adaptivity, and are initially digital, i.e. those qualities, which are very much in demand in practice. In article main attention is given to such problems, as a choice of neural network structure for neural simulator and neural controller, construction of training sample, ensuring convergence of the process of weights correction. For training neural networks the method of back propagation of error is used as a basic one. The effectiveness of the proposed technique is demonstrated by the example of the synthesis of a neuroregulator for a specific technical object and its comparison with classical control systems. It should be noted that today neural network technologies are widespread enough in various spheres of activity. The successes demonstrated in sound processing, image processing, automatic translation, in navigation systems, in big data processing are impressive. However, their application in automatic control systems is not so widespread. The authors of this article believe that the potential of artificial neural networks can be used in this direction. It should be understood that the use of neural networks is effective only under certain conditions and properties of the control object.
{"title":"Structural and Parametric Synthesis of Neural Network Controllers for Control Objects with Limiters","authors":"S. V. Feofilov, A. V. Kozyr, D. L. Khapkin","doi":"10.17587/mau.24.563-572","DOIUrl":"https://doi.org/10.17587/mau.24.563-572","url":null,"abstract":"The article presents a methodology for the synthesis of digital control systems for nonlinear objects with limiters under conditions of incomplete information. Closed-loop tracking systems with negative feedback are considered. Artificial neural networks are proposed to build a controller, which is included in series with the control object. This approach is effective when known classical methods do not allow to synthesize control. This is the case, for example, if the mathematical model is essentially nonlinear and is not fully defined. The developed methods allow us to expand the class of technical systems, for which the direct (without using various kinds of simplifications) synthesis of control laws that are close to optimal is possible. In addition, neural network controllers possess the properties of robustness, adaptivity, and are initially digital, i.e. those qualities, which are very much in demand in practice. In article main attention is given to such problems, as a choice of neural network structure for neural simulator and neural controller, construction of training sample, ensuring convergence of the process of weights correction. For training neural networks the method of back propagation of error is used as a basic one. The effectiveness of the proposed technique is demonstrated by the example of the synthesis of a neuroregulator for a specific technical object and its comparison with classical control systems. It should be noted that today neural network technologies are widespread enough in various spheres of activity. The successes demonstrated in sound processing, image processing, automatic translation, in navigation systems, in big data processing are impressive. However, their application in automatic control systems is not so widespread. The authors of this article believe that the potential of artificial neural networks can be used in this direction. It should be understood that the use of neural networks is effective only under certain conditions and properties of the control object.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135977816","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}
The analysis of ways to improve the electroplated coating uniformity, among which the most promising for a multiassortment production is the current control, is presented in the article. The electroplating is considered as a control object and its mathematical model is described (with distributed coordinates based on the laws of Faraday and Ohm, Laplace’s partial differential equation) to current control. The search for optimal control is impossible in real time and requires lengthy preliminary calculations due to the complexity of the electroplating mathematical model. The use of associative memory in an intelligent system will make it possible to find a control that corresponds to the electroplating current state and the specified quality criterion (coating uniformity) in real time. An operation algorithm of the knowledge formation unit, which implies the use of an intelligent control system under predictable uncertainty with matrix-type associative memory, is proposed. The associative memory rows are filled based on the uniformity criterion approximation by the function and the choice of its values for given quality losses. An operation algorithm of the controller, which uses the control from the associative memory row with the closest weighted metric to the normalized values of the input variables, is considered. An operation algorithm of the quality assessment unit, which involves determining the influence of input variables on the output variable by calculating their weighting coefficients of significance, to determine the values of which the maximum values, range and maximum local changes are used for the probability of non-negativity of the output variable deviation from its given value, is proposed. A computational experiment was carried out to analyze the effectiveness of the proposed operation algorithms for the units of an intelligent electroplating control system based on associative memory in terms of the control search duration and loss in coating uniformity.
{"title":"Development and Analysis of an Intelligent Electroplating Control System Based on Associative Memory under Conditions of Predictable Uncertainty","authors":"D. S. Solovjev","doi":"10.17587/mau.24.573-582","DOIUrl":"https://doi.org/10.17587/mau.24.573-582","url":null,"abstract":"The analysis of ways to improve the electroplated coating uniformity, among which the most promising for a multiassortment production is the current control, is presented in the article. The electroplating is considered as a control object and its mathematical model is described (with distributed coordinates based on the laws of Faraday and Ohm, Laplace’s partial differential equation) to current control. The search for optimal control is impossible in real time and requires lengthy preliminary calculations due to the complexity of the electroplating mathematical model. The use of associative memory in an intelligent system will make it possible to find a control that corresponds to the electroplating current state and the specified quality criterion (coating uniformity) in real time. An operation algorithm of the knowledge formation unit, which implies the use of an intelligent control system under predictable uncertainty with matrix-type associative memory, is proposed. The associative memory rows are filled based on the uniformity criterion approximation by the function and the choice of its values for given quality losses. An operation algorithm of the controller, which uses the control from the associative memory row with the closest weighted metric to the normalized values of the input variables, is considered. An operation algorithm of the quality assessment unit, which involves determining the influence of input variables on the output variable by calculating their weighting coefficients of significance, to determine the values of which the maximum values, range and maximum local changes are used for the probability of non-negativity of the output variable deviation from its given value, is proposed. A computational experiment was carried out to analyze the effectiveness of the proposed operation algorithms for the units of an intelligent electroplating control system based on associative memory in terms of the control search duration and loss in coating uniformity.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135978961","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}
The paper devotes to the development of the approach for synthesis of reorientation trajectory of a small satellite. We consider the nanosatellite angular motion described by the kinematic quaternion equations. The aerodynamic and gravitational disturbance torques are taken into account in the angular motion model. Reorientation of a small satellite occurs from some initial position. In addition, the final angular velocity components do not exceed 0.1 °/s. The control program is given as the even Fourier series. The even Fourier series were chosen due to they can describe a complex dependency accurately. The coefficients of the even Fourier series are defined by the differential evolution algorithm. Previously, this approach has shown its efficiency for the cases of normal operation of the actuators. The paper presents the approach of synthesis of reorientation trajectory in case of failure of the actuator. The problem of reorientation reduces to optimization problem of searching of 34 coefficients of the even Fourier series that provided the achievement of the desired boundary conditions. The numerical results are given that approved the possibility of solution of the reorientation problem of small satellite in case of failure of the actuator. To compare the control programs, research was made between the cases of normal operation of the actuator and failure of the actuator. The value of the control torque differs by the order of magnitude in case of failure of the actuator. Despite this, its value is achievable for the magnetic coils.
{"title":"Synthesis of Nominal Reorientation Trajectories of a Small Satellite in Case of Failure of One Actuator","authors":"N. A. Elisov, A. V. Kramlikh, I. A. Lomaka","doi":"10.17587/mau.24.608-615","DOIUrl":"https://doi.org/10.17587/mau.24.608-615","url":null,"abstract":"The paper devotes to the development of the approach for synthesis of reorientation trajectory of a small satellite. We consider the nanosatellite angular motion described by the kinematic quaternion equations. The aerodynamic and gravitational disturbance torques are taken into account in the angular motion model. Reorientation of a small satellite occurs from some initial position. In addition, the final angular velocity components do not exceed 0.1 °/s. The control program is given as the even Fourier series. The even Fourier series were chosen due to they can describe a complex dependency accurately. The coefficients of the even Fourier series are defined by the differential evolution algorithm. Previously, this approach has shown its efficiency for the cases of normal operation of the actuators. The paper presents the approach of synthesis of reorientation trajectory in case of failure of the actuator. The problem of reorientation reduces to optimization problem of searching of 34 coefficients of the even Fourier series that provided the achievement of the desired boundary conditions. The numerical results are given that approved the possibility of solution of the reorientation problem of small satellite in case of failure of the actuator. To compare the control programs, research was made between the cases of normal operation of the actuator and failure of the actuator. The value of the control torque differs by the order of magnitude in case of failure of the actuator. Despite this, its value is achievable for the magnetic coils.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"181 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135977815","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}
The paper considers the problem of virtual sensor design for nonlinear dynamic systems with non-smooth nonlinearities described by continuous-time models for faulty physical sensor replacement. The main purpose of virtual sensors is generating the estimates of the unmeasured components of the considered system to provide additional information for effective control and fault diagnosis. Besides, virtual sensors can be used for faulty physical sensor replacement. The methods of virtual sensor design for solving this problem differ from standard procedure since information from faulty physical sensor does not use to design the virtual sensor replacing this sensor. It is assumed that to solve the problem, the system is equipped by diagnostic system allowing detecting faulty sensor. For every such a sensor, the virtual sensor generating estimate replacing the faulty sensor is designed. To solve the problem, so-called logic-dynamic approach is used which does not guarantee optimal solution but uses only methods of linear algebra to solve the problem for systems with non-smooth nonlinearities. This approach contains three steps. Initially, the nonlinear term is removed from system and linear model is designed. Then, a possibility to estimate the faulty sensor and to insert in the model the transformed nonlinear term is checked. Finally, stability of sensor is provided. The virtual sensor can be designed in identification canonical form or Jordan canonical form. The advantage of the first form is a standard procedure of the virtual sensor design while Jordan form allows obtaining simpler solution. The relations allowing designing the virtual sensor as in identification canonical as Jordan canonical form are derived.
{"title":"Method of Virtual Sensor Design for Faulty Physical Sensor Replacement","authors":"A. N. Zhirabok, A. V. Zuev, E. Yu. Bobko","doi":"10.17587/mau.24.526-532","DOIUrl":"https://doi.org/10.17587/mau.24.526-532","url":null,"abstract":"The paper considers the problem of virtual sensor design for nonlinear dynamic systems with non-smooth nonlinearities described by continuous-time models for faulty physical sensor replacement. The main purpose of virtual sensors is generating the estimates of the unmeasured components of the considered system to provide additional information for effective control and fault diagnosis. Besides, virtual sensors can be used for faulty physical sensor replacement. The methods of virtual sensor design for solving this problem differ from standard procedure since information from faulty physical sensor does not use to design the virtual sensor replacing this sensor. It is assumed that to solve the problem, the system is equipped by diagnostic system allowing detecting faulty sensor. For every such a sensor, the virtual sensor generating estimate replacing the faulty sensor is designed. To solve the problem, so-called logic-dynamic approach is used which does not guarantee optimal solution but uses only methods of linear algebra to solve the problem for systems with non-smooth nonlinearities. This approach contains three steps. Initially, the nonlinear term is removed from system and linear model is designed. Then, a possibility to estimate the faulty sensor and to insert in the model the transformed nonlinear term is checked. Finally, stability of sensor is provided. The virtual sensor can be designed in identification canonical form or Jordan canonical form. The advantage of the first form is a standard procedure of the virtual sensor design while Jordan form allows obtaining simpler solution. The relations allowing designing the virtual sensor as in identification canonical as Jordan canonical form are derived.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135094912","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}
S. A. Gayvoronskiy, Tatiana Al. Ezangina, A. V. Sobol
The article solves the problem of operative selection of the redundant onboard equipment complex components configuration of the suitable in the current operating conditionаs in the interests of ensuring high fault tolerance of the complex, as well as achieving other operational and technical characteristics. The basis of the redundancy management system of the complex consists of configuration supervisors — as program subjects according to the number of its competitive configurations of heterogeneous and nonuniform equipment worked out in advance. The choice of the preferred configuration is proposed to be carried out by performing multi-level arbitration, which includes two phases of paired arbitration of computers and paired arbitration of configuration. It is proposed to include the means of both types of arbitration in each configuration supervisor, which ensures its self-sufficiency when participating in a competitive selection. The second part of the article is devoted to the computer’s arbitration for the implementation of redundancy management functions. The approach is applicable to a computing environment with many comparable computing devices and contains 2 phases. In the first phase, a preliminary selection of a competing pair of computers — as applicants for the implementation of redundancy management functions in them is carried out. In the break between the phases, the pair computers implement the procedures for pair arbitration of configurations given in the first part of the article. In the second phase, the final choice of the -computer is made, in which the supervisor who won the arbitration will be implemented. In order to achieve the maximum possible centralization of selection procedures and, as a consequence, the exclusion of " bottlenecks" in terms of reliability of places, additionally proposed: the organization of secure data exchange between computers based on distributed registry technology; the procedure of paired arbitration of computers, consisting in mutual cross-validation of dominant supervisors of a pre-allocated pair by comparing preference matrices, including information parcels of arbitration objects. A methodological example that demonstrates the features of the system functioning in the conditions of computers degradation is given. The proposed approach can be used to solve the problems of reconfiguration control of heterogeneous computing facilities of technical objects on-board equipment complexes.
{"title":"Control Systems Synthesis of Maximum Robust Stability Degree Based on Vertex Critical Root Diagrams","authors":"S. A. Gayvoronskiy, Tatiana Al. Ezangina, A. V. Sobol","doi":"10.17587/mau.24.519-525","DOIUrl":"https://doi.org/10.17587/mau.24.519-525","url":null,"abstract":"The article solves the problem of operative selection of the redundant onboard equipment complex components configuration of the suitable in the current operating conditionаs in the interests of ensuring high fault tolerance of the complex, as well as achieving other operational and technical characteristics. The basis of the redundancy management system of the complex consists of configuration supervisors — as program subjects according to the number of its competitive configurations of heterogeneous and nonuniform equipment worked out in advance. The choice of the preferred configuration is proposed to be carried out by performing multi-level arbitration, which includes two phases of paired arbitration of computers and paired arbitration of configuration. It is proposed to include the means of both types of arbitration in each configuration supervisor, which ensures its self-sufficiency when participating in a competitive selection. The second part of the article is devoted to the computer’s arbitration for the implementation of redundancy management functions. The approach is applicable to a computing environment with many comparable computing devices and contains 2 phases. In the first phase, a preliminary selection of a competing pair of computers — as applicants for the implementation of redundancy management functions in them is carried out. In the break between the phases, the pair computers implement the procedures for pair arbitration of configurations given in the first part of the article. In the second phase, the final choice of the -computer is made, in which the supervisor who won the arbitration will be implemented. In order to achieve the maximum possible centralization of selection procedures and, as a consequence, the exclusion of \" bottlenecks\" in terms of reliability of places, additionally proposed: the organization of secure data exchange between computers based on distributed registry technology; the procedure of paired arbitration of computers, consisting in mutual cross-validation of dominant supervisors of a pre-allocated pair by comparing preference matrices, including information parcels of arbitration objects. A methodological example that demonstrates the features of the system functioning in the conditions of computers degradation is given. The proposed approach can be used to solve the problems of reconfiguration control of heterogeneous computing facilities of technical objects on-board equipment complexes.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135094114","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}
The authors consider the urgent task of developing bionic robots, in particular robots on four legs. Their advantages are the ability to move on uneven terrain, to perform reconnaissance, rescue and other dangerous work, where they could replace humans. A review of the existing best-known and most functional bionic four-legged robots is given, with descriptions of their strengths and weaknesses, as well as peculiarities of their movement and use. The main problems in the development of such devices and their control systems are highlighted. The article provides information on the research and development of an interactive bionic robot of the felid class, whose skeletal structure control implementation is deeply explored. The features of hardware and software implementation of the robot are considered, and schematic and real images of the construction are presented. The application of a microcomputer device with a neural processing unit to solve the problem of machine vision is highlighted. The results of testing machine vision using the Yolo3 neural network in streaming video mode are presented. The average accuracy of the open face recognition as a result of the tests was 95 %. For different degrees of occlusion, the average score was 80 %, and occlusion variants in which the neural network was unable to recognize faces were also identified. The article concludes with a discussion of the advantages and disadvantages of the proposed robot and the possibility of its application in human life, including the solution of various practical tasks.
{"title":"Interactive Quadruped Felid Class Robot with a Neural Processing Unit","authors":"D. A. Wolf, R. V. Meshcheryakov, A. O. Iskhakova","doi":"10.17587/mau.24.542-550","DOIUrl":"https://doi.org/10.17587/mau.24.542-550","url":null,"abstract":"The authors consider the urgent task of developing bionic robots, in particular robots on four legs. Their advantages are the ability to move on uneven terrain, to perform reconnaissance, rescue and other dangerous work, where they could replace humans. A review of the existing best-known and most functional bionic four-legged robots is given, with descriptions of their strengths and weaknesses, as well as peculiarities of their movement and use. The main problems in the development of such devices and their control systems are highlighted. The article provides information on the research and development of an interactive bionic robot of the felid class, whose skeletal structure control implementation is deeply explored. The features of hardware and software implementation of the robot are considered, and schematic and real images of the construction are presented. The application of a microcomputer device with a neural processing unit to solve the problem of machine vision is highlighted. The results of testing machine vision using the Yolo3 neural network in streaming video mode are presented. The average accuracy of the open face recognition as a result of the tests was 95 %. For different degrees of occlusion, the average score was 80 %, and occlusion variants in which the neural network was unable to recognize faces were also identified. The article concludes with a discussion of the advantages and disadvantages of the proposed robot and the possibility of its application in human life, including the solution of various practical tasks.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135093844","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}
To fulfill the practical needs of modern robotics, it is necessary to develop approaches for grasping unknown objects, since in the real world the robot faces a large variety of them. Approaches that imply the availability of complete information about the objects of the working area (3D model, weight and size characteristics) are not practical and can only be used in controlled conditions, such as working on a conveyor with standard details. Therefore, the scientific community and a number of industries are interested in research methods that increase the robot’s ability to adapt to new, unfamiliar conditions. This article presents main problems and research directions in the field of visual scene perception and grasping unknown objects by a manipulative robot. We discuss the differences in existing approaches according to various criteria, as well as advantages and disadvantages of existing solutions. The article may be useful to get acquainted with the subject area.
{"title":"Grasping of Unknown Objects with an Autonomous Manipulator: State of the Art, Problems and Prospects","authors":"A. D. Voronkov, S. A. K. Diane","doi":"10.17587/mau.24.533-541","DOIUrl":"https://doi.org/10.17587/mau.24.533-541","url":null,"abstract":"To fulfill the practical needs of modern robotics, it is necessary to develop approaches for grasping unknown objects, since in the real world the robot faces a large variety of them. Approaches that imply the availability of complete information about the objects of the working area (3D model, weight and size characteristics) are not practical and can only be used in controlled conditions, such as working on a conveyor with standard details. Therefore, the scientific community and a number of industries are interested in research methods that increase the robot’s ability to adapt to new, unfamiliar conditions. This article presents main problems and research directions in the field of visual scene perception and grasping unknown objects by a manipulative robot. We discuss the differences in existing approaches according to various criteria, as well as advantages and disadvantages of existing solutions. The article may be useful to get acquainted with the subject area.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135094266","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}
In this article the new method of discrete control systems design for nonlinear plants with differentiable nonlinearities is suggested. The increasing demands on the quality of control processes and the widespread use of computer technology provide ample opportunities for the design and implementation of digital control systems. However, discrete models of control plants are needed to solve this problem. In the case of linear plants, such models are created on the basis of z-transformation, Euler or Tustin formulas. In the case of nonlinear plants, these transformations are not applicable, so a large number of approximate discretization methods have been developed to date. Euler and Runge-Kutt transformations are used for these purposes most often, but they lead to satisfactory results only with very small period of discretization. In the case of automatic control systems, this requires the use of digital automation tools with very high speed, which is often economically impractical. Methods of discretization with a long period were most often developed on the basis of decomposition into series of the right-hand sides of the differential equations, transformed on Euler. Here, firstly, the problem of selecting the number of the series members, which to be retained arises, and secondly, already in the third or fourth order of the plant, the calculating ratios turn out to be extremely complex. The discretization method suggested below differs in that it is not the equations of nonlinear plants in the Cauchy form that are discretized, but the corresponding quasilinear model. In this case, a modified trapezoid method is used, and the discretization purpose is not the most accurate approximation of the original equations of the plant, but the stability of a closed nonlinear control system with rather big period. This system is designed using the algebraic polynomial-matrix method for designing of the nonlinear control systems. As a result, a hybrid nonlinear system with fairly simple algebraic calculation expressions is formed. The suggested approach makes it possible to create the control systems for nonlinear controlled plants using conventional computational automation tools.
{"title":"Design of Discrete and Hybrid Nonlinear Control Systems","authors":"A. R. Gaiduk","doi":"10.17587/mau.24.507-518","DOIUrl":"https://doi.org/10.17587/mau.24.507-518","url":null,"abstract":"In this article the new method of discrete control systems design for nonlinear plants with differentiable nonlinearities is suggested. The increasing demands on the quality of control processes and the widespread use of computer technology provide ample opportunities for the design and implementation of digital control systems. However, discrete models of control plants are needed to solve this problem. In the case of linear plants, such models are created on the basis of z-transformation, Euler or Tustin formulas. In the case of nonlinear plants, these transformations are not applicable, so a large number of approximate discretization methods have been developed to date. Euler and Runge-Kutt transformations are used for these purposes most often, but they lead to satisfactory results only with very small period of discretization. In the case of automatic control systems, this requires the use of digital automation tools with very high speed, which is often economically impractical. Methods of discretization with a long period were most often developed on the basis of decomposition into series of the right-hand sides of the differential equations, transformed on Euler. Here, firstly, the problem of selecting the number of the series members, which to be retained arises, and secondly, already in the third or fourth order of the plant, the calculating ratios turn out to be extremely complex. The discretization method suggested below differs in that it is not the equations of nonlinear plants in the Cauchy form that are discretized, but the corresponding quasilinear model. In this case, a modified trapezoid method is used, and the discretization purpose is not the most accurate approximation of the original equations of the plant, but the stability of a closed nonlinear control system with rather big period. This system is designed using the algebraic polynomial-matrix method for designing of the nonlinear control systems. As a result, a hybrid nonlinear system with fairly simple algebraic calculation expressions is formed. The suggested approach makes it possible to create the control systems for nonlinear controlled plants using conventional computational automation tools.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135094447","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}
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