Виталий Владимирович Печенкин, Михаил Сергеевич Королёв, Любомир Ванков Димитров
The article deals with the applied aspects of the preliminary vertices ranking for oriented weighted graph. In this paper, the authors observed the widespread use of this technique in developing heuristic discrete optimization algorithms. The ranking problem is directly related to the problem of social networks centrality and large real world data sets but as shown in the article ranking is explicitly or implicitly used in the development of algorithms as the initial stage of obtaining a solution for solving applied problems. Examples of such ranking application are given. The examples demonstrate the increase of efficiency for solving some optimization applied problems, which are widely used in mathematical methods of optimization, decision-making not only from the theoretical development point of view but also their applications. The article describes the structure of the first phase of the computational experiment, which is associated with the procedure of obtaining test data sets. The obtained data are presented by weighted graphs that correspond to several groups of the social network Vkontakte with the number of participants in the range from 9000 to 24 thousand. It is shown that the structural characteristics of the obtained graphs differ significantly in the number of connectivity components. Characteristics of centrality (degree's sequences), as shown, have exponential distribution. The main attention is given to the analysis of three approaches to graph vertices ranking. We propose analysis and comparison of the obtained set of ranks by the nature of their distribution. The definition of convergence for graph vertex ranking algorithms is introduced and the differences of their use in considering the data of large dimension and the need to build a solution in the presence of local changes are discussed.
{"title":"Applied Aspects of Ranking Algorithms for Oriented Weighted Graphs (on The Example of Social Network Graphs)","authors":"Виталий Владимирович Печенкин, Михаил Сергеевич Королёв, Любомир Ванков Димитров","doi":"10.15622/SP.61.4","DOIUrl":"https://doi.org/10.15622/SP.61.4","url":null,"abstract":"The article deals with the applied aspects of the preliminary vertices ranking for oriented weighted graph. In this paper, the authors observed the widespread use of this technique in developing heuristic discrete optimization algorithms. The ranking problem is directly related to the problem of social networks centrality and large real world data sets but as shown in the article ranking is explicitly or implicitly used in the development of algorithms as the initial stage of obtaining a solution for solving applied problems. Examples of such ranking application are given. The examples demonstrate the increase of efficiency for solving some optimization applied problems, which are widely used in mathematical methods of optimization, decision-making not only from the theoretical development point of view but also their applications. The article describes the structure of the first phase of the computational experiment, which is associated with the procedure of obtaining test data sets. The obtained data are presented by weighted graphs that correspond to several groups of the social network Vkontakte with the number of participants in the range from 9000 to 24 thousand. It is shown that the structural characteristics of the obtained graphs differ significantly in the number of connectivity components. Characteristics of centrality (degree's sequences), as shown, have exponential distribution. The main attention is given to the analysis of three approaches to graph vertices ranking. We propose analysis and comparison of the obtained set of ranks by the nature of their distribution. The definition of convergence for graph vertex ranking algorithms is introduced and the differences of their use in considering the data of large dimension and the need to build a solution in the presence of local changes are discussed.","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"59 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72403360","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 : 2018-12-01DOI: 10.15622/SP.18.1.148-175
V. Chernyshev, L. Savin, O. Fominova
A brief review of the main research areas in the field of controlled vibration protection systems is given. It is shown that Vibration systems with indirect control processes of oscillations allow with a minimum expenditure of energy to ensure programmable switching parameters and structures, in which the dissipative restoring and inertial forces generated on the basis of active impact. Within synthesis of indirect control the chains of new auxiliary mathematical constructs for finding optimal synthesizing functions of the elastic-damping units parameters control are obtained. It enabled to separate a base model with intermittent damping and base model with impulse trap. As a result of the study, based on the harmonic balance method, the dynamic properties of the basic model with intermittent damping, calculation formulas are obtained for determining the parameters of the compensation effect and calculating the dynamic coefficient. It is established that, with an optimal sequence of damping switching, the resonant phenomena are eliminated, and the transient processes decay within one period of the kinematic perturbation. The basic model with a pulse trap imitates the limiting variant of intermittent damping and realizes the process of superimposing constraining bonds, the sequence and duration of which are new variables essentially increasing controllability. And for indirect pulse control, there exicts a certain minimum of power consumption independent of the achieved effect of vibration protection. A regulated increase in the duration of the application of the restraining coupling in the low-frequency region and a decrease in this duration in the high-frequency region provides a monotonically decreasing dependence on the dynamic coefficients over the entire frequency range. An example of a solution to the optimization problem of controlling the damping process for a basic model of a vibration isolation system is considered. It is established that intermittent damping is an indispensable feature of the optimality of the vibration isolation system: the damper switches on when the sign of the object's speed has changed and turns off when the object's displacement sign has changed.
{"title":"Indirect Control of Oscillations: Elements of Theory","authors":"V. Chernyshev, L. Savin, O. Fominova","doi":"10.15622/SP.18.1.148-175","DOIUrl":"https://doi.org/10.15622/SP.18.1.148-175","url":null,"abstract":"A brief review of the main research areas in the field of controlled vibration protection systems is given. It is shown that Vibration systems with indirect control processes of oscillations allow with a minimum expenditure of energy to ensure programmable switching parameters and structures, in which the dissipative restoring and inertial forces generated on the basis of active impact. Within synthesis of indirect control the chains of new auxiliary mathematical constructs for finding optimal synthesizing functions of the elastic-damping units parameters control are obtained. It enabled to separate a base model with intermittent damping and base model with impulse trap. As a result of the study, based on the harmonic balance method, the dynamic properties of the basic model with intermittent damping, calculation formulas are obtained for determining the parameters of the compensation effect and calculating the dynamic coefficient. It is established that, with an optimal sequence of damping switching, the resonant phenomena are eliminated, and the transient processes decay within one period of the kinematic perturbation. The basic model with a pulse trap imitates the limiting variant of intermittent damping and realizes the process of superimposing constraining bonds, the sequence and duration of which are new variables essentially increasing controllability. And for indirect pulse control, there exicts a certain minimum of power consumption independent of the achieved effect of vibration protection. A regulated increase in the duration of the application of the restraining coupling in the low-frequency region and a decrease in this duration in the high-frequency region provides a monotonically decreasing dependence on the dynamic coefficients over the entire frequency range. An example of a solution to the optimization problem of controlling the damping process for a basic model of a vibration isolation system is considered. It is established that intermittent damping is an indispensable feature of the optimality of the vibration isolation system: the damper switches on when the sign of the object's speed has changed and turns off when the object's displacement sign has changed.","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"7 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83623193","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}
A. Iskhakov, A. Iskhakova, R. Meshcheryakov, Reda Bendraou, O. Melekhova
One of the main functions of an information security system is the identification of any access subject to be able to investigate information security incidents. During executing procedures of scanning and vulnerability exploitation, qualified adversaries regularly change identifying features. Such operations can not only obfuscate logging the data in subsystems, thus, complicating the restoring of events chronology for an information security expert but also call into question the irrefutability of the evidence of participation of particular adversary to particular illegal operations. In the paper analyses of application of modern approaches of adversary identification in web resources, which does not require authentification of main part of users, is given (fingerprinting, analysis of behavioral features). Along with widely used in web analytics “thermal maps”, user adapted profile and computer model of dynamics of “user-mouse” system, authors offer to identify the subjects of information security incident in readily available informational resources of the Internet. The main idea of the prospective approach consists of the following: when a thermal map is built, not only the density of data layout should be considered but also statistical parameters should be defined by an expert (the distance of intensity gradient, distance overlap, etc.). The authors also offer to consider the dynamics of user operations (e.g. calculation of the average duration of data entry into interactive elements). A description of each step of an appropriate technique and also information on its practical implementation are given. Robustness of the given approach is confirmed by a practical experiment. The offered technique is not a universal instrument of adversary identification . Only manual targeted attacks are considered, the cURL tools etc. used by adversaries are not taken into account. Therefore, it is recommended to use this technique exclusively in addition to working protective systems (WAF, IPS, IDS).
{"title":"One of the main functions of an information security system is the identification of any access subject to be able to investigate information security incidents. During executing procedures of scanning and vulnerability exploitation, qualified adversaries","authors":"A. Iskhakov, A. Iskhakova, R. Meshcheryakov, Reda Bendraou, O. Melekhova","doi":"10.15622/sp.61.6","DOIUrl":"https://doi.org/10.15622/sp.61.6","url":null,"abstract":"One of the main functions of an information security system is the identification of any access subject to be able to investigate information security incidents. During executing procedures of scanning and vulnerability exploitation, qualified adversaries regularly change identifying features. Such operations can not only obfuscate logging the data in subsystems, thus, complicating the restoring of events chronology for an information security expert but also call into question the irrefutability of the evidence of participation of particular adversary to particular illegal operations. \u0000In the paper analyses of application of modern approaches of adversary identification in web resources, which does not require authentification of main part of users, is given (fingerprinting, analysis of behavioral features). \u0000Along with widely used in web analytics “thermal maps”, user adapted profile and computer model of dynamics of “user-mouse” system, authors offer to identify the subjects of information security incident in readily available informational resources of the Internet. The main idea of the prospective approach consists of the following: when a thermal map is built, not only the density of data layout should be considered but also statistical parameters should be defined by an expert (the distance of intensity gradient, distance overlap, etc.). The authors also offer to consider the dynamics of user operations (e.g. calculation of the average duration of data entry into interactive elements). A description of each step of an appropriate technique and also information on its practical implementation are given. Robustness of the given approach is confirmed by a practical experiment. The offered technique is not a universal instrument of adversary identification . Only manual targeted attacks are considered, the cURL tools etc. used by adversaries are not taken into account. Therefore, it is recommended to use this technique exclusively in addition to working protective systems (WAF, IPS, IDS).","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88331384","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}
As a method for providing security of the messages sent via a public channel in the case of potential coercive attacks there had been proposed algorithms and protocols of deniable encryption. The lasts are divided on the following types: 1) schemes with public key, 2) schemes with shares secret key, and 3) no-key schemes. There are introduced pseudo-probabilistic symmetric ciphers that represent a particular variant of implementing deniable encryption algorithms. It is discussed application of the pseudo-probabilistic encryption for constructing special mechanisms of the information protection including steganographic channels hidden in ciphertexts. There are considered methods for designing stream and block pseudo-probabilistic encryption algorithms that implement simultaneous ciphering fake and secret messages so that the generated ciphertext is computationally indistinguishable from the ciphertext obtained as output of the probabilistic encryption of the fake message. The requirement of the ciphertext indistinguishability from the probabilistic encryption has been used as one of the design criteria. To implement this criterion in the construction scheme of the pseudo-probabilistic ciphers it is included step of bijective mapping pairs of intermediate ciphertext blocks of the fake and secret messages into a single expanded block of the output ciphertext. Implementations of the pseudo-probabilistic block ciphers in which algorithms for recovering the fake and secret messages coincide completely are also considered. There are proposed general approaches to constructing no-key encryption protocols and randomized pseudo-probabilistic block ciphers. Concrete implementations of the cryptoschemes of such types are presented.
{"title":"Methods and Algorithms for Pseudo-probabilistic Encryption with Shared Key","authors":"A. Moldovyan, N. Moldovyan","doi":"10.15622/sp.61.5","DOIUrl":"https://doi.org/10.15622/sp.61.5","url":null,"abstract":"As a method for providing security of the messages sent via a public channel in the case of potential coercive attacks there had been proposed algorithms and protocols of deniable encryption. The lasts are divided on the following types: 1) schemes with public key, 2) schemes with shares secret key, and 3) no-key schemes. There are introduced pseudo-probabilistic symmetric ciphers that represent a particular variant of implementing deniable encryption algorithms. It is discussed application of the pseudo-probabilistic encryption for constructing special mechanisms of the information protection including steganographic channels hidden in ciphertexts. There are considered methods for designing stream and block pseudo-probabilistic encryption algorithms that implement simultaneous ciphering fake and secret messages so that the generated ciphertext is computationally indistinguishable from the ciphertext obtained as output of the probabilistic encryption of the fake message. The requirement of the ciphertext indistinguishability from the probabilistic encryption has been used as one of the design criteria. To implement this criterion in the construction scheme of the pseudo-probabilistic ciphers it is included step of bijective mapping pairs of intermediate ciphertext blocks of the fake and secret messages into a single expanded block of the output ciphertext. Implementations of the pseudo-probabilistic block ciphers in which algorithms for recovering the fake and secret messages coincide completely are also considered. There are proposed general approaches to constructing no-key encryption protocols and randomized pseudo-probabilistic block ciphers. Concrete implementations of the cryptoschemes of such types are presented.","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"111 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81200777","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 : 2018-12-01DOI: 10.15622/sp.18.1.176-201
K. Ovcharenko, I. Eremeev, K. Sazonov, Sergej Semenjuk, A. Abakumov
The article presents the differential ranging method of locating modern earth stations with narrow radiation patterns. Earth station position data is proposed to be calculated using maximum-likelihood procedure system solution from three differential equations using one of numerical methods. In this case supplementary assessment parameter of location, calculated by measuring a mutual signal delay of an earth station, relayed through a spacecraft on geostationary orbit and a mobile repeater on the unmanned aerial vehicle, can improve the accuracy of coordinate estimation earth station. For the developed method the analytical expressions of potential accuracy of calculation of coordinates of the earth station on the basis of the Cramer–Rao lower bound are developed. To measure the positioning accuracy of located emitters it is suggested to use the errors ellipsoid corresponding to the provision of a source of a radio emission in space. The analysis of standard routes of the movement of a repeater on the unmanned aerial vehicle is carried out and the conclusion is drawn that the best accuracy and the shortest route simultaneously are achieved, if the unmanned aerial vehicle follows a circular trajectory along the control area. Calculation of potential accuracy of positioning of the terrestrial station for the area of 50 by 50 km is executed.It is shown that the error of the estimates, received as a result of statistical tests, doesn’t surpass the size of a big half shaft of the error ellipsoid calculated with application of analytical expressions. The application of the developed method is possible in the implementation of the software of electronic control systems to counteract illegitimate use of frequency resource of space vehicles-satellite repeaters communication system.
{"title":"Differential Ranging Method of Locating Satellite Communication System Earth Stations using Repeater on an Unmanned Aerial Vehicle","authors":"K. Ovcharenko, I. Eremeev, K. Sazonov, Sergej Semenjuk, A. Abakumov","doi":"10.15622/sp.18.1.176-201","DOIUrl":"https://doi.org/10.15622/sp.18.1.176-201","url":null,"abstract":"The article presents the differential ranging method of locating modern earth stations with narrow radiation patterns. Earth station position data is proposed to be calculated using maximum-likelihood procedure system solution from three differential equations using one of numerical methods. In this case supplementary assessment parameter of location, calculated by measuring a mutual signal delay of an earth station, relayed through a spacecraft on geostationary orbit and a mobile repeater on the unmanned aerial vehicle, can improve the accuracy of coordinate estimation earth station. \u0000For the developed method the analytical expressions of potential accuracy of calculation of coordinates of the earth station on the basis of the Cramer–Rao lower bound are developed. \u0000To measure the positioning accuracy of located emitters it is suggested to use the errors ellipsoid corresponding to the provision of a source of a radio emission in space. \u0000The analysis of standard routes of the movement of a repeater on the unmanned aerial vehicle is carried out and the conclusion is drawn that the best accuracy and the shortest route simultaneously are achieved, if the unmanned aerial vehicle follows a circular trajectory along the control area. \u0000Calculation of potential accuracy of positioning of the terrestrial station for the area of 50 by 50 km is executed.It is shown that the error of the estimates, received as a result of statistical tests, doesn’t surpass the size of a big half shaft of the error ellipsoid calculated with application of analytical expressions. \u0000The application of the developed method is possible in the implementation of the software of electronic control systems to counteract illegitimate use of frequency resource of space vehicles-satellite repeaters communication system.","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"33 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81988140","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}
A. Ashimov, Alexander Sergeevich Geida, I. Lysenko, R. Yusupov
{"title":"System Functioning Efficiency and Other System Operational Properties: Research Problems, Evaluation Method","authors":"A. Ashimov, Alexander Sergeevich Geida, I. Lysenko, R. Yusupov","doi":"10.15622/sp.60.9","DOIUrl":"https://doi.org/10.15622/sp.60.9","url":null,"abstract":"","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"50 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77667148","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 constructive method for multicriteria optimization of control processes of deterministic and not fully defined controlled systems with distributed parameters, described by linear multidimensional parabolic partial differential equations with internal and boundary control actions, is proposed. The optimization problem is considered when an uniform approximation accuracy of object’s final state to the required spatial distribution of controlled function is given. The suggested approach is based on the one-criterion option in the form of minimax convolution of the normalized quality criteria and the subsequent transition to the equivalent form of a typical variational problem with constraints. It is applied to the deterministic model of an object described by an infinite system of differential equations with respect to time-dependent modes of the controlled quantity expansion in a series of eigenfunctions of the initial-boundary value problem. Further procedures for the preliminary parametrization of control actions, based on analytical optimum conditions and reduction to semi-infinite programming problems, allow one to find the desired extremals using their Chebyshev properties and fundamental laws of the domain in typical application conditions of estimating the accuracy of approaching the object’s final state to the required one in a uniform metric. The obtained results are extended to the tasks of program control on the principle of guaranteed result by ensembles of object trajectories under conditions of interval uncertainty of the parametric characteristics of the distributed system and multiple external disturbances. A demonstrated example of a multicriteria optimization of an innovation technology of metal induction heating prior a hot forming is of special interest. The typical optimization criteria such as energy consumption, metal loss due to scale formation, and heating accuracy are considered as components of vector optimization criterion.
{"title":"Method of Multiobjective Optimization of Controlled Systems with Distributed Parameters","authors":"Эдгар Яковлевич Рапопорт, Юлия Эдгаровна Плешивцева","doi":"10.15622/SP.60.3","DOIUrl":"https://doi.org/10.15622/SP.60.3","url":null,"abstract":"The constructive method for multicriteria optimization of control processes of deterministic and not fully defined controlled systems with distributed parameters, described by linear multidimensional parabolic partial differential equations with internal and boundary control actions, is proposed. The optimization problem is considered when an uniform approximation accuracy of object’s final state to the required spatial distribution of controlled function is given. The suggested approach is based on the one-criterion option in the form of minimax convolution of the normalized quality criteria and the subsequent transition to the equivalent form of a typical variational problem with constraints. It is applied to the deterministic model of an object described by an infinite system of differential equations with respect to time-dependent modes of the controlled quantity expansion in a series of eigenfunctions of the initial-boundary value problem. Further procedures for the preliminary parametrization of control actions, based on analytical optimum conditions and reduction to semi-infinite programming problems, allow one to find the desired extremals using their Chebyshev properties and fundamental laws of the domain in typical application conditions of estimating the accuracy of approaching the object’s final state to the required one in a uniform metric. The obtained results are extended to the tasks of program control on the principle of guaranteed result by ensembles of object trajectories under conditions of interval uncertainty of the parametric characteristics of the distributed system and multiple external disturbances. A demonstrated example of a multicriteria optimization of an innovation technology of metal induction heating prior a hot forming is of special interest. The typical optimization criteria such as energy consumption, metal loss due to scale formation, and heating accuracy are considered as components of vector optimization criterion.","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"10 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80661088","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}
Marco Negrete, J. Savage, Luis Angel Contreras-Toledo
Negrete M., Savage J., Contreras L. AMotion-Planning System for a Domestic Service Robot. Abstract. Service robots are intended to help humans in non-industrial environments such as houses or offices. To accomplish their goal, service robots must have several skills such as object recognition and manipulation, face detection and recognition, speech recognition and synthesis, task planning and, one of the most important, navigation in dynamic environments. This paper describes a fully implemented motion-planning system which comprehends from motion and path planning algorithms to spatial representation and behavior-based active navigation. The proposed system is implemented in Justina, a domestic service robot whose design is based on the ViRBot, an architecture to operate virtual and real robots that encompasses several layers of abstraction, from low-level control to symbolic planning. We evaluated our proposal both in simulated and real environments and compared it to classical implementations. For the tests, we used maps obtained from real environments (the Biorobotics Laboratory and the Robocup@Home arena) and maps generated from obstacles with random positions and shapes. Several parameters were used for comparison: the total traveled distance, the number of collisions, the number of reached goal points and the average execution speed. Our proposal performed significantly better both in real and simulated tests. Finally, we show our results in the context of the RoboCup@Home competition, where the system was successfully tested.
{"title":"A Motion-Planning System for a Domestic Service Robot","authors":"Marco Negrete, J. Savage, Luis Angel Contreras-Toledo","doi":"10.15622/sp.60.1","DOIUrl":"https://doi.org/10.15622/sp.60.1","url":null,"abstract":"Negrete M., Savage J., Contreras L. AMotion-Planning System for a Domestic Service Robot. Abstract. Service robots are intended to help humans in non-industrial environments such as houses or offices. To accomplish their goal, service robots must have several skills such as object recognition and manipulation, face detection and recognition, speech recognition and synthesis, task planning and, one of the most important, navigation in dynamic environments. This paper describes a fully implemented motion-planning system which comprehends from motion and path planning algorithms to spatial representation and behavior-based active navigation. The proposed system is implemented in Justina, a domestic service robot whose design is based on the ViRBot, an architecture to operate virtual and real robots that encompasses several layers of abstraction, from low-level control to symbolic planning. We evaluated our proposal both in simulated and real environments and compared it to classical implementations. For the tests, we used maps obtained from real environments (the Biorobotics Laboratory and the Robocup@Home arena) and maps generated from obstacles with random positions and shapes. Several parameters were used for comparison: the total traveled distance, the number of collisions, the number of reached goal points and the average execution speed. Our proposal performed significantly better both in real and simulated tests. Finally, we show our results in the context of the RoboCup@Home competition, where the system was successfully tested.","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"41 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90411281","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}
{"title":"Group control of autonomous robots motion in uncertain environment via unstable modes","authors":"Viacheslav Khasanovich Pshikhopov, Mikhail Yurievich Medvedev","doi":"10.15622/sp.60.2","DOIUrl":"https://doi.org/10.15622/sp.60.2","url":null,"abstract":"","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"351 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80040568","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}
This study is devoted to the existing and future information technology that forms a base for concepts of Industry 4.0 and cyber-physical systems using examples of firms that apply this technology. Examples include manufacturing and transportation companies. The objective of this paper is to analyse the impact of intelligent information technologies in Industry 4.0 and cyber-physical systems on the enterprise management principles in near future. The transformation trends are illustrated on case-study examples. The literature and case-study analysis shows that enterprise management in manufacturing and transportation lacks understanding of Industry 4.0 and cyber-physical systems in terms of application to concrete business models. The reviews cases lead to the conclusion that the Industry 4.0 and cyber-physical technology applications are rather contextual and engineering-oriented. The implementation of the main principle of the Industry 4.0 and cyber-physical technology , i.e., the self-organisation and self-adaption of dynamic networked structures along the entire product lifecycle to ensure the flexible individual manufacturing at the mass production costs, has been yet applied very restrictively and mostly in research projects. The paper presents an original interpretation of the service-oriented approach to modeling and solution of the information technology assessment and selection problems to facilitate a broader application in firms. This approach is based on the structural dynamics control theory developed by the authors.
{"title":"Analysis of Transformation Trends in Enterprise Management Principles in the Era of Industry 4.0 Technology","authors":"D. Ivanov, Marina Ivanova, B. V. Sokolov","doi":"10.15622/sp.60.4","DOIUrl":"https://doi.org/10.15622/sp.60.4","url":null,"abstract":"This study is devoted to the existing and future information technology that forms a base for concepts of Industry 4.0 and cyber-physical systems using examples of firms that apply this technology. Examples include manufacturing and transportation companies. The objective of this paper is to analyse the impact of intelligent information technologies in Industry 4.0 and cyber-physical systems on the enterprise management principles in near future. The transformation trends are illustrated on case-study examples. The literature and case-study analysis shows that enterprise management in manufacturing and transportation lacks understanding of Industry 4.0 and cyber-physical systems in terms of application to concrete business models. The reviews cases lead to the conclusion that the Industry 4.0 and cyber-physical technology applications are rather contextual and engineering-oriented. The implementation of the main principle of the Industry 4.0 and cyber-physical technology , i.e., the self-organisation and self-adaption of dynamic networked structures along the entire product lifecycle to ensure the flexible individual manufacturing at the mass production costs, has been yet applied very restrictively and mostly in research projects. The paper presents an original interpretation of the service-oriented approach to modeling and solution of the information technology assessment and selection problems to facilitate a broader application in firms. This approach is based on the structural dynamics control theory developed by the authors.","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"39 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75018070","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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