Robotics and Technical Cybernetics最新文献

End-to-end deep reinforcement learning for control of an autonomous underwater robot with an undulating propulsor 端到端深度强化学习用于控制带起伏推进器的自主水下机器人

Robotics and Technical Cybernetics Pub Date : 2024-03-01 DOI: 10.31776/rtcj.12105

Ahmad Aws, Arkadij Yuschenko, Vladimir Soloviev

{"title":"End-to-end deep reinforcement learning for control of an autonomous underwater robot with an undulating propulsor","authors":"Ahmad Aws, Arkadij Yuschenko, Vladimir Soloviev","doi":"10.31776/rtcj.12105","DOIUrl":"https://doi.org/10.31776/rtcj.12105","url":null,"abstract":"This paper focuses on the development and implementation of control algorithms for positioning an Autonomous Underwater Vehicle (AUV) with an undulating propulsor, using reinforcement learning methods. It provides an analysis and overview of works incorporating reinforcement learning methods such as Actor-only, Critic-only, and Actor-Critic. The paper primarily focuses on the Deep Deterministic Policy Gradient method and its implementation using deep neural networks to train the Actor-Critic agent. In the agent's architecture, a replay buffer and target neural networks were utilized to address the data correlation issue that induces training instability. An adaptive ar-chitecture was proposed for training the agent to force the robot to move from the initial point to any target point. Additionally, a random target point generator was incorporated at the training stage so as not to retrain the agent when the target points change. The training objective is to optimize the actor's policy by optimizing the critic and maximizing the reward function. Reward function is determined as the distance from the robot's center of mass to the target points. Consequently, the reward received by the agent increases when the robot gets closer to the target point and becomes maximal when the target point is reached with an acceptable error.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"14 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140400021","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}

引用次数: 0

Design and construction of the army unmanned aerial vehicle with a new generation launch system «RPSKD-2» 设计和建造配备新一代发射系统 "RPSKD-2 "的陆军无人驾驶飞行器

Robotics and Technical Cybernetics Pub Date : 2024-03-01 DOI: 10.31776/rtcj.12107

A. Khachaturyan, Svetlana Ponomareva, Dmitrii Kamenskich

{"title":"Design and construction of the army unmanned aerial vehicle with a new generation launch system «RPSKD-2»","authors":"A. Khachaturyan, Svetlana Ponomareva, Dmitrii Kamenskich","doi":"10.31776/rtcj.12107","DOIUrl":"https://doi.org/10.31776/rtcj.12107","url":null,"abstract":"The scientific article presents the design and construction of a two-case army unmanned aerial vehicle with a launch system of a new generation «RPSKD-2», which can be used for combat purposes. The study lists the main design units of the launch system, army unmanned aerial vehicle and cases. The combat equipment of the RPSKD-2 UAV provides for suspended armed cases that will be attached to the lower part. When designing and constructing an army UAV, foreign and domestic experience in machine-building production in this field of knowledge was studied. When modeling the UAV, the Compass and Siemens NX software product was used. The following general scientific methods for studying research materials were used in the article: analysis, deduction and modeling. The purpose of the study is to develop a two-case UAV with a launch system. This article is the first part of the study, in a number of author's scientific articles. Further publications of the authors will be devoted to the UAV structural and functional control system, which includes: telemetry, gyroscopes, automatic control system, sensors, controllers, engine, etc.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"46 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140399077","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}

引用次数: 0

Features of the design and control of an underwater biomorphic robot of the tunniform type 隧道形水下生物机器人的设计和控制特点

Robotics and Technical Cybernetics Pub Date : 2024-03-01 DOI: 10.31776/rtcj.12109

Iliya Mitin, Sergey Lobov, Nikolay Tschur, Alexander Popov, V. Kazantsev

{"title":"Features of the design and control of an underwater biomorphic robot of the tunniform type","authors":"Iliya Mitin, Sergey Lobov, Nikolay Tschur, Alexander Popov, V. Kazantsev","doi":"10.31776/rtcj.12109","DOIUrl":"https://doi.org/10.31776/rtcj.12109","url":null,"abstract":"The article describes the design and main dynamic characteristics of an underwater vehicle of the biomorphic (fish-like) type, which implements the tunniform type of locomotion for movement under water. The body of the device is made on the basis of a digital model of the body of yellowfin tuna. The movement is provided by a driv-ing device that simulates the operation of the tail fin of a fish. The robot's navigation on the surface and with a dive to a shallow depth is controlled by a remote control system, which allows you to change the dynamic characteris-tics (amplitude and frequency) of tail vibrations. In the experimental study, the dependencies of the speed of movement and energy consumption of the robot depending on these characteristics were obtained. In the theoreti-cal study, a computational model of the robot was obtained based on the solution of hydrodynamic equations. In computer modeling of swimming using the method of deformable nets, a good correspondence with experimental data was obtained. In addition, the hydrodynamic characteristics of the flow during the movement of the robot were investigated, as well as various features of the vibrations of the elements of the robot body when moving in a liquid were explained.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"177 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140405086","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}

引用次数: 0

Adaptive suspension of the in-line diagnostic robot 在线诊断机器人的自适应悬挂系统

Robotics and Technical Cybernetics Pub Date : 2024-03-01 DOI: 10.31776/rtcj.12108

Vladislav Volkov

引用次数: 0

Ground-based response robotics for the safe operation of TV journalists in emergency zone 地面响应机器人，确保紧急情况下电视记者的安全操作

Robotics and Technical Cybernetics Pub Date : 2024-03-01 DOI: 10.31776/rtcj.12103

Victor Andreev

{"title":"Ground-based response robotics for the safe operation of TV journalists in emergency zone","authors":"Victor Andreev","doi":"10.31776/rtcj.12103","DOIUrl":"https://doi.org/10.31776/rtcj.12103","url":null,"abstract":"The article considers an approach to ensuring safe working conditions for TV journalists conducting TV reports from the emergency zone by means of ground-based response robotics. It is proposed to use a remote controlled (teleoperated) ground-based mobile service robots equipped with vision systems and professional television film-ing equipment. Remote-controlled robots developed at the Russian State Scientific Center for Robotics and Tech-nical Cybernetics (St. Petersburg) can be used as such robotic systems. Equipping robots with a stereoscopic vi-sion systems and a special TV camera to organize teleoperation of a mobile robot’s movement requires a broad-band communication channel, since it is necessary to transmit several video streams simultaneously. To solve this problem, it is proposed to use an image compression methods and the experience of using a network technolo-gies obtained during the development of the multiple-camera vision systems for installation on the mobile robotic systems BROKK-110D and BROKK-330 (Sweden) at the instructions of the Center for Special Risk Rescue Opera-tions «Leader» (Russia). The technical solution is presented to provide TV journalists with special remote-controlled ground-based robotics, which allows them to conduct television reports directly from the scene of hostili-ties, while being at a safe distance from the scene of events and the location of radio antennas.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"31 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140407482","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}

引用次数: 0

Development of control algorithm for autonomous intelligent robotic complex (AIRTC) 开发自主智能机器人综合体（AIRTC）的控制算法

Robotics and Technical Cybernetics Pub Date : 2024-03-01 DOI: 10.31776/rtcj.12106

Igor Kozulin, Andrey Chernyavskiy, Alexander Nazarov

引用次数: 0

Application of a group of ground-based robotic means as a modular means of evacuation of equipment 应用一组地面机器人作为设备撤离的模块化手段

Robotics and Technical Cybernetics Pub Date : 2024-03-01 DOI: 10.31776/rtcj.12102

A. Vorobyov, V. Sergeyev, Askar Smailov

引用次数: 0

Robotics in the development of general creative abilities of younger schoolchildren 培养低年级学生综合创新能力的机器人技术

Robotics and Technical Cybernetics Pub Date : 2024-03-01 DOI: 10.31776/rtcj.12101

Olga A. Granichina, Sergey Sergeev, Konstantin Аmelin, Angelina Granichina

{"title":"Robotics in the development of general creative abilities of younger schoolchildren","authors":"Olga A. Granichina, Sergey Sergeev, Konstantin Аmelin, Angelina Granichina","doi":"10.31776/rtcj.12101","DOIUrl":"https://doi.org/10.31776/rtcj.12101","url":null,"abstract":"The development of creative abilities in children of primary school age is an important aspect of their educational and personal growth and serves as the foundation for future professional success. At this age, children are in a stage of intense exploration of the world and the formation of basic cognitive skills and abilities, making this period particularly suitable for stimulating and cultivating their creative capacities. The general creative abilities of an indi-vidual are formed through the organization of complex environments, including technogenic ones. The prospects of utilizing educational robotics for fostering the overall creative aptitude of younger students are demonstrated. The possibilities of employing the LEGO® Education WeDo 2.0 Maker sets in working with primary school children to develop their general creative capabilities are examined. It is shown that such work has been successfully im-plemented over a span of four years in St. Petersburg within the framework of the «Robotohod» club, with the sup-port of the scientific-educational center of St. Petersburg State University, known as «Mathematical Robotics and Artificial Intelligence».","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"51 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140404516","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}

引用次数: 0

Optimization of group control of robots in Arctic conditions 优化北极条件下的机器人群组控制

Robotics and Technical Cybernetics Pub Date : 2024-03-01 DOI: 10.31776/rtcj.12104

Peter Shubin, Marina Kuleshova

引用次数: 0

Event-oriented model of data flow control between embedded devices of a ground-based robotic vehicle 地面机器人飞行器嵌入式设备间以事件为导向的数据流控制模型

Robotics and Technical Cybernetics Pub Date : 2023-12-01 DOI: 10.31776/rtcj.11406

E. Cherskikh

引用次数: 0