Robotics and Technical Cybernetics最新文献

{"title":"Robotics system interfaces – development trajectories","authors":"A. Kurnosov","doi":"10.31776/rtcj.8402","DOIUrl":"https://doi.org/10.31776/rtcj.8402","url":null,"abstract":"The features of the creation of robotics system interfaces that provide effective interaction with external complex systems are considered. The features of complex systems, factors leading to the risky interaction of structures and processes are given. The main effects arising from information interaction of complex systems are listed. A scheme for monitoring the underwater information situation is given. The system interfaces of robotics are enumerated; the problems associated with their creation are given. An approach to the standardization of technical solutions for interfaces and the organization of system interfaces development is presented. A strategy is proposed that combines the advantages of the autonomous and systemic approaches. It is proposed to consider a horizontal network with self-organization and open access as a reasonable organizational development scheme. The need to concentrate efforts on the issues of compatibility, intelligence and physical simulation is noted. An option of experimental development of technical solutions using a modernized model of the underwater hangar developed by JSC SPMDB Malakhit is proposed.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114868078","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":"Mathematical modeling and synthesis of docking process control for autonomous unmanned underwater vehicle","authors":"S. Polovko, D. Frolov","doi":"10.31776/rtcj.8403","DOIUrl":"https://doi.org/10.31776/rtcj.8403","url":null,"abstract":"The paper considers a problem of synthesis of the docking process control of the AUV with the container which belongs to the class of terminal control problems. The method for the synthesis of a two-level control system based on the selection of the dominant component of the state vector and predicting the dynamics of the remaining components at each control step is proposed. In this case, according to the results of the extrapolation of the dynamics to the terminal point, the value of the restriction on the derivative of the dominant component is determined. We synthesize a two-level control system for vertical docking for a specific pair of AUV - container. A thorough analysis of the synthesized control system based on the developed mathematical model is carried out.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125831588","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":"Technology of cybernetic models’ creating for the synthesis and refinement of autonomous underwater vehicle motion control system controllers","authors":"V. Goryunov, S. Polovko, N. Tschur","doi":"10.31776/rtcj.8407","DOIUrl":"https://doi.org/10.31776/rtcj.8407","url":null,"abstract":"The technology of cybernetic models’ creating for the synthesis and refinement of algorithms for controlling the autonomous underwater vehicle’s (AUV’s) motion is considered. The paper gives a description of the following sequence of actions performed at each stage of the cybernetic model development: dynamic model type and parameters identification, controller type selection, construction and analysis of the considered control loop block diagram, determination of the controller’s optimal parameters. The synthesis of heading, pitch and depth stabilization regulators for streamlined shape AUV during propulsion engines controlling is performed. The results of numerical modeling and research of the various factors influence on the quality of control are presented.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116420398","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":"Application of the computational fluid dynamics methods to obtain the characteristics of AUV transient responses","authors":"N. Tschur, S. Polovko, A. Deulin","doi":"10.31776/rtcj.8405","DOIUrl":"https://doi.org/10.31776/rtcj.8405","url":null,"abstract":"The purpose of this work is to create the most accurate mathematical model of the underwater vehicle dynamics. In fact, the proposed model should be an alternative to full-scale testing of the device. The paper presents a calculation method that implements coupled calculations of the underwater vehicle dynamics and the hydrodynamics of the fluid, flowing around it. From the point of view of mechanics and hydrodynamics, this approach is the most accurate method for modeling the device dynamics in the presence of arbitrary control actions. The main advantage of the proposed calculation method is the conservative approximation scheme for hydrodynamic calculations, which is extremely important when performing non-stationary calculations. In addition, the proposed method requires less computational resources than other currently used coupled calculations methods. The proposed method was verified on a large data volume received from real autonomous underwater vehicles (AUV) field tests and showed high accuracy in reproducing full-scale data. The developed calculation method was used for the designing AUV control system and showed its high efficiency.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"2180 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127470174","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":"Development of circuit solution and design of capacitive pressure sensor array for applied robotics","authors":"Konstantin Krestovnikov, A. Erashov, Аleksandr Bykov","doi":"10.31776/rtcj.8406","DOIUrl":"https://doi.org/10.31776/rtcj.8406","url":null,"abstract":"This paper presents development of pressure sensor array with capacitance-type unit sensors, with scalable number of cells. Different assemblies of unit pressure sensors and their arrays were considered, their characteristics and fabrication methods were investigated. The structure of primary pressure transducer (PPT) array was presented; its operating principle of array was illustrated, calculated reference ratios were derived. The interface circuit, allowing to transform the changes in the primary transducer capacitance into voltage level variations, was proposed. A prototype sensor was implemented; the dependency of output signal power from the applied force was empirically obtained. In the range under 30 N it exhibited a linear pattern. The sensitivity of the array cells to the applied pressure is in the range 134.56..160.35. The measured drift of the output signals from the array cells after 10,000 loading cycles was 1.39%. For developed prototype of the pressure sensor array, based on the experimental data, the average signal-to-noise ratio over the cells was calculated, and equaled 63.47 dB. The proposed prototype was fabricated of easily available materials. It is relatively inexpensive and requires no fine-tuning of each individual cell. Capacitance-type operation type, compared to piezoresistive one, ensures greater stability of the output signal. The scalability and adjustability of cell parameters are achieved with layered sensor structure. The pressure sensor array, presented in this paper, can be utilized in various robotic systems.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125137563","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":"Organization of supervisory control in scenarios of extreme robotics","authors":"E. Smirnova, B. Spassky","doi":"10.31776/rtcj.8401","DOIUrl":"https://doi.org/10.31776/rtcj.8401","url":null,"abstract":"The article describes the general principles of supervisory control organization in extreme robotics scenarios with different levels of autonomy. It is shown that increasing the level of autonomy of the robot allows reducing the operator’s load due to the division of labor between man and machine and to the implementation of the supervisory control mode, the essence of which is the decomposition of the mission into scenarios, which describe algorithms for solving functionally completed tasks and consists of sequence of simple technological operations. Such scenarios are executed automatically. In this case, the operator mainly implements the functions of monitoring and diagnostics, and the control functions are reduced to making decisions about the execution of the next scenario or intervention into execution of the current scenario in cases when the robot makes an obvious mistake or encounters a problem that it cannot solve on its own. Examples of supervisory control implementation when performing work on critical infrastructure facilities, performing search and rescue and other special operations under challenging conditions, including those of heterogeneous groups of robots, are given.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116458704","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":"Multi-criteria optimization of the four-finger gripper mechanism","authors":"Vu Duc Quyen, A. Ronzhin","doi":"10.31776/rtcj.8404","DOIUrl":"https://doi.org/10.31776/rtcj.8404","url":null,"abstract":"Three posterior algorithms NSGA-II, MOGWO and MOPSO to solve the problem of multicriteria optimization of the robotic gripper design are considered. The description of the kinematic model of the developed prototype of the four-fingered gripper for picking tomatoes, its limitations and objective functions used in the optimization of the design are given. The main advantage of the developed prototype is the use of one actuator for the control of the fingers and the suction nozzle. The results of optimization of the kinematic model and the dimensions of the elements of robotic gripper using the considered posterior algorithms are presented.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131977885","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":"Practical use of robots and related technologies in counteraction to COVID-19 pandemic","authors":"A. Efimov, Aleksei Gonnochenko, D. Payson, Yuriy I. Dyugovanets, Victor A. Tsygankov, Svyatoslav D. Moroshkin, B. I. Levitskii, Tatiana A. Volnova, A. V. Zuev","doi":"10.31776/rtcj.8201","DOIUrl":"https://doi.org/10.31776/rtcj.8201","url":null,"abstract":"Traditionally, robotics mainly relates to activities which are described as DDD - Dull, Dirty, Dangerous COVID-19 pandemic has turned to DDD many of common human activities - especially in medical care sphere Significantly more in demand and more dangerous for the personnel became such mass jobs as disinfection, quarantine control, infected patients' treatment, and number of other crucial services This transformation highlighted practical abilities of various kinds of service robots An unexpected application was found for wheel- and caterpillar-mounted platforms, collaborative robots, unmanned autonomous ground and aerial delivery vehicles, etc in helping healthcare workers and emergency services, while over a half of humankind found itself under contamination threat and quarantined In the article, the authors inspected and summarized various organizations’ experience and practices undertaken to apply existing robotics solutions to prevent COVID-19 spreading Considering complexity of such tasks and break-up of global supply chains, the use of mature (or at least tested) solutions which can be rapidly transformed to new applications is deemed the most feasible approach The authors suppose, as of now, there are no reasonable prerequisites for identifying a leader of response to the pandemic among robotics companies, however, those players who is able to define and enter the advantageous emerging market segment, acquire good chances of business success Традиционно применение робототехники связывается с видами деятельности, которые характеризуются как DDD - Dull, Dirty, Dangerous («скучные, грязные, опасные») Пандемия COVID-19 сделала таковыми многие виды деятельности человека, в особенности - в сфере здравоохранения Значительно более востребованными и опасными для персонала стали такие массовые виды работ, как дезинфекция, контроль режима карантина, забота об инфицированных пациентах и многое другое Эта трансформация сделала чрезвычайно актуальным применение различных видов сервисной робототехники Колёсные и гусеничные платформы, коллаборативные роботы, автономные наземные и воздушные доставщики нашли неожиданное применение для помощи медикам и спасательным службам в условиях чрезвычайной ситуации и карантина, в котором оказалось более половины населения Земли В данной статье изучен и обобщён опыт различных организаций, которые применили уже существующие технологии робототехники для решения актуальной задачи предотвращения распространения вируса С учётом сложности данной задачи, а также нарушения логистических цепочек по всему миру, наиболее обоснованным представляется подход, в соответствии с которым используются уже готовые, проверенные технические решения, которые быстро перепрофилируются под решение новых задач Авторы статьи полагают, что пока нет никаких предпосылок для выявления лидеров в области применения робототехнических технологий для борьбы с распространением вируса, однако, те компании, которые сумеют найти чёткую нишу применения и быст","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132310386","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":"Organizational and technical safety measures during testing of medium and light military ground-based robotic complexes","authors":"E. Antokhin, O. Petrashko, P. Chernova, V. Panichev","doi":"10.31776/rtcj.7302","DOIUrl":"https://doi.org/10.31776/rtcj.7302","url":null,"abstract":"","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133010157","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":"Three-channel intelligent neoplasm classification system for the diagnosis of lung cancer","authors":"L. Utkin, A. Meldo, V. Kryshtapovich, Viktor Tiulpin, E. Kasimov, M. Kovalev","doi":"10.31776/rtcj.7304","DOIUrl":"https://doi.org/10.31776/rtcj.7304","url":null,"abstract":"","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129708462","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}