Robotics and Technical Cybernetics最新文献

{"title":"Synthetic data formation for machine learning recognition of underwater objects","authors":"Vyacheslav Abrosimov, Yulia Matveeva","doi":"10.31776/rtcj.11402","DOIUrl":"https://doi.org/10.31776/rtcj.11402","url":null,"abstract":"The main problem of machine learning for control systems of unmanned underwater vehicles is objectively very small samples of real data. The study aim was to develop an approach to the creation of synthetic data describing underwater objects for as the samples for training and validation in machine learning of control systems for auton-omous unmanned underwater vehicles. The subject of the study was a variety of underwater objects because real information about the shape, size and their external images is very limited. The data augmentation method was used, which makes it possible to obtain additional data on underdetermined objects of observation from the initial data while maintaining the classification features. Eight models have been developed that imitate the influence of various factors of the aquatic environment and allow using various augmentation methods (changing the position, adding noise, glare to the image, defocusing to create fuzziness; fragmentation, etc.) to obtain an almost unlimited number of images of any objects of man-made activity immersed in underwater environment, to varying degrees similar to the reference. Examples of the use of augmentation models that take into account changes in illumina-tion, transparency and the presence of an underwater landscape are given. Such synthetic (model) images may be the basis of a training set for machine learning to recognize and identify underwater objects. The trained model can be used as the basis of a decision support system for operators of remote-controlled unmanned underwater vehicles and as the basis for building control systems for autonomous uninhabited underwater vehicles for moni-toring underwater spaces.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"61 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139190076","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":"Prevention of emergency situations in complex technical systems using a neuromorphic approach","authors":"A. Demcheva, A. Korsakov, I. Fomin, A. Bakhshiev, Ekaterina Smirnova","doi":"10.31776/rtcj.11405","DOIUrl":"https://doi.org/10.31776/rtcj.11405","url":null,"abstract":"The paper proposes a scheme of emergency prevention system based on neuromorphic approach. The system includes a prediction unit that implements a mathematical model of the cerebellum predictive functions, and an alarm unit that implements the pain sensation model, proposed by the authors earlier. As a basic element of the proposed system the Compartmental Spiking Neuron Model (CSNM) was used, capable of learning from a small number of examples. The use of neuromorphic approach allows to overcome the limitations associated with the formalizing complexity of the systems being diagnosed and the low availability of data for modeling the processes occurring in them. The overcoming these limitations is possible due to the possibility of learning from a small number of examples and the absence of the need to model the system being diagnosed itself. The paper also presents the results of testing of the proposed scheme, which was carried out on a computer model using synthetic data. The results of the testing showed the fundamental applicability of the proposed scheme in neuromorphic control systems.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"4 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139190955","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":"Determination and elimination of current and voltage interharmonics for robotic structures","authors":"Boris Avdeev, Alexey Vyngra, S. Chernyi","doi":"10.31776/rtcj.11408","DOIUrl":"https://doi.org/10.31776/rtcj.11408","url":null,"abstract":"The development of robotic systems today is one of the key areas, which is reflected in the development programs of the state. Robotic complexes and their implementation are widely applicable in civil and military areas. The de-velopment of the industry today is associated with trends in the introduction of intelligent systems and components based on integrated solutions for training or self-development. Within the framework of this work, only the aspect of identifying intergamonics based on complex intelligent technologies will be solved to ensure the stability of the elements of robotic systems as a single robotic complex (production line) in the future. The article presents a method for determining and eliminating current and voltage interharmonics in smart power supply networks. A step-by-step algorithm for extracting and determining the frequencies of interharmonics, their amplitude and phase angle, as well as a method for eliminating them using an active harmonic filter, is presented. An asynchro-nous motor with a squirrel-cage rotor operating with a variable periodic load on the shaft was used as a source of interharmonics. The article uses simulation modeling in the Matlab/Simulink mathematical package. As a result of the simulation, the main harmonic of the current was identified and the difference between the current of the stator phase of the induction motor and its main harmonic was found. The resulting difference is presented as a harmon-ic Fourier series with subsequent determination of the frequency, amplitude and phase of the interharmonics. To confirm the theoretical calculations, an experiment was carried out on the basis of which interharmonic distortions were eliminated by using an active harmonic filter.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"36 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139193291","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 a prototype of the basic platform of the autonomous intelligent robotics system (AIRS)","authors":"Igor Kozulin, Andrey Chernyavskiy, Nikolay Mashkov, Alexander Nazarov, Oleg Kravchenko","doi":"10.31776/rtcj.11407","DOIUrl":"https://doi.org/10.31776/rtcj.11407","url":null,"abstract":"This work is devoted to the development of a prototype of the basic platform of the autonomous intelligent robotics system (AIRS). The frame of the experimental basic platform was made, main units and aggregates location was determined, testing of mechanical units and aggregates was carried out. Ultrasonic and infrared rangefinders were used to determine the distance to the object. The calibration of the sensors was performed when interacting with objects made of different materials, at different angles of the surfaces of these objects, and under different envi-ronmental conditions. An electronic printed circuit board has been developed to connect various sensors to an au-tonomous mobile robotic platform. The overall dimensions of the platform are 780x650x550 mm. The small size of the mobile basic platform allows it to be used on small sites where the use of other machines is economically unprofitable.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"199 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139195374","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":"Generalized algorithm for designing the mechanical part of an industrial robot manipulator","authors":"Evgeny Tkachev, Gennady Masalsky","doi":"10.31776/rtcj.11404","DOIUrl":"https://doi.org/10.31776/rtcj.11404","url":null,"abstract":"The paper presents a method that allows you to design and calculate the design of an industrial robot manipulator using modern computer systems (CAD, CAE). Due to the versatility, the scope of application of this method can be different from the design of turntables to flexible production complexes. But the main focus of the method is the design of an industrial robot manipulator. The paper presents an example of the design and calculation of an in-dustrial robot manipulator, which will later be manufactured in a single copy.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"45 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139190468","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":"Key factors of robotics development in Japan","authors":"Sergey Dvirnyy, Alexander Popov, B. Spassky","doi":"10.31776/rtcj.11401","DOIUrl":"https://doi.org/10.31776/rtcj.11401","url":null,"abstract":"The article considers the history of development and the current state of robotics in the Asian region on the exam-ple of Japan. A technical and economic analysis of the cause-and-effect relationships between the development of robotics and the state of the Japanese economy has been carried out. The leading role of the state in shaping the fundamentals of robotics development policy in the interests of strengthening the national economy and im-proving the quality of life has been established.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"51 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139192621","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":"Use of U-sensor for motion safety of a collaborative manipulative robot","authors":"Vladimir Serebrenny","doi":"10.31776/rtcj.11403","DOIUrl":"https://doi.org/10.31776/rtcj.11403","url":null,"abstract":"One approach to increasing the operational efficiency of robotics is to utilize the capabilities of modern collabora-tive applications of robots. Within the framework of the paper, issues related to the possibility of utilizing the availa-ble sensor base, namely ultrasonic sensors for the sensing of robots for further collaborative use are discussed. A model of a sensing robot is presented and elements of a control algorithm for a collaborative robot are proposed.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"88 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139193686","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":"Distribution of tasks in a clustered field of goals for homogeneous and heterogeneous UAV groups","authors":"V. Petrenko, F. Tebueva, V. Antonov, Artur Sakolchik","doi":"10.31776/rtcj.11203","DOIUrl":"https://doi.org/10.31776/rtcj.11203","url":null,"abstract":"This work is devoted to the distribution of tasks in groups of unmanned aerial vehicles (UAVs) under conditions of a significant excess of the number of tasks over the number of agents. The main tasks solved by UAVs: survey and reconnaissance of territories, detection of dangerous objects or places of emergencies, search for victims, etc. The efficiency of solving the problems listed above achieved by the simultaneous use of a group of UAVs, the ele-ments (agents) of which can carry out the tasks of inspecting and scanning various areas of space in parallel. The article proposes an iterative method for distributing tasks in a group of UAVs with a significant excess of the num-ber of tasks over the number of agents (5-20 times). The proposed method for heterogeneous groups of UAVs based on a two-stage procedure for distributing agents of different specializations among task clusters, taking into account the agent's value function. At the first stage, the base part of the agents is distributed, the remaining agents at the second stage distributed in order to average the distance traveled by each agent. Execution of tasks within a cluster implemented by simulating annealing. To evaluate the effectiveness of the method variants, a comparison made with the greedy task distribution algorithm and the collective goal distribution algorithm. The analogs under consideration are widespread, universal and have a high convergence of the solution. Experimental studies car-ried out by computer simulation, where 2000 experiments carried out with various changes in the number of group agents and generation of a task map. The results showed the high efficiency of the task distribution method in terms of reducing the distance traveled by the agents of the UAV group when performing tasks in comparison with analogues. The efficiency of the path traveled by agents is up to 28% depending on the number of agents and tasks in the cluster, which is a scientific increment of the result of the study.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132367774","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":"Robotics applied in the module for fabrication and refabrication of dense mixed uranium-plutonium fuel of the pilot demonstration energy complex of «SCP» JSC. Decommissioning of nuclear and radiation hazardous facilities as a driver of Russia’s and world robotics markets","authors":"V. Tinin, D. Zozulya, E. Lachkanov, Andrey Dakhno","doi":"10.31776/rtcj.11209","DOIUrl":"https://doi.org/10.31776/rtcj.11209","url":null,"abstract":"The article is devoted to the topic of great current interest that is the issue of using robots in the nuclear industry, in particular, in the module for fabrication and refabrication (MFR) of dense mixed uranium-plutonium fuel of the Pilot Demonstration Energy Complex (PDEC) of “SCP” JSC. The author attributes this to the danger or impossibility of direct participation of a person in some operations associated with adverse effects of high radiation burden and toxicity on the human body. Therefore, the author emphasizes the need to use technologies for indirect control of a number of processes or their automation, partial or complete. Particular attention is paid to the fact that robots are not introduced into existing production lines, but the robotic fabrication of fuel is implemented from the very outset, i.e. at the design stage. The author predicts that one of the benefits gained from the employment of robots will be the ability to ensure product quality at a more stable level. The article clarifies that, at the MFR, robotic manipula-tors, automated guided carts (AGC), and transfer carts will be used in the principal process in operations con-cerned with the fabrication of fuel assemblies, when handling radioactive waste, and in automated transport sys-tem lines. The growing need to solve the problems of decommissioning of nuclear energy facilities (NEF) requires new approaches to their implementation, including the minimization of human work directly in conditions of in-creased radiation background. As such an approach, it is suggested to use modern robotic technologies that make it possible to efficiently resolve problems at all stages of decommissioning of nuclear energy facilities, thereby adopting a comprehensive problem-solving approach and laying the groundwork for the future. The introduction of robotic complexes within the framework of the federal project not only has practical value for the NEF decommis-sioning in terms of resource efficiency, cost optimization and speed of project work, but also enables the imple-mentation of Russia’s strategic tasks in the social and economic spheres.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131103122","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 modern technical systems for automation of radioactive waste sorting process","authors":"I. Dalyaev, Alexander Truts, A. Belozub, Alexander Zherebtcov","doi":"10.31776/rtcj.11208","DOIUrl":"https://doi.org/10.31776/rtcj.11208","url":null,"abstract":"The paper describes the technical design and composition of a robotic radioactive waste (RW) sorting and certifica-tion unit, which combines a technical vision system (TVS) to determine the position of RW fragments and assess their morphology, detection units to determine the radionuclide composition and a manipulation system for moving and sorting the RW fragments themselves into containers in accordance with the parameters measurements. Such an approach will allow sorting of RW by the method of their subsequent processing, as well as reduce the total cost of subsequent disposal of RW by reducing the total waste class.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132901128","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}