Robotics and Technical Cybernetics最新文献

{"title":"Mechatronic linear movement device for constructing surfaces of complex shapes with the possibility of force measurement","authors":"Egor Belitsky, M. Solovyev, V. Kovalsky, A. Vorotnikov, A. Kordonsky, A. Grin, Y. Poduraev","doi":"10.31776/rtcj.11201","DOIUrl":"https://doi.org/10.31776/rtcj.11201","url":null,"abstract":"In the modern world, there is a trend towards the introduction of mechatronics in an increasing number of areas of science and technology in order to solve complex problems of controlling functional movements. One of these problems is the problem of forming surfaces of complex shapes. This task is relevant in many areas of human activity such as industry, art, and human-machine interfaces. However, among the existing solutions, there are none that could provide the possibility of forming complex surfaces under the influence of a load, while providing compact weight-dimensional characteristics. The purpose of this article is to develop the concept of a mechatronic device for the tasks of constructing surfaces of complex shape with high accuracy, the possibility of positioning under a large axial load, and measuring the axial forces exerted by objects of manipulation. The article selects the initial design parameters based on the analysis of devices similar in functionality. Next, the selection of compo-nents, the development of the layout of functional components, control electronics, and design, and the implemen-tation of a 3D model of the final device are carried out. It also describes a method for managing a group of re-ceived mechatronic devices by using a single data bus with a specialized protocol.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"2009 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":"116052204","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":"The system of coordinated operation of two underwater vehicles in a complex environment","authors":"V. Filaretov, A. Katsurin","doi":"10.31776/rtcj.11206","DOIUrl":"https://doi.org/10.31776/rtcj.11206","url":null,"abstract":"The paper discusses methods that ensure the coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi–link manipulator and a vision system, and the second - auxiliary – only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control of the manipulator, and in the mode of automatic execution of operations with various objects by them. At the same time, in both modes, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwa-ter vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. At the same time, it is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The re-sults of experimental studies have confirmed the operability of the proposed methods, the technical implementa-tion of which does not cause fundamental difficulties.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"92 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":"126190649","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 supervisor synthesis methods in designing a discrete-event group control system for mobile robots","authors":"A. Kozov, M. Melnikova","doi":"10.31776/rtcj.11204","DOIUrl":"https://doi.org/10.31776/rtcj.11204","url":null,"abstract":"This paper discusses the features of methods used to synthesize a discrete-event supervisor for a group control system of mobile robots. We consider the upper levels of a group control system as a discrete-event system. Su-pervisor synthesis methods for such a system and the evaluation of their computational complexity are presented. The paper highlights the limitations of the best method in terms of computational complexity and proposes a modi-fication that allows to remove these limitations without increasing the computational complexity. The application of the modified method is demonstrated on the example of synthesizing a supervisor for the group action of a fire-fighting operation by three robots.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"7 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":"116557200","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":"Review of robotics competition. Water robotics","authors":"R. Meshcheryakov, B. Ilyukhin","doi":"10.31776/rtcj.11202","DOIUrl":"https://doi.org/10.31776/rtcj.11202","url":null,"abstract":"The development of robotics technologies requires an increase in the level of scientific and technical develop-ments and the creation of a profile reserve, as well as the formation of a system for training highly qualified spe-cialists. One of the ways to assess the achieved level of development and qualifications of engineering teams is to hold competitions at various levels. The article provides an overview of various events in competitive robotics. The second part deals with competitions in water and air. The competitions are structured according to the format of the competition, the environment of functioning and the age of the participants. Conclusions are made about the pro-spects of various events of competitive robotics, as well as the relevance of some of them. The interrelationships of the competencies achieved when participating in competitions in various areas are presented, and a conclusion is made about the conduct of vocational guidance work.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"104 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":"115928156","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":"The method of manipulability control of a robot","authors":"O. Kapustina, A. Kobrin, Kirill Kompaneets","doi":"10.31776/rtcj.11205","DOIUrl":"https://doi.org/10.31776/rtcj.11205","url":null,"abstract":"The paper presents the results of a numerical experiment that demonstrates the effectiveness of a control algo-rithm that maintains a sufficiently high numerical value of the robot's manipulability function , which ensures «remoteness» from a singular configuration. The problem of approaching the end effector of the space manipula-tor Canadarm2, which has seven degrees of freedom (one redundant generalized coordinate), with an object mov-ing along a known trajectory, is considered. To the six parameters that determine the position and orientation of the gripper in absolute space, a «kinematic» function , depending on the relative rotation angles of the links, has been added. In this case, the kinematics equations became closed with respect to the rotation angles. The control law includes a condition for maintaining a certain numerical value that exceeds the minimum allowable value. Illustrations in the form of three-dimensional animation obtained on the basis of numerical integration of the equa-tions of controlled motion of the manipulator and the object were built using the Mathematica computer algebra system.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"32 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":"134172804","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":"Cognitive intellignet control. Pt. 2: Quantum fuzzy inference algorithm in intelligent cognitive robotics","authors":"S. Ulyanov, Daria Zrelova, A. Shevchenko, Alla Shevchenko","doi":"10.31776/rtcj.11207","DOIUrl":"https://doi.org/10.31776/rtcj.11207","url":null,"abstract":"In the first part of the article, a system for assessing operator emotions using deep machine learning based on soft computing and designing a cognitive control system was discussed. This work develops the approach of cognitive intelligent control, describing the strategy for designing intelligent cognitive control systems based on quantum and soft computing. The synergetic effect of quantum self-organization of the knowledge base, extracted from non-robust knowledge bases of an intelligent fuzzy controller, is demonstrated. The information-thermodynamic law of quantum self-organization of the optimal distribution of the basic qualities of control (stability, controllability and robustness) and the law of quantum information thermodynamics on the possibility of extracting additional useful work based on the extracted quantum information hidden in classical states are applied. Formed (without violating the second law of quantum thermodynamics) on the basis of the extracted amount of hidden quantum information, the «thermodynamic» control force allows the robot (as a control object) to perform quantitatively more useful work compared to the amount of work expended (on extracting quantum hidden information). The guaranteed achievement of the goal of controlling the robot is carried out on the basis of the designed intelligent cognitive con-trol system using the tools of the QCOptKBTM quantum knowledge base optimizer, the structure of which includes quantum fuzzy inference (QFI). The quantum algorithm for self-organization of non-robust knowledge bases of QFI structurally relies on synergistic effects from hidden quantum information to implement the implementation of the optimal distribution of control qualities. This technology makes it possible to increase the reliability of intelligent cognitive control systems in situations of control under conditions of danger, described using a cognitive neural interface and various types of interaction with robots. The examples have demonstrated the effectiveness of intro-ducing the QFI scheme as a ready-made programmable algorithmic solution for embedded intelligent control sys-tems. The possibility of using a neural interface based on a cognitive helmet with a quantum fuzzy controller to control a vehicle is shown.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"386 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":"115693538","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":"Review of robotics competition. Special and rescue underground robotics","authors":"R. Meshcheryakov, B. Ilyukhin","doi":"10.31776/rtcj.11101","DOIUrl":"https://doi.org/10.31776/rtcj.11101","url":null,"abstract":"The development of robotics technologies requires an increase in the level of scientific and technical developments and the creation of a profile reserve, as well as the formation of a system for training highly qualified specialists. One of the ways to assess the achieved level of development and qualifications of engineering teams is to hold competitions at various levels. The article provides an overview of various events in competitive robotics. In the first part, the competition in the ground and underground environment is considered. The competitions are structured according to the format, type of the competition, the environment of functioning and the age of the participants. Conclusions are made about the prospects of various events of competitive robotics, as well as the relevance of some of them.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131323581","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":"Problem of synthesis of the control system for a group of unmanned ground vehicles","authors":"A. Tachkov","doi":"10.31776/rtcj.11107","DOIUrl":"https://doi.org/10.31776/rtcj.11107","url":null,"abstract":"The substantive and formal formulation of the control system synthesis problem for a group of unmanned ground vehicles (UGV) are considered in the article. The decomposition of this problem into a number of particular scientific problems is carried out, such as the problem of substantiating a structure of the control system, developing a method for determining the emergence of the control system, and developing a method for accessing the quality of a control system and the effectiveness of its application. It is shown that the distinctive features of the problem are the stochastic nature of the performance indicator (a probability of achieving the goal of the mission), the uncertainty of the conditions for applying the UGV’s group, and the large size of the design space of the control system. The problem of design space growth is demonstrated by a methodical example. To reduce the complexity of analyzing the size of the design space, we propose the decomposition approach consisting in substantiating the basic version of the structure of the control system and its initial decomposition. The novelty in the implementation of this approach lies in the joint consideration of the «group control method» and the principle of hierarchical of the group control system. This approach allows us to obtain basic solutions for the structure of the control system, and then carry out a parametric synthesis of the control system and conduct a comparative assessment of solutions according to the «Quality-Costs» concept.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129252166","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":"Prospects of application of artificial intelligence algorithms in the development of weapons and military equipment","authors":"A. Vorobyov, V. Sergeyev, Askar Smailov","doi":"10.31776/rtcj.11104","DOIUrl":"https://doi.org/10.31776/rtcj.11104","url":null,"abstract":"The dynamic development of information technologies, and in particular, artificial intelligence technologies, determines the growing relevance of the study of the possibilities of their implementation in the creation of promising models of weapons and military equipment. The essential definitions of the term «artificial intelligence» are investigated. Typical approaches to improving the effectiveness of the use of weapons and military equipment, on the example of military vehicles, through the introduction of modern artificial intelligence technologies are considered. Based on expert assessments, a list of the main functions of the driver's assistant is formulated, in the implementation of which it is advisable to use artificial intelligence algorithms.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121239413","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":"Methodology for evaluating samples of active exoskeletons of special purpose intended for inclusion in the combat equipment of military personnel","authors":"E. Antokhin","doi":"10.31776/rtcj.11102","DOIUrl":"https://doi.org/10.31776/rtcj.11102","url":null,"abstract":"In the article, based on the analysis of combat properties and the formation of a preliminary list of representative tactical and technical characteristics of active exoskeletons for military purposes, a methodological approach to their analytical evaluation according to the criterion «military-technical level – cost» is proposed in order to implement measures of program–target planning for the development of elements of military equipment.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123366416","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}