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Robotics and Technical Cybernetics最新文献

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Review of robotics competition. Games sport robotics 机器人竞赛回顾。游戏运动机器人
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.1020402
R. Meshcheryakov, B. Ilyukhin
{"title":"Review of robotics competition. Games sport robotics","authors":"R. Meshcheryakov, B. Ilyukhin","doi":"10.31776/rtcj.1020402","DOIUrl":"https://doi.org/10.31776/rtcj.1020402","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":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125051405","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
Tunable logic of complex variables and quantum networks on its basis 复杂变量的可调逻辑及其基础上的量子网络
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.10404
N. Plyusnin
{"title":"Tunable logic of complex variables and quantum networks on its basis","authors":"N. Plyusnin","doi":"10.31776/rtcj.10404","DOIUrl":"https://doi.org/10.31776/rtcj.10404","url":null,"abstract":"Continuous - additive-multiplicative (AM) logic is considered, in which logical operations are replaced by algebraic operations («×» and «+») or operations with vectors, and binary variables «0» and «1» are replaced by continuous scalar ones («0- 1») or complex variables. To build this logic, a continuous analogue of the canonical form of Boolean logic is used in the form of a perfect disjunctive or conjunctive normal form (KAM logic). A feature of KAM logic is a continuous dependence on input variables and a potential variety of continuous logic functions. Based on the previously proposed «fuzzy» (distributed) continuous function, in the form of a superposition of «clear» functions, and the tunable QAM element circuit that implements it, this element is generalized to a network QAM element with several tunable outputs. The multiplication functions in this QAM element can be performed using a known memristor, which can be replaced by a memtransistor based on a field effect transistor. In quantum QAM networks, these elements are, respectively: «k-memristor» and «k-memtransistor». One of the options for a k-memtransistor is a composite hybrid spin-field-effect transistor based on a planar spin valve with magnetic memory and a field-effect transistor with a ferroelectric memory. It is noted that the main technological problem of quantum QAM networks based on such a hybrid spin transistor is the creation of planar conducting and ferromagnetic elements based on ultrathin metallic and ferromagnetic films on silicon.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126612744","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
Multimeric interfaces in an active control induced virtual environment 主动控制诱导虚拟环境中的多聚体接口
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.10403
A. Sergeev, A. Iusupova, S. Sergeev
{"title":"Multimeric interfaces in an active control induced virtual environment","authors":"A. Sergeev, A. Iusupova, S. Sergeev","doi":"10.31776/rtcj.10403","DOIUrl":"https://doi.org/10.31776/rtcj.10403","url":null,"abstract":"The present work focuses on the usage of multi-dimensional 2D interfaces in the form of WIMP models to ensure human-machine interaction of a human operator with a controlled object in an active virtual environment. We demonstrate that 3D representation of information in a virtual reality 3D interface is not enough to ensure effective activity. We identified the connection between the limitations of visual perception and operating in virtual reality with a keyboard and mouse. We have proved solutions to this problem using the methods of classical engineering psychology and ergonomics for the example of creating objects for the virtual museum of The Russian State Scientific Center for Robotics and Technical Cybernetics. We have analyzed the prospects of using multimeric interfaces to control autonomous mobile robots.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130292133","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 features of industrial exoskeletons 工业外骨骼的设计特点
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.10409
Ivan Barynkin, Aleksandr Ivanov
{"title":"Design features of industrial exoskeletons","authors":"Ivan Barynkin, Aleksandr Ivanov","doi":"10.31776/rtcj.10409","DOIUrl":"https://doi.org/10.31776/rtcj.10409","url":null,"abstract":"Classifications of exoskeletons by design, main areas of application and degree of automation are given. Based on the analysis of the exoskeletons presented on the market, the requirements for an industrial exoskeleton designed for when carrying loads and working with heavy tools are formulated. Solutions are proposed to improve the design of the load-bearing elements of the frame and active elements. Approaches to evaluating the effectiveness of the exoskeleton based on electromyography and indirect methods for measuring the level of metabolism are considered.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130645837","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
Application of robotics during the decommissioning of nuclear facilities: state of the art and development prospects 机器人技术在核设施退役中的应用:现状与发展前景
Robotics and Technical Cybernetics Pub Date : 2022-12-01 DOI: 10.31776/rtcj.1020401
B. Spassky, A. Popov, I. Dalyaev
{"title":"Application of robotics during the decommissioning of nuclear facilities: state of the art and development prospects","authors":"B. Spassky, A. Popov, I. Dalyaev","doi":"10.31776/rtcj.1020401","DOIUrl":"https://doi.org/10.31776/rtcj.1020401","url":null,"abstract":"The article deals with the application of mobile robotic systems (UGV) during the decommissioning of nuclear industry and energy facilities. It is shown that, in contrast to the recovery from accidents, when usually the work is carried out in an unknown unstructured environment, which implies damage to buildings, blockages, flood zones, etc., decommissioning is carried out in a rather complex, but well known environment according to a pre-developed plan. The general requirements for such UGVs are discussed, based on the features and practice of their application.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122456961","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
Implementation of a program for real-time processing and visualization of LIDAR scan data in the LabVIEW programming environment 在LabVIEW编程环境下实现激光雷达扫描数据的实时处理和可视化程序
Robotics and Technical Cybernetics Pub Date : 2022-09-01 DOI: 10.31776/rtcj.10303
Valeriy I. Alekseev, D. Goryachkin, V. Kuprenyuk, E. Sosnov, Nikolay Schegrov
{"title":"Implementation of a program for real-time processing and visualization of LIDAR scan data in the LabVIEW programming environment","authors":"Valeriy I. Alekseev, D. Goryachkin, V. Kuprenyuk, E. Sosnov, Nikolay Schegrov","doi":"10.31776/rtcj.10303","DOIUrl":"https://doi.org/10.31776/rtcj.10303","url":null,"abstract":"The features of development and optimization of software for real-time LIDAR data processing are considered. The advantages of the LabVIEW graphical development environment for creating highly optimized applications using parallel execution threads and pipelined data processing are shown.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126178795","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 architecture and generalized modules structure for robotic complexes distributed control system for different applications 面向不同应用的机器人综合体分布式控制系统体系结构及通用模块结构的研究
Robotics and Technical Cybernetics Pub Date : 2022-09-01 DOI: 10.31776/rtcj.10305
Konstantin Krestovnikov, A. Erashov
{"title":"Development of architecture and generalized modules structure for robotic complexes distributed control system for different applications","authors":"Konstantin Krestovnikov, A. Erashov","doi":"10.31776/rtcj.10305","DOIUrl":"https://doi.org/10.31776/rtcj.10305","url":null,"abstract":"The autonomous robotic complexes allow solving a wide range of scientific, civil and military tasks. In order to work correctly, these complexes have to include a number of heterogeneous functional systems in its composition. The implementation of these systems requires a significant number of separate modules and devices that makes it relevant to develop new approaches to the organization of control systems that correspond to complexity of the object. This work is aimed at the development of distributed control systems for robotic complexes. This paper presents the architecture of the distributed and centralized control system, also the generalized modules structure for its realization. The proposed architecture consists of three levels and it can be used for autonomous robotic complexes and unmanned vehicles for different applications. The generalized structure of the modules allows developing typical circuit solutions for sensor and actuating modules of the system. The control system of the mobile autonomous robotic platform for general purposes was developed and realized based on the proposed architecture. In this robotic complex the CANbus is used as internal system communication bus, through that the data exchange is accomplished between modules of devices level and high-level controller. The devices level of the robotic platform includes fourteen modules, including the modules of the motor-wheels control, in the example of that the application of the proposed generalized structure was considered.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127039870","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
Analyzing the impact of disturbances on the AUV docking control system 分析了干扰对AUV对接控制系统的影响
Robotics and Technical Cybernetics Pub Date : 2022-09-01 DOI: 10.31776/rtcj.10307
D. Frolov, S. Polovko
{"title":"Analyzing the impact of disturbances on the AUV docking control system","authors":"D. Frolov, S. Polovko","doi":"10.31776/rtcj.10307","DOIUrl":"https://doi.org/10.31776/rtcj.10307","url":null,"abstract":"We consider the problem of docking the autonomous underwater vehicle (AUV) to the seabed container. A two-level control system was previously developed using the mathematical model of the AUV dynamics. We further improve the mathematical model with the model of the AUV Computer Vision system, which is based on cameras and specialized markers installed on the container. In this paper, the studies are supplemented by considering the influence of two disturbance factors. The first one is the pixel coordinate error of the detected markers? Which is internal to the system. The second one is the external stationary ocean current. We study system performance in the vicinity of these factors and determine the acceptable docking conditions.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126543520","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
Proposals for the creation of an armored repain and evacuation robotic complex 建议创建一个装甲维修和疏散机器人综合体
Robotics and Technical Cybernetics Pub Date : 2022-09-01 DOI: 10.31776/rtcj.10302
E. Antokhin, Yuriy Leonenko, V. Shevchenko
{"title":"Proposals for the creation of an armored repain and evacuation robotic complex","authors":"E. Antokhin, Yuriy Leonenko, V. Shevchenko","doi":"10.31776/rtcj.10302","DOIUrl":"https://doi.org/10.31776/rtcj.10302","url":null,"abstract":"The article provides a brief analysis of the state and identifies the main problems of the existing system of evacuation of armored military equipment samples. Based on the results of the analysis proposals have been developed for the creation of an armored repair and evacuation robotic complex, requirements for its main components have been formulated.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130966410","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
Teleoperation of ground-based mobile robotic systems with time delays in data transmission channels 数据传输信道中存在时滞的地面移动机器人系统遥操作
Robotics and Technical Cybernetics Pub Date : 2022-09-01 DOI: 10.31776/rtcj.10306
Dmitrii Popov
{"title":"Teleoperation of ground-based mobile robotic systems with time delays in data transmission channels","authors":"Dmitrii Popov","doi":"10.31776/rtcj.10306","DOIUrl":"https://doi.org/10.31776/rtcj.10306","url":null,"abstract":"The paper is devoted to the issues of teleoperation of ground mobile robots. Problems of moving a robot in an un-structured environment by commands of a human operator are considered. A significant problem that reduces a quality of control and often leads to loss of stability is time delays that occur in information channels of the complex. To partially compensate for the negative impact of the time delays, an approach based on the prediction of the local goal of movement, the real position of the robot at the time of commands formation and the model of an operator is proposed. To test the approach, a computer simulation of the robot control process was performed on the basis of a training complex based on the Unity engine. The task was consisted in controlling the movement of the robot along the reference trajectory displayed on the screen. The task execution time and the similarity of the recorded trajectory with the reference one were evaluated. The experimental results confirmed the positive effect of the proposed compensation method on the efficiency of the control system.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123045810","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
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