Robotics and Technical Cybernetics最新文献

{"title":"A technique for constructing depth map from images of orthogonally-divergent fisheye stereo","authors":"V. Varlashin","doi":"10.31776/rtcj.10309","DOIUrl":"https://doi.org/10.31776/rtcj.10309","url":null,"abstract":"The issues of using a pair of orthogonally-divergent cameras with fisheye lenses in computer vision systems are considered. An algorithm has been developed for processing frames received from cameras to obtain a pair of rectified images. For a virtual model, the accuracy of constructing a scene depth map in the area of intersection of the cameras' fields of view was estimated.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"17 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":"124940341","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":"Status and prospects of creating large heterogeneous groups of robotics operating jointly","authors":"V. Konovalov, A. Vorobyov, V. Sergeyev","doi":"10.31776/rtcj.10301","DOIUrl":"https://doi.org/10.31776/rtcj.10301","url":null,"abstract":"The group application of heterogeneous groups of robotic means opens up new prospects in the robotization of weapons and military equipment. It becomes possible to use radically different scenarios for the use of robots and solving defense problems. At the same time, it is important to recognize that the use of robots in a group imposes new requirements on the functionality of the robots themselves, and also requires a rethinking of the approach to creating new types of military robotic systems and reveals the problems of managing large heterogeneous groups of robotic means acting together to perform tasks.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"41 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":"131385834","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":"Automatic maintenance with robotics of the induction melting plant in a cold crucible","authors":"I. Dalyaev, Alexander Truts, Andrey Shavlikov, Alexander Zherebtcov, Yu. S. Mochalov, A. Shadrin","doi":"10.31776/rtcj.10308","DOIUrl":"https://doi.org/10.31776/rtcj.10308","url":null,"abstract":"The performance of works within the framework of technological operations of the closed nuclear fuel cycle of an industrial power complex is inevitably associated with the effects of an external factors that have a significant impact on the technological process. Thus, human participation should be minimized, mechanical and electromechanical systems should be included in the process, in particular, means of robotics. When creating a deserted technology, the issue of automation of the process comes to the fore, including with the use of robotic systems that solve transport, service, inspection tasks, including tasks directly related to the technological process. Special requirements are also imposed on the materials used. The processing of the vitrification of high-level waste is being considered in this work. Such a glazing site by the IMCC method was created by specialists of JSC «VNIINM». In this work, the analysis of the current technical process of the work of this site is carried out, proposals for optimizing the performance of individual operations are issued, recommendations for retrofitting the site are given. Based on the test results of the demonstration stand, proposals were formulated for the automation of the glazing section, taking into account the environmental factors that take place on a real installation, and taking into account the results obtained as a result of the mock-up tests.","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":"128838328","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":"Neuromorphic model of associative memory in the formation of the working environment description of a robotic agent","authors":"A. Korsakov","doi":"10.31776/rtcj.10304","DOIUrl":"https://doi.org/10.31776/rtcj.10304","url":null,"abstract":"The article considers an approach to solving the problem of describing the workspace of a robotic agent based on the neuromorphic principle. A segmental spike model of a neuron with the possibility of structural adaptation was used as a basic element in the modeling. The main features of the neuron model used in terms of the possibilities of its structural reconfiguration are indicated. As the basis of the model for such a description, a scheme for the formation of a conditioned reflex in living organisms is chosen. The structural scheme of the neuromorphic model of conditioned reflex formation is given, as well as the general scheme of the model of associative memory formation. A step-by-step description of the algorithm for forming associative links in such a scheme is given. The principle of the formation of inhibitory connections when competing features appear in several objects is presented. The article presents the results of computer modeling on a model example. The conclusion is made about the applicability of the chosen neuron model and the scheme of organizing neurons into a network to solve the problem of describing the workspace of a robotic agent.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"56 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":"124530912","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":"Numerical simulation of dynamics and fluid dynamics for biomimetic underwater robots","authors":"N. Tschur, E. Glazunova","doi":"10.31776/rtcj.10203","DOIUrl":"https://doi.org/10.31776/rtcj.10203","url":null,"abstract":"The paper presents the results of modeling dynamics and hydrodynamics for two types of biomorphic robots: a snake-like robot and a fish-like robot. There were obtained detailed data on the transient process, which desribes the acceleration of robots from a stationary state. Mentioned acceleration was due to large-scale deformation of the robot surface shape. Flow fields near the deformable surface of the robot performing acceleration were also obtained. In fact, there was solved conjugate problem of the robot dynamics and the hydrodynamics of the flowing around fluid. The calculation method is based on the method of deformable grids. This method allows us to have a conservative approximation scheme for hydrodynamic calculations and to save significant computational resources in comparison with other approaches of the conjugate problem solving.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"267 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121950815","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 creation ground robotics vehicle","authors":"A. Gorsky, Vitaliy Demyanov, Alexander Zhukov","doi":"10.31776/rtcj.10209","DOIUrl":"https://doi.org/10.31776/rtcj.10209","url":null,"abstract":"The article discusses about the system of information support for unmanned ground vehicle and un-manned aerial vehicles with an increased degree of autonomy, arising application difficulties, is considered. Some methodological approaches to calculating the requirements of electronic protection for the data transmission systems of unmanned ground vehicle and unmanned aerial vehicles with an increased degree of autonomy are given.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123237050","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":"Choise of the mode of controlling modulation in a laser oscillator of ultrashort pulses with controllable Michelson interferometer","authors":"D. Goryachkin, A. Rodionov, E. Sosnov, V. Kuprenyuk","doi":"10.31776/rtcj.10206","DOIUrl":"https://doi.org/10.31776/rtcj.10206","url":null,"abstract":"This paper continues the previous publication «Laser for generation of ultrashort pulses with controllable duration for robotics» [1] and concerns latest investigations of the novel technology of using a controllable Michelson interferometer as the laser resonator output mirror. The proposed algorithm of controlling phase modulation allowed to demonstrate the feasibility of preferential amplifying and extracting several subnanosecond radiation pulses with enhanced peak power from a train of synchronization mode pulses. The preferences, shortcomings and perspectives of the considered technology development are discussed.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126854846","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":"Methodical approach to testing of special and dual-purpose exoskeletons","authors":"E. Pis’mennaya, K. Tolstov, E. Antokhin, Leonid Voronin","doi":"10.31776/rtcj.10202","DOIUrl":"https://doi.org/10.31776/rtcj.10202","url":null,"abstract":"The paper proposes a possible methodological approach to testing of passive military exoskeletons in order to assess the effectiveness of their use under the criterion of reducing the load on the operator, and considers the procedure for optimal adjustment (fitting) of the exoskeleton elements to the anthropometric parameters of a combatant. In the final part of the work, the list of priority efforts aimed at the implementation of a unified technical policy in the field of organization and testing of military exoskeletons has been kept up to date.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124030438","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":"Virtual environments for modeling the interaction of operators with UAVs in closed spaces in potentially dangerous situations","authors":"S. Sergeev, Y. Bubeev, V. Usov, M. Mikhaylyuk, M. Knyazkov, A. Polyakov, A. Motienko, Alexandr Khomyakov","doi":"10.31776/rtcj.10201","DOIUrl":"https://doi.org/10.31776/rtcj.10201","url":null,"abstract":"The effective interaction between humans and robotic devices is designed to provide a timely response to potentially dangerous situations arising in complex environments. One example is the use of Unmanned Aerial Vehicles (UAVs) by human operators to inspect enclosed spaces. These units allow the search and identification of target objects, helping a human operator identify signs of Potentially Dangerous Situations (PDSs). At the same time in a closed (and often cluttered) space to control the emerging situations it is necessary to involve developed means of conducting spatial orientation based on Artificial Intelligence Technology, Computer Vision, 3D-visualization, Local Positioning And Navigation, etc. Despite the progress made in autonomous UAVs control, active human participation in detecting signs of PDSs is an important condition for maintaining the security of the internal environment of controlled premises. Human decision-making in situations of high uncertainty and incomplete data largely depends on means to improve his Situational Awareness (external conditions of activity) and Professional Competencies (internal conditions of activity). To form them, it is necessary to develop methodology and tools for building UAVs application scenarios to give operators the necessary user experience on simulation models in the Virtual Environment of Activity. The paper investigated the development of the Virtual Environment Systems (VES) for the implementation of UAVs application scenarios in enclosed spaces in relation to multicopters that allow both autonomous and manual control. As a result of this research, prototypes of UAVs for inspection of enclosed spaces have been identified; the prospects of quadcopters use under various PDSs scenarios have been shown; the composition of promising technologies ensuring UAVs use in enclosed environments has been described; the method of design and 3D visualization of UAVs application scenarios using the original VES (named VirSim) has been proposed. The advantages of the proposed approach to modeling the use of UAVs in PDSs are the multivariate scenarios of operators' activities, which contributes to the accumulation of user experience of human interaction with flying robots.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114812174","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 microelectromechanical measuring systems to stabilize the spatial position of the platform","authors":"Igor Dawlyud","doi":"10.31776/rtcj.10207","DOIUrl":"https://doi.org/10.31776/rtcj.10207","url":null,"abstract":"With the growth of sea freight, as well as cargo operations at sea, in particular the transfer of cargo in difficult climatic conditions, there is a need for automated systems. Such systems can compensate for the disturbing effects of the rolling of ships and allow the safe transfer of cargo on the high seas. One such system is an automated cargo receiving platform located on the receiving vessel. To assess the feasibility of its construction and efficiency of work, a physical model of an automatic stabilized platform has been developed using micromechanical measuring systems that ensure its stabilization in the horizontal plane. In the course of building the model, its functional and kinematic diagram was developed. The problem of processing the received «raw» data from microelectromechanical sensors: a gyroscope and an accelerometer has been solved. Control algorithms are constructed using a PID controller in the program code, as well as a complementary filter for combining accelerometer and gyroscope readings. The work of the model is to keep the platform in a horizontal plane; regardless of the movement of the base (the vessel on which it is installed). The created model showed high efficiency, fast response, positioning accuracy. The stabilization system developed on the basis of the simulated one is capable of working in difficult conditions, ensuring safety when loading on the open sea. Based on the developed model of the automatic stabilized platform, the adaptive output control algorithms were tested.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131628021","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}