Robotics and Technical Cybernetics最新文献_第7页

Machine vision and object recognition using neural networks 使用神经网络的机器视觉和物体识别

Robotics and Technical Cybernetics Pub Date : 2022-06-01 DOI: 10.31776/rtcj.10204

Oleg Mikhalev, A. Yanyushkin

引用次数: 0

Adaptive underwater vision sistems 自适应水下视觉系统

Robotics and Technical Cybernetics Pub Date : 2022-06-01 DOI: 10.31776/rtcj.10208

Andrey V. Prokonich

引用次数: 0

Design principles of control systems for self-driving unmanned ground vehicles 无人驾驶地面车辆控制系统设计原理

Robotics and Technical Cybernetics Pub Date : 2022-06-01 DOI: 10.31776/rtcj.10205

A. Tachkov, A. Kozov, Dmitriy Iakovlev, N. Buzlov, S. Kurochkin

{"title":"Design principles of control systems for self-driving unmanned ground vehicles","authors":"A. Tachkov, A. Kozov, Dmitriy Iakovlev, N. Buzlov, S. Kurochkin","doi":"10.31776/rtcj.10205","DOIUrl":"https://doi.org/10.31776/rtcj.10205","url":null,"abstract":"The self-driving unmanned ground vehicles (UGV) design problem is analyzed in this paper. Two methodological problems of UGV design are formulated. The first problem is the difference between the purpose of creating a self-driving automobile from UGV, which leads to fundamentally different systemic solutions. The second methodological problem is associated with the need for sufficiently deep knowledge and the ability to work with a number of technologies that are used in the complex to create a control system for self-driving. The joint analysis of these problems allowed us to put forward a number of control systems design principles for self-driving UGV, including the principle of upcycling, the principle of using a discrete-event model for the logical synchronization of the operation of modules and the principle of ensuring the functional safety of the UGV during autonomous movement. The principle of using the discrete-event model for synchronizing the operation of software modules is explained by the example of a Petri net. A general solution to the problem of quantitative evaluation of the safety of autonomous movement of UGV is presented. The considered principles were used during development of prototypes of self-driving control systems for various purposes.","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":"126662477","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

Scene recognition for confined spaces in mobile robotics: current state and tendencies 移动机器人中受限空间的场景识别:现状与趋势

Robotics and Technical Cybernetics Pub Date : 2022-03-01 DOI: 10.31776/rtcj.10102

S. Orlova, A. Lopota

{"title":"Scene recognition for confined spaces in mobile robotics: current state and tendencies","authors":"S. Orlova, A. Lopota","doi":"10.31776/rtcj.10102","DOIUrl":"https://doi.org/10.31776/rtcj.10102","url":null,"abstract":"The article discusses the problem of scene recognition for mobile robotics. Subtasks that have to be solved to implement a high-level understanding of the environment are considered. The basis here is an understanding of the geometry and semantics of the scene, which can be decomposed into subtasks of robot localization, mapping and semantic analysis. Simultaneous localization and mapping (SLAM) techniques have already been successfully applied and, although they have some as yet unresolved problems for dynamic environments, do not present a problem for this issue. The focus of the work is on the task of semantic analysis of the scene, which assumes three-dimensional segmentation. The field of 3D segmentation, like the field of image segmentation, has been decomposed into semantic and object segmentation, contrary to the needs of many potential applications. However, at present, panoptic segmentation is beginning to develop, combining the two previous ones and most fully describing the scene. The paper reviews the methods of 3D panoptic segmentation, identifies promising approaches. The actual problems of the scene recognition problem are also discussed. There is a clear trend towards the development of complex incremental methods of metric-semantic SLAM, which combine segmentation with SLAM methods, and the use of scene graphs, which allow describing the geometry, semantics of scene elements and the relationship between them. Scene graphs are especially promising for the field of mobile robotics, since they provide a transition from low-level representations of objects and spaces (for example, segmented point clouds) to describing a scene at a high level of abstraction, close to a human one (a list of objects in a scene, their properties and location relative to each other).","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121806499","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

Promising high-tech export-oriented and demanded by the domestic market areas of marine robotics 前景广阔的高科技外向型和受国内市场需求的海洋机器人领域

Robotics and Technical Cybernetics Pub Date : 2022-03-01 DOI: 10.31776/rtcj.10101

A. Maevsky, V. Zanin, I. Kozhemyakin

{"title":"Promising high-tech export-oriented and demanded by the domestic market areas of marine robotics","authors":"A. Maevsky, V. Zanin, I. Kozhemyakin","doi":"10.31776/rtcj.10101","DOIUrl":"https://doi.org/10.31776/rtcj.10101","url":null,"abstract":"In order to develop the Arctic zone of the Russian Federation, in the decree of the President of the Russian Federation, areas related to the development of the Northern Sea Route, environmental protection of the Arctic zone, an increase in the growth rate of geological research and the development of monitoring systems for the Arctic region were separately noted. Also in this document, the main tasks were identified that require careful study, namely: the development and implementation of technologies and equipment for use in Arctic conditions, the improvement of the environmental monitoring system, the use of modern information and communication technologies and communication systems for measurements from satellites, marine and ice platforms, research vessels, ground points and from observatories. These problems and tasks are already being successfully solved abroad with the help of the development of modern systems and devices used as part of marine robotic complexes (MRTC). This article provides a comprehensive analysis of the use of autonomous unmanned underwater vehicles (AUVs) as part of underwater resident systems. Particular attention is paid to the projects already implemented in the external market in the oil and gas industry. The authors present the implemented developments in the field of marine resident robotics in the Russian Federation. In conclusion, the authors for-mulated proposals for the development of the direction of marine robotics, including for solving problems associated with long-term monitoring and operation of the bottom oil and gas infrastructure. Key words Marine robotic complexes, AUV, resident robotics, seabed stations, underwater service work, underwater monitoring.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121978866","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: 2

Prospects for the creation of a product’s digital twin in the development of robotic systems 机器人系统发展中产品数字孪生体的创造前景

Robotics and Technical Cybernetics Pub Date : 2022-03-01 DOI: 10.31776/rtcj.10104

N. Malyutin, Mikhail Chizhikov, Yuri Yeretin, A. Shalumov

引用次数: 0

Key features of a swarm assemlby algorythm for autonomous unmanned aerial vehicles (UAVs) in absence of GNSS and stable radio communication 自主无人机在无GNSS和稳定无线电通信条件下的群装配算法的关键特征

Robotics and Technical Cybernetics Pub Date : 2022-03-01 DOI: 10.31776/rtcj.10103

A. Boyko, Ruben Girgidov

引用次数: 0

Implementation of the trajectory controller based on model predictive controlfor unmanned ground vehicle 基于模型预测控制的无人地面车辆轨迹控制器的实现

Robotics and Technical Cybernetics Pub Date : 2022-03-01 DOI: 10.31776/rtcj.10105

A. Tachkov, A. Kozov, S. Kurochkin, Dmitriy Iakovlev, N. Buzlov

{"title":"Implementation of the trajectory controller based on model predictive controlfor unmanned ground vehicle","authors":"A. Tachkov, A. Kozov, S. Kurochkin, Dmitriy Iakovlev, N. Buzlov","doi":"10.31776/rtcj.10105","DOIUrl":"https://doi.org/10.31776/rtcj.10105","url":null,"abstract":"This paper is devoted to one implementation of a trajectory controller based on model predictive control for an un-manned ground vehicle (UGV). The statement of the problem of autonomous movement along a given trajectory, the assumptions and restrictions adopted are presented. The features of the application of model predictive control for solving the problem are described. A feature of the proposed implementation of the trajectory controller is the use of a linearized chassis dynamics model to predict the position of the robot after a given period of time and control the movement without solving the optimal control problem. To determine the parameters of the dynamic model of the robotic complex, taking into account the drive level, the identification problem was solved, as a result of which two linear models with delay were obtained, describing the dynamics of the longitudinal movement and rotation of the robot. The experiment showed that the obtained models provide high compliance with experimental data, while the robot moves on a surface with a constant coefficient of friction. An algorithm for calculating the predicted position, a block diagram of the trajectory controller and its software implementation are described. The implemented trajectory controller provides autonomous movement of an UGV in an industrial-urban environment or in slightly rugged terrain.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129822720","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

The results of analysis of traction dynamics and stability of planetary rover’s motion for determination of special wheel chassis’ boundary design parameters 通过对行星漫游车的牵引动力学和运动稳定性分析，确定了专用轮毂底盘的边界设计参数

Robotics and Technical Cybernetics Pub Date : 2022-03-01 DOI: 10.31776/rtcj.10107

A. Bykov, Artem Artemyev

{"title":"The results of analysis of traction dynamics and stability of planetary rover’s motion for determination of special wheel chassis’ boundary design parameters","authors":"A. Bykov, Artem Artemyev","doi":"10.31776/rtcj.10107","DOIUrl":"https://doi.org/10.31776/rtcj.10107","url":null,"abstract":"The analysis of the influence of the design parameters of the rover chassis on the traction dynamics, as well as the static and dynamic stability is presented. The analysis was carried out on the basis of the design parameters of the following rovers: Lunokhod-1, LRV, Sojourner, Spirit and Opportunity, as well as Curiosity. The results of the analysis of the influence of the radius and width of the rover wheel on the specific thrust coefficient are presented. An approach has been formed for determining the permissible displacement of the center of gravity of the rover in the longitudinal direction, which provides static stability. The choice of the formula for determining the maximum permissible speed of movement of automatic research planetary rovers has been substantiated. A number of recommendations have been drawn up for working out the design of the rover at the early stages of design. Boundary values of the rover wheel width, depending on the wheel radius, are proposed. The influence of the load on a separate wheeled propulsion unit on the specific thrust coefficient has been determined.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133157812","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

Method of faults identification in non-stationary systems 非平稳系统故障识别方法

Robotics and Technical Cybernetics Pub Date : 2022-03-01 DOI: 10.31776/rtcj.10106

A. Zuev, A. Zhirabok, V. Filaretov, A. Protsenko

引用次数: 0