Proceedings of the Southwest State University最新文献

{"title":"Stability Study of a Neuro-Fuzzy Output System Based on Ratio Area Method","authors":"N. A. Milostnaya","doi":"10.21869/2223-1560-2021-25-3-70-85","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-70-85","url":null,"abstract":"Purpose of research is to study the hypothesis about the possibility of changing the type of transition process during training in a neuro-fuzzy inference system based on area ratio method, and to study the properties of weight coefficient influence on its stability.Methods. An apparatus of fuzzy logic is used for the development of a neuro-fuzzy output system. At the same time, input and output variables are described by triangular membership functions. Mamdani implication model was used in the compositional rule. A linear model of area ratio was used in defasification. The reverse error propagation method was used during training.Results. In experimental studies, it was found that the proposed neuro-fuzzy model based on area ratio method allows to change the type of transition process, namely, to transform oscillatory process into an aperiodic (monotonic) process. In experimental studies, it was also found that the stability of neuro-fuzzy output system is more influenced by the weight coefficient determined in calculating the total area of membership output functions. Thus, the obtained results prove: first, that the proposed neuro-odd output system ensures the transformation of transfer characteristics, and second, ensures its stability in a given range of weight coefficient characteristics.Conclusion: The architecture of an adaptive neuro-fuzzy output system based on a linear method of area ratio is described. A distinctive feature of the proposed architecture is the use of an odd system of triangular accessory functions at inputs and outputs. Analysis of the simulation process of its training showed that it s important to ensure stability during training. It is also necessary to establish permissible values of the weight coefficient, numerical values of which in its turn affect the transformation of transfer characteristics of a neuro-fuzzy output system.","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123696693","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":"Investigation of Molding Process and Consolidation of Preforms from Mechanically Synthesized Powders of Europium and Cerium Hafnates","authors":"Z. Eremeeva, E. Ageev, G. Sharipzyanova, Yu. Y. Kaplansky, N. Nitkin, A. Akhmetov, V. L. Orlov, A. A. Saenko","doi":"10.21869/2223-1560-2021-25-3-8-26","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-8-26","url":null,"abstract":"Purpose of research. To study the process of molding and consolidation of preforms from mechanically synthesized powders of europium and cerium hafnates.Methods. Complex compounds of europium hafnateEu2HfO5 and cerium hafnate Ce2HfO5 have been synthesized from europium, hafnate and cerium oxides using mechanochemical synthesis in a planetary centrifugal mill. The rotational speed of the disk was 600 - 900 rpm and the rotational speed of the drums is 1000 - 1800 rpm, with the ratio of grinding bodies to the mass of the powder charge (35 - 45): 1, in an argon atmosphere. Synthesis lasts 5 - 120 minutes.Results. An X-ray phase analysis has been performed showing the formation of Eu2HfO5 and Ce2HfO5; as well as the study of the morphology of particles of the obtained powders, their technological properties, granulometric composition, formability and compaction, as well as the process of their consolidation.Conclusion. On the basis of the experimental studies aimed at studying the molding process and consolidation of preforms from mechanically synthesized powders of europium and cerium hafnates, it has been revealed the optimal mode of synthesis of cerium and europium hafnates. We have obtained a cerium hafnate powder with a particle size of 30-100 nm and a europium hafnate powder with a particle size of 40-70 nm by the method of mechanical activation. Using X-ray phase analysis, TEM and SEM methods, the mixed structure of lanthanide hafnates powders obtained by mechanosynthesis have been studied. The technological properties of mechanically synthesized powders of cerium and europium hafnate, as well as, their compaction and formability after pressing and sintering have been determined and studied. Samples from europium hafnate powder have a relative density higher than samples from cerium hafnate powder after consolidation at temperatures of 900-1200 ° C and isothermal holding time from 30 to 120 min. A study of the microhardness of lanthanide hafnate samples after sintering has shown that europium hafnate samples have greater hardness than cerium hafnate samples .","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131369039","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":"Simulation of Control System of Executive Links of Rehabilitation Exoskeleton Considering Spasticity Effect","authors":"S. Jatsun, A. Malchikov, А. А. Postolny, A. Yatsun","doi":"10.21869/2223-1560-2021-25-3-103-119","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-103-119","url":null,"abstract":"Purpose of research. Mathematical modeling of the adaptive control system of the rehabilitation exoskeleton complex, which allows considering the effects of human interaction with the actuators of the drive system, including detecting the appearance of the spasticity effect. The authors of this work solve the following problems: development of human-machine interaction concept, description of the information infrastructure of the exoskeleton complex; development of a structure of an adaptive control system that allows to take into account the interaction of a person with a robot in the process of movement; development of a mathematical model of a man-machine system (MMS) and setting up computational experiments in order to develop adaptive control algorithms under various conditions, development of a method for detecting a spasticity phenomenon and an algorithm of an adaptive control system providing patient safety.Methods. When constructing a mathematical model of the MMS, biomechanical and physiological properties of the manipulation object, mechanical properties of power elements of the structure, as well as features of the operation of the information system of electromechanical device are considered. The work uses mathematical model represented by a system of differential equations of the second order, describing the dynamics of the joint movement of executive links of the exoskeleton and the limb of the operator.Results. During numerical simulation time diagrams of rotation angles changes of exoskeleton links and operator's leg, laws of torques changes in hinges and forces on cuffs characterizing man-machine interaction under various modes and conditions of device functioning are obtained.Conclusion. Conclusions were drawn on applicability of the proposed algorithms of adaptive control system under various modes and conditions of exoskeleton complex functioning, including for rehabilitation of patients with the possibility of spasticity. The conclusions were drawn based on the obtained results of mathematical modeling of MMS functioning.","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114187834","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":"Architectural and Structural Principles of Construction of Wooden Buildings over a Hundred Years Old","authors":"L. Stupishin, A. Masalov","doi":"10.21869/2223-1560-2021-25-3-41-55","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-41-55","url":null,"abstract":"Purpose of research. Analysis of the accumulated information on design solutions used in the construction of buildings and structures made of wood, which ensured the safety of structural elements and materials, and allowing them to maintain their working condition for a long time. Study of the impact of operational impacts on building elements and development of recommendations for the restoration and preservation of timber buildings and structures classified as cultural heritage sites.Methods. Revealing the cause-and-effect relationships of the used design solutions and materials with the elimination of degradation processes in the supporting structures on the basis of office processing of the results of visual and instrumental examination.Results. We have collected data on the history, space-planning solution and constructive solution of the cultural heritage object. The cause-and-effect relationships of the protection of load-bearing structures from degradation phenomena in the materials of the structure by means of constructive and planning solutions for the building of the temple have been revealed.Conclusion. The building of the temple has a canonical space-planning solution, which allows maintaining a stable temperature, humidity and aeration mode of operation of the supporting structures of the building at any time of the year. The use of a rubble foundation made of phosphorite stone provides protection against uneven settlement of the building, as well as protects wooden structures from soil moisture. The phosphorite stone and the foundation binder are hydrophobic. A log-house technique has been used for erecting walls with a boarding (thin board) according to the type of a curtain facade, which provides ventilation of the log house. Ventilation of the floor, dome and its supporting structures are provided. The interior walls are decorated with currently unused materials that reliably protect the wood from atmospheric and biological harmful effects.","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"499 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134019894","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":"Two-step Approach to Corrosion Detection of Metal Structures Using Convolutional Neural Networks When Inspecting Industrial Facilities","authors":"K. Rusakov, A. Chekhov","doi":"10.21869/2223-1560-2021-25-3-152-166","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-152-166","url":null,"abstract":"Purpose of research. Corrosion recognition on metal structures is a serious problem in conducting inspections of industrial facilities. Existing approaches to image analysis use all images to recognize areas damaged by corrosion, which is not suitable for structural analysis, since the percentage of errors in this approach is very large. Under conditions of corrosion prediction throughout the image, errors related to predictive mask not on metal structure are possible. Therefore, it is necessary to delete the results of positive class prediction for areas damaged by corrosion but not placed on metal structure. Therefore, in this work, the authors have developed two-step approach for recognizing corrosion of metal structures, thereby achieving the goal of improving recognition accuracy.Methods. We implement two deep learning models focused on Semantic segmentation (DeepLabv3, BiSeNetV2) for corrosion detection that work better in terms of accuracy and time and require fewer annotated samples compared to other deep models, such as Unet, FCN, Mask-RCNN. A new detection approach to metal areas damaged by corrosion, based on the combination of two convolutional neural networks for more accurate pixel prediction by depth architecture models: DeepLabv3 and BiSeNetV2.Results. Experimental studies have calculated the accuracy and F1 measures using FCN, Unet, Mask-RCNN models as well as the proposed approach. Based on obtained results, it was concluded that proposed approach of combining DeepLabv3 and BiSeNetV2 networks increases accuracy and F1 measure for Unet algorithm by 3%, accuracy by 10% and 2% F1 measure for Mask R-CNN and by 12% accuracy and 4% F1 measure for FCN network. Experimental results and comparisons with real data sets confirm the effectiveness of proposed scheme even for very complex images with many different defects. Productivity was assessed based on data annotated by experts.Conclusion. Analyses of existing solutions in the field of recognition of metal structures damaged by corrosion is described. Shortcomings of existing solutions based either on detection of corrosion sites or on pixel segmentation of full image are identified. A new approach to the recognition of metal areas damaged by corrosion based on the combination of two convolutional neural networks for more accurate pixel prediction of DeepLabv3 and BiSeNetV2 is indroduced. Production is evaluated based on data annotated by Precision and F1-score metrics experts.","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"183 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133548645","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":"Evaluation of High-Speed Link Parameters for Highly Reliable Reconfigurable Systems Based on S-Parameters and BER","authors":"M. Orda-Zhigulina","doi":"10.21869/2223-1560-2021-25-3-167-180","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-167-180","url":null,"abstract":"Purpose of research. is to improve signal transmission parameters in high-speed signal transmission lines, including between programmable logic integrated circuits (PLIC). This improvement in signal transmission parameters is necessary to increase throughput of modern highly reliable reconfigurable systems to ensure data transfer rate of up to tens of Gbit/s. It can be done considering the influence of electrical and structural parameters of multi-layer printed circuit boards (MPCB) on them. It is possible to provide such high data rates by using a wider frequency band of transmitted signals. One of the existing approaches to this problem is to increase \"physical\" frequency of transmitted information signals to 25-300 GHz, which is sufficient to achieve desired rates.Methods. A method for estimating quality of high-speed signal transmission lines based on the definition of standardized methods for analyzing signal transmission parameters, such as JCOM, S-parameters and BER is proposed in the article. This method allows evaluating high-speed communication lines. Thus, the Channel Operating Margin (COM)/JCOM parameter can be used to estimate the quality of a digital communication channel - a standardized method for determining the overall channel quality indicator. Known methods are used to estimate such signal transmission parameters as S11 reflection coefficient and S21 attenuation coefficient (S-Parameters). These methods are used to estimate attenuation and loss of the information signal in the path, when copies of the signal reflected from inhomogeneities affect the original and lead to its distortion. Simulation of such parameter as Bit Error Rate (BER) is carried out according to G.821/G.826/M2100 rationing and quality control methodology.Results. The main metrics were selected to evaluate the quality of high-speed signal transmission lines. It is based on the evaluation of such signal transmission parameters as Channel Operating Margin (COM), S-parameters and Bit Error Rate (BER). Numerical evaluations of signal transmission parameters were obtained and their effect on the design parameters of high-speed signal transmission lines was estimated. It is recommended to use at least 1 transition hole between screening polygons in GND separation layers every 0.5 cm or 0.25 cm2 of WFP area. It is for a data rate of less than 25 Gbit/s, It is recommended to use at least 2 transition holes between screening polygons in GND separation layers every 0.5 cm or 0.25 cm² of PV area, if high-speed signal transmission line passes at a distance of closer than 2.5 cm from the power supply circuits in a projection on the layer where the power supply circuits are located.Conclusion. A method for calculating signal transmission parameters on high-speed signaling lines based on the calculation of Channel Operating Margin (COM), S-parameters and Bit Error Rate (BER) parameters is introduced. As part of introduced method, an analysis of signal transmission paramete","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132322776","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":"Organization of Industrial Construction of Nuclear Power Plants in the Global Market, Taking into Account Reliability Modeling at Pre-investment Stages","authors":"V. Berezka, S. Baronin, V. Bredikhin, A. V. Zobnev","doi":"10.21869/2223-1560-2021-25-3-56-69","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-56-69","url":null,"abstract":"The problems of managing the organizational reliability of the pre-investment phase of the industrial construction of nuclear power plants in global markets have been investigated. The relevance of the topic is determined by the great uncertainty in the implementation of international investment projects of nuclear power plants. This is confirmed by the facts of construction delays and an increase in costs by more than 60% of nuclear reactors under construction in the world.Purpose of research: development of methodological approaches and practical recommendations for modeling and integrated management of organizational reliability indicators of industrial construction of nuclear power plants in the global market at pre-investment stages.Methods: a set of systematic methodological approaches based on methods of comparison, analysis, synthesis, modeling, forecasting, expert assessments, mathematical statistics, economic and mathematical modeling, factorial, situational and retrospective analysis, scenario method, morphological and logical analysis.Results: the author's methodology for modeling organizational reliability and the structure of the life cycle of industrial construction of nuclear power plants; features and development trends of this type of industrial construction; recommendations in the field of industrial construction organization to increase the reliability of NPP construction based on a controlled factor space and multi-criteria optimization of calendar schedules.Conclusion. The studies performed have confirmed the relevance of studying the subject of research associated with solving the problem of increasing the organizational reliability of industrial construction of nuclear power plants in global markets, formed and managed at the pre-investment stages of planning these types of investment projects. At the same time, the main result of these studies can be considered as an increase in the competitiveness of the Russian divisions of Rosatom State Corporation in the international market with an increase in its current share of 26% (130 billion US dollars) to 40-50% for the period up to 2035. ","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131394017","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":"Chebyshev Alternance when Approximating Initial Conditions of the Inverse Cauchy Problem","authors":"А. P. Loktionov","doi":"10.21869/2223-1560-2021-25-3-86-102","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-86-102","url":null,"abstract":"Purpose of research. The work is devoted to a range of questions related to Cauchy problem on the segment of real axis with the application of the inverse Cauchy problem, in which real constants are initial conditions which are optimally restored according to experimental or tabular values of the solution of the differential equation. The object of the study is an information-measuring system, in which approximate values of initial conditions are calculated from discrete function values of Cauchy problem solving.Methods. The following problems are solved for this purpose: parameters of measuring section placement on the investigated object and approximation grid on measuring section are developed. Characteristics of recovery accuracy of initial conditions of the task are formulated.Results. An experimental-calculated method of determining initial conditions in the inverse Cauchy problem is proposed. It is based on the concept of objective function of regularization of the problem. Task regularization parameter in the form of minimum value by Lebesgue function is proposed.Conclusion. The reaction of uniformly approximating method of the initial conditions of the inverse Cauchy problem to the deviation of the approximation grid coordinates nodes from the coordinates of Chebyshev alternance was described. Graphs of method reaction to deviation of grid pitch from optimal pitch are given.","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131377252","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":"Choosing Methodology of How to Manage Distributed Information Systems under Conditions of High Dynamics of Network Infrastructure","authors":"А. B. Klimenko","doi":"10.21869/2223-1560-2021-25-3-136-151","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-136-151","url":null,"abstract":"Purpose of research. is to identify a distributed system control method that, based on known parameters, would reduce the resource consumption of computing devices. An information system resource is probability of failure-free operation (FFO), which decreases over time for each node, the faster the higher its load.Methods. Frequency of system reconfiguration becomes relatively high with high dynamics of edge layer of a network and the need for reconfiguration is unpredictable. Reducing the total time spent on reconfiguration allows to increase time spent on solving functional computing tasks of the system and thereby reducing nodes load. Reconfiguration time can be reduced both by reducing failure detection time in distributed system and by reducing searching time for new configuration. A method for reducing failure detection time is described. The applicability analysis of system management methods (centralized, distributed leader, decentralized) is carried out on the basis of obtained analytical evaluations of failure detection time by the system in control conditions through one or another method. A numerical experiment allows to distinguish areas of system parameters, where it is preferable to use the method with a distingods. Frequency of system reconfiguration becomes relatively high with high dynamics of edge layer of a network and the need for reconfiguration is unpredictable. Reducing the total time spent on reconfiguration allows to increase time spent on solving functional computing tasks of the system and thereby reducing nodes load. Reconfiguration time can be reduced both by reducing failure detection time in distributed system and by reducing searching time for new configuration. A method for reducing failure detection time is described. The applicability analysis of system management methods (centralized, distributed leader, decentralized) is carried out on the basis of obtained analytical evaluations of failure detection time by the system in control conditions through one or another method. A numerical experiment allows to distinguish areas of system parameters, where it is preferable to use the method with a distinuished leader.Results. The main result of this work is a method of choosing how to manage distributed information systems in conditions of high dynamics of network infrastructure, focused on reducing of resource consumption in computing devices.Conclusion. The system reconfiguration time could be reduced by selecting the most appropriate control method. In this case, the time for solving functional tasks of application is increased, the workload of computing nodes is reduced, and therefore FFO values are increased over the planning horizon.","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123797981","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":"Choice of Kinematic Structure of Modular Robotic System Depending on the Type of Motion Surface","authors":"А. I. Saveliev, D. Blinov, А. А. Erashov","doi":"10.21869/2223-1560-2021-25-3-120-135","DOIUrl":"https://doi.org/10.21869/2223-1560-2021-25-3-120-135","url":null,"abstract":"Purpose of research. The purpose of this study is to identify the advantages and disadvantages of various kinematic structures (formations) of self-reconfigurable modular robotic systems depending on the type of surface over which the system is mainly to be moved.Methods. Analysis of kinematic structures of modular robotic systems with respect to their displacement capabilities was carried out. Features of movement of these formations on different surfaces, as well as features of application of some formations are highlighted. A study of functionality of its own mobile autonomous reconfigurable system was carried out on the basis of described formations.Results. According to the results of the study, the main structures of modular robotic systems were identified, among which the most popular are formations that have a chain architecture: \"snake,\" \"manipulator\"; \"walking\" structures: \"quadropod,\" \"spider,\" \"centipede,\" as well as mobile structures \"machine,\" \"wheel\" and \"ball.\" Based on the conducted analysis, structures were developed for their own modular robotics system. Geometric features and kinematic limitations of its modules were considered in developing the structuresConclusion. The use of the analysis results will allow better adaptation of a modular self-reconfigurable robotic system to the surface on which this system moves. The selection of a particular formation of the modular system is also influenced by the required speed of movement over a given surface. Walking formations have the greatest adaptability to various types of surfaces, but they are also the most difficult from the point of view of control system developing.","PeriodicalId":443878,"journal":{"name":"Proceedings of the Southwest State University","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115058641","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}