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| L. G. Bystrov
Identification of Linear Dynamic System by the Exact Measuring of Space State Faze Coordinates
The problem of exact analytical indetefication for mathematical model of stationary linear dynamic system in Cauchy form of ordinary differential equations are put forward. The item question of solvability and uniquenes criteria is examined. It is determined that in a case of solvability the solution looked for is strictly unique. Explicit analitical expressions are discovered for system matrix and initial conditions as the the objects of investigation. Computig algorithm for this expressions is propozed and realized in the language of simbolic algebra.
Keywords: dinamic system, inverse problems, Laplace integral transforms, Cauchy function, kwazypolinomial characteristic polinom, Frobenius matrix, matrix exponential
P. 36
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| N. N. Chubukov
Geometrization Problem of Environmental Control of Harmful Substances in the Air on the Roads
Considered a promising direction of development of means of environmental control of air near highways and in metropolitan areas, based on the management of redundant data in the measurement of multi-component mixtures. Designed by the author of the algorithm for solving systems of linear algebraic equations of small dimension implements the joint processing of the output signals of gas analysis sensors are combined in pairs on the basis of the maximum cross-sensitivity to the components of the mixture. Geometrization tasks provided visualization of the progress and results of solutions, taking into account the characteristics of non-linearity of the calibration and reduction of systematic errors of measurement due to incorrect calibration accessory inverse problems of mathematical statistics.
Keywords: gas analyzer, grouping, calibration, component, concentration, sample, sample preparation, selectivity, sensor, mixture
P. 713
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| V. P. Glazkov, A. A. Bolshakov, A. A. Kulik
Application Neural Network Compensator for Stabilized Motion of the Semiautomatic Prosthetic Systems
The article is devoted the application neural networks to motion control of the prosthetic systems. Also the article is dedicated to the sustainable movement of the prosthetic system with a neural network compensator. The results of neural network simulation the motion of the prosthetic system with rigid and flexible elements for transmission of motion are adduces in article.
Keywords: the neural network compensator, prosthetic systems, neural network
P. 1317
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S. A. Slastnikov
Solving Vehicle Routing Problem by Ant Colony Algorithm
In this paper we consider application of ant colony optimization techniques for capacitated vehicle routing problem. Modified ant colony optimization algorithm is proposed, computational results are reported.
Keywords: vehicle routing problem, metaheuristics, ant colony optimization
P. 18 21
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P. O. Skobelev, E. V. Simonova, S. S. Kozhevnikov, I. V. Mayorov
Development of Multi-Agent System for Production Scheduling, Forecasting and Simulation
Multi-agent system for production scheduling, forecasting and simulation is described in the present paper. Ontology-based information model of an enterprise, principles of multi-agent work scheduling based on market-driven approach, architecture of multi-agent system are considered. The example of organizing the shift scheduling simulation using the work-streams data is given.
Keywords: multi-agent system, operational scheduling, market-driven approach for scheduling, production simulation
P. 2230
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B. G. Ilyasov, I. B. Gerasimova, L. N. Mukhamedrakhimova
Gognitive Model of Self-Organization Control Processes in Small Research Groups
The problem under study is to analyze the self-organization control processes in small research groups. To solve this problem two-level and three-level cognitive dynamic models based on linear and nonlinear relationships are constructed. Characteristics of the models are analyzed by means of computer modeling.
Keywords: small-group, self-organization, cognitive model, system, control
P. 3035
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V. M. Lokhin, S. V. Manko, M. P. Romanov, S. A. K. Diane
Approaches to Knowledge Representation and Functioning Aspects of Multi-Robot Systems
The article considers ways of representing knowledge in task planning models of multi-robot systems. We show results of computer modeling and discuss functioning aspects of multi-robot systems regarding specificity of task planning based on different knowledge representation.
Keywords: multi-robot system, multi-agent control, task planning models, knowledge representation, finite automata
P. 3639
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P. A. Gritsenko, S. V. Aranovskiy
Optimal Trajectory Constructing along a Pre Specified Path for a Kinematically Redundant Manipulator
A problem to construct an optimal in a sense of a certain criterion trajectory along a pre specified path is stated for a kinematically redundant crane-manipulator used in a forestry. A parameterization of the trajectory is proposed based on a partial solution of the inverse kinematic problem. This parameterization allows to rewrite the original problem as a minimization of a scalar function.
Keywords: motion planning, trajectory optimization, kinematic redundancy
P. 4044
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E. K. Lavrovsky, E. V. Pismennaya
Control Algorithms Exoskeleton of Lower Limb Single Support Phase Mode and Walk on Flat and Stairs Surfaces
In this paper an analytical construct algorithms for controlling the active exoskeleton. Algorithms provide the movement of the hip joint and the foot on the specified paths, allowing both to move on a flat surface, and on the stairs surface. The results of numerical simulation of non-linear equations of motion of a person that is integrated with the exoskeleton, study of the motion on different surfaces under the influence of perturbations and imprecise knowledge of the mass inertia of the system.
Keywords: exoskeleton, mobile robots, nonlinear control, motion along a trajectory
P. 4451
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M. V. Levskii
The Use of Universal Variables in Problems of Optimal Control Concerning Spacecrafts Orientation
The general method for solution of optimal control problems of spacecraft reorientation based on Pontryagin's maximum principle are formulated. It is demonstrated, that in cases when the criterion of an optimality (the minimised functional) does not explicitly contain position coordinates, the resulted solution (including the calculated dependences for optimal controlling functions) and optimal motion of a spacecraft not depend from a form of kinematic equations and from type of the parameters describing spacecraft's angular position. The conjugate system of the equations corresponding to kinematics of spacecraft rotation is reduced to canonical form. Such universal functions (as analogues of the conjugate variables) which allow us to write down necessary conditions of an optimality independently from the way of description of kinematics of spacecraft rotation are defined. Comparative example of the designing of optimal control for different variants of a choice of the kinematic parameters system (the directing cosines, quaternions and so forth) is given.
Keywords: spacecraft, attitude, kinematic parameters of motion, maximum principle, a control, an optimality
P. 5359
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D. S. Kabanov
Optimal Real-Time Control Algorithm Design for Multimode Automatic Underwater Vehicle
A real-time problem of control action design for multimode automatic underwater vehicle (AUV) using the theory of optimal control is considered. The goal of developed methodic is automation of complex trajectory design and accuracy improvement of the solution for different number of applications of multimode AUV. Computer simulation of AUV dynamics is presented.
Keywords: automatic underwater vehicle, Pontryagin's maximum principle, optimal control, predictive model
P. 6066
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V. E. Dzhashitov, V. M. Pankratov, A. V. Golikov
Active Control by Temperature Fields of Strapdown Inertial Navigation System with Fiber-Optical Sensors
Theoretical and practical aspects of creation of the active reversible Thermal Control System (TCS) with Peltier's thermoelectric modules are considered. TCS is intended for control of temperature fields of separate fiber-optical inertial sensors and Strapdown Inertial Navigaton System (SINS), containing these sensors. Mathematical models of the thermal processes which control by two contours of TCS are constructed and researched. The first contour provides control by temperature of fiber-optical inertial sensors, the second contour controls by temperature of all SINS as a whole. Supporting algorithmic and the software is developed. Parameters of the Thermal Control System are chosen. Estimations of functioning of dynamic systems are received at difficult temperature effects.
Keywords: reversible Thermal Control System, Peltier's module, thermal processes and temperature effects, Strapdown Inertial Navigaton System, fiber-optical inertial sensors, mathematical models, control
P. 6772
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