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| P. A. Kucherenko, S. V. Sokolov
Nonlinear Filtering Algorithms Applied to the Solution of the Stochastic Multistructural Plant's Structure Identification Problem
The relevance of the methods of the structure identification of the discrete nonlinear stochastic objects is performed in the paper. The general scheme of the structure identification procedure based on the nonlinear filtering algorithms is offered. The synthesis of the identification algorithm using residual's autocorrelation minimum criterion is considered. The model example which demonstrates an efficiency of the offered approach is performed.
Keywords: digital signal processing, structure identification, stochastic discrete multistructural object, extended Kalman filter.
P. 37
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| V. Yu. Osipov
Development of Information Processing in Associative Intelligent Machines
The advanced method of information processing in associative intelligent machines (AIM) constructed on the basis of the recurrent neural networks (RNN) with operated synapses is considered. It is offered to allocate AIM with three signals systems. The model of operated synapses is specified. Dependences between forms and the directions of associative interaction of signals into RNN and current states of its layers are entered. It is shown that due to change of these forms and the directions it is possible to provide deep development of processing of information in AIM.
Keywords: associative intelligent machine, neural network, signal, processing
P. 813
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| I. A. Shcherbatov, I. O. Protalinskii, V. A. Borodin
The System of Interpreting of Voice Commands for Control a Mobile Robot
The review of modern systems and methods of voice-controlled robot for different purposes and means of the organization of human-machine interaction using voice, has been submitted. The problems of interpreting voice commands from the robot in Russian using a limited set of commands, as well as in natural language, has been discussed. The architecture of the system interpret voice commands to control mobile robot, which includes the main components of the system, voice commands, syntax, presentation of information in the system algorithms, has been developed. The examples showing the effective application of the developed system.
Keywords: mobile robot, the command interpreter of natural language, voice control
P. 1418
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A. N. Goritov
The Control of a Robot Manipulator in an Environment with Incomplete Information
We consider the actual problem of robotics control of a robot manipulator with incomplete information about the external environment. There are two main objectives to create a topology of the external environment and planning of actions of the robot's task. Solution of the first problem is solved with the help of the system of technical vision. To solve the second problem we use the method that provides the optimal trajectory and Executive level of the robot in compliance with the selected criterion. Classification of environmental objects is performed using the method Viola-Jones.
Keywords: robot, an unknown environment, technical vision, planning trajectory
P. 1923
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V. V. Abramov, V. M. Ivanyugin, S. V. Petukhov
Computer Vision System for Robotics Finishes (Shpackling) Ferroconcrete Items
Higher-priority technology for finishing on ferroconcrete items conveyor line presented. The technical robot complex include finishing (shpackling) machine and computer vision system (CVS). The CVS allow adapting to external environment change, to identify panel edge for placement of work member to an initial position. The complex is controlled by the software, which minimize route length and power inputs for specific type and size of building elements. The CVS demonstrates its capacity for real-time image processing.
Keywords: computer vision system, technical robot complex, shpackling machine
P. 2328
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V. E. Pavlovsky, V. N. Ogoltsov, N. S. Ogoltsov
Microcomputer Low Level Control System for the Car with Mechanical Transmission
In this work we have developed prototypes for low-level control devices based on Simulink models. The whole ๑๎๒๐lๅ๕ was field tested on a production VAZ-21214 "Niva" car. The conducted experiments have indicated the developed models and overall system architecture as valid.
Keywords: autonomous car, low-level control system, semi-automatic transmission controller
P. 2936
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N. G. Tchikurov
Tool Traffic Control on 5 Coordinate Machine Tools with CNC
On an example 5 coordinate machine tools with CNC the technique of mathematical modelling of movements of the tool concerning a detail with use of the principle of electromechanical analogies is shown. The decision of a problem 5 coordinate transformations in the form of the differentially-algebraic equations is received.
Keywords: mathematical simulation, method of electromechanical analogies, the manipulator, processing of difficult profiles
P. 3743
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V. S. Kondratenko, O. N. Tretiyakova, A. S. Naumov, G. Yu. Shevchenko, A. K. Zobov
Hardware and Software Tools for Controlling Laser-Processing Equipment for Cutting Instrument Wafers
Production of the new industrial processing equipment in connection with the development of innovative laser technology requires the development of new and effective software. Established control program that is an integral part of the industrial laser technological complex, developed in NPTS "Lasers and equipment TM".
Keywords: laser controlled thermosplitting (LCT), UV-laser, numerical control, laser, processing facility, management software
P. 4346
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V. A. Lebedev, M. V. Guly
The High-Speed Valve Electric Drive for the Equipment of the Mechanized Arc Welding
In article questions of development of the high-speed computerized valve electric drive (VED) for the specific equipment systems of arc welding are considered by a melting electrode of modern level.
The main requirements to VED, in particular for realization of pulse giving of an electrode wire are defined. Are offered a calculation procedure and VED synthesis with necessary structures of feedback and demanded characteristics.
Results of pilot studies of the executed development are given in the range of the reproduced frequencies necessary for management of transfer of electrode metal with conclusions on use.
Keywords: the mechanized welding, automation, the electric drive, the electric motor, the regulator, control system, efficiency
P. 4751
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V. F. Filaretov, A. Yu. Konoplin
System of Automatic Stabilization of Underwater Vehicle in Stationkeeping Regime with Working Multilink Manipulator. Part 1
In this paper the synthesis method of combined closed-loop automatic system of underwater vehicle position and orientation stabilization in stationkeeping regime is described. Herewith underwater vehicle invariance to external influences created by working underwater manipulator is provided by tractions of its screws. These tractions are proportional to said external influences calculated in real time scale.
Keywords: underwater vehicle, multilink manipulator, navigation system, spatial trajectory, stabilization system
P. 5356
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G. P. Shibanov
Checkout Onboard Complex ๎f Equipment ๎f Flying Device Optimization
This article consideration the problem optimization of period control and preventive maintenance onboard complex of equipment of flying device. To use criterions of optimization: minimum of specific loss effectiveness of performance; mathematical waiting specific and full loss of effectiveness of performance; mathematical waiting of preventive maintenance time.
Keywords: optimization, criterions, ๑heck, control, preventive maintenance, effectiveness of performance, onboard complex of equipment, flying device
P. 5661
L. N. Aleksandrovskaya, V. G. Borisov, V. N. Mazur, S. V. Khlgatyan, A. E. Ardalionova
Parametric Methods for Assessing Compliance with the Safety Requirements of Automatic Landing Aircraft Airworthiness
Contrary to nonparametric risks measurement methods, which do not demand the knowledge of probabilities distribution laws and need to obtain large volume samplings, the parametrical methods are more economic, however they demand to solve the distributions approximating experimental data fitting problem. The fitting of approximating distribution for experimental data is one of the challenges of mathematical statistics. Thus, the necessity of not observable distributions "tails" approximation and the impossibility of the chosen measurements statistical model experimental verification cause additional difficulties. The article presents the results of studies on approximating distributions fitting and gives out recommendations on their efficient use.
Keywords: aircraft of automatic landing system, safety requirements, tolerance interval
P. 6270
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