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ABSTRACTS OF ARTICLES
OF THE JOURNAL "MECHATRONICS, AUTOMATION, CONTROL" N. 11, 2014

S. L. Zenkevich, Professor, ΐ. V. Nazarova, Associate professor, A. S. Yushchenko, Professor, robot@bmstu.ru, Bauman Moscow State Technical University

E. P. Popov as the Founder of the Scientific Robotic Technology's School in Bauman Moscow State Technical University

We celebrate now the 100-year Jubilee of academician E. P. Popov. Most part of his life was connected with the Bauman State Technical University (earlier Moscow High Technical College n.a. Bauman). Have been graduated from the University in 1939 E. P. Popov was called up to the army. At 1941 he began his work as a university professor in the Leningrad Military Air Forces Academy. In 1944 and in 1946 he successfully presented his candidate and doctoral thesis in BMSTU. His scientifical work was honored with the Stalin reward in 1949. In 1960 E. P. Popov was elected as a correspondent member of the Academy of Science and as a full member of Academy in 1992. From 1971 till his death in 1999 he worked as a professor of BMSTU. He was the founder of a new chair "Robotic Systems" and the research/education Center "Robototechnika". It was a base of a scientific school in robotics in Russia. He was the author and the editor of numerous books on robotics and control theory published in Russia and abroad. We remember E. P. Popov as a distinguished scientist and a teacher.

P. 3—7

To the contents

A. A. Ardashov, Senior researcher, V. N. Arsen'ev, Professor, Yu. V. Gorichev, Associate professor, S. B. Silant'ev, Professor, silantiev2008@yandex.ru, Military Space Academy named after A. F. Mozhayskogo

E. P. Popov in the Military Space Academy named after A. F. Mozhayskogo

The article is devoted to the 100 year jubilee of the prominent scientist awarded with three State Premium full member of Russian Academy of Sciences professor general-major E. P. Popov. We disclose the "Leningrad" period of his life, the years of his growing as a scientist, a teacher, as a founder and the head of the chair of the autonomous control systems in the Military Space Academy n.a. A. F. Mozjayskiy. A wide area of interests of the prominent person is illustrated. The history of his life may be useful as young as middle aged researcher to find the real orienteer to get new success in the science.

P. 7—10

To the contents

Yu. S. Volodin, VP, Research and Development Artec Group, Inc., B. B. Mikhailov, Associate professor, A. S. Yushenko, Professor, robot@bmstu.ru Bauman Moscow State Technical University

Autonomous Mobile Robot Behavior in 3D World

To control a mobile robot the operator usually prescribes only the finite aim of the movement. At the same time there are unknown objects may be appeared in the working space which the robot must discover, recognize and avoid itself or to operate with them in accordance with the prescribed task. That is why one of the most urgent problems in robotics now is the autonomous control of mobile robots in the partially undetermined environment. One of the problems to solve by the robot control system is the previously unknown obstacles avoidance. The situation is the same indoors as well as outdoors. To solve the problem of the avoidance recognition the 3D computer vision systems may be applied. Such systems are capable to recognize the objects appeared on the working space and appreciate their dimension and coordinates.
It allows the control system of robot to plan the necessary maneuver to avoid the obstacles and to correct the trajectories of movement. The information received by the control system from the 3D computer vision systems usually is uncompleted and fuzzy. That is why it the algorithms of on-board fuzzy identification of the obstacles are necessary to apply to control robot movement. The control algorithms also become fuzzy. The tactics of robot may be determined using the natural relations of space and time and linguistic variables. Such approach needs also the fuzzy description of the current situation in the 3D world. So the fuzzy logic approach may be effectively applied to solve the both problems: the working scene identification and the movement of robot control. That is the problem of autonomous robot behavior in 3D world.
Keywords: mobile robot, 3D computer vision system, linguistic variables, fuzzy logic, membership functions, fuzzy control

P. 11—15

To the contents

A. A. Minin, Head of section, muhuh@yandex.ru, A. V. Nazarova, Associate professor, avn@.bmstu.ru, T. P. Ryzhova, Research assistant, tatiana281186@yandex.ru, Bauman Moscow State Technical University

The Task Distribution in Decentralize Robotic System

Problems of control of the multiagent robotic system are considered. Various strategies of robot team control are viewed. In this multiagent robotic system is used decentralize strategy of robot team control.
The control system of robot team is designed as a modular hierarchic structure. Each of the modules is performing separate task. Enlarged structure and detailed structure of robotic system software are described.
The communication system of robot team and principle of data exchange are described. Communication protocol is considered. In this system is used ZeroMQ communication programming library. The "Publisher/subscriber" principle of data exchange is employed in this communication structure.
The decentralize algorithm of the tasks distribution between robots is considered. This algorithm is based on data exchange between robots. Each robot sends its coordinates, its status and its target point. Each robot receives these messages from all robots, handles received data and takes decision about choice of target point.
Keywords: multiagent robotic system, decentralize strategy, control system, robot team, "Publisher/subscriber" principle, data exchange, ZeroMQ communication library, decentralize algorithm of the tasks distribution, communication system, target point

P. 16—20

To the contents

S. L. Zenkevich, Professor, zenkev@bmstu.ru, E. I. Bolotin, Postgraduate student, eugenebolotin@gmail.com, Center of Education and Research "Robotics", Bauman Moscow State Technical University

Planning in Multiagent Systems that Use Artificial Intelligence Methods

In this paper we examine the problem of planning in multi-agent systems. The essence of the problem is to find an algorithm for such mutli-agent system that can achieve a variety of given objectives. These objectives are dynamic in nature and not determined at the system's design stage. A resulting solution should represent an action scheme for each agent in the system. There are two types of planning — centralised and distributed, as well as there are two types of methods that can solve the problem — resolution and direct inference. We propose a new combined distributed approach that utilises both the resolution and direct inference method. To set a goal for each agent we decompose a given common goal of the multi-agent system. Each agent has its own knowledge base and fact library. Each of the agents tries to search for an independent global solution by using the resolution method. If full global solution is not found the agent starts searching for partial solutions. The important property of multi-agent systems is that agents can and should collaborate with each other during their search for the solutions. This paper contains all necessary mathematical models that were developed as the result of this research.
Keywords: multiagent systems, planning, resolution method, direct inference

P. 21—27

To the contents

B. B. Mikhaylov, Associate professor, robot@bmstu.ru, A. V. Nguyen, Postgraduate student, vantbtv@mail.ru, Bauman Moscow State Technical University

The Using Characteristic Points for Recognition of 3D Objects

Recognition systems are widely used into intelligent robots, especially in robots, which have to work in the real world with the 3D objects. In this paper method of recognition of 3D polyhedral object is considered. Method is based on analysis of the space disposition of object characteristic points. Here characteristic points of object are the points of intersection of three planes of a single object; moreover each point has its own coordinates and list of parameters.
We propose the way for description the geometrical relationships of the characteristic points of the 3D object and its model. In paper the algorithm 3D objects recognition using a procedure of space compare the location of characteristic points of the real object and his model is proposed. As part of the characteristic points on the image of the object is not available, the article offered the option of evaluating the degree of coincidence of the object and its model.
To test the algorithm program was written and conducted its testing on different real scenes. Experimental studies have confirmed the efficiency of the proposed algorithm recognition of 3D objects and the possibility of its use in robotic systems.
Keywords: robot working space, characteristic points, 3D computer vision system, 3D objects recognition

P. 27—32

To the contents

R. D. Akhmetsafin, Chief technologist, akhmetsafinrd@mail.ru. Limited Liability Company "Gazprom georesurs" (LLC "Gazprom georesurs"), R. Z. Akhmetsafina, Associate professor, rakhmetsafina@hse.ru, National Research University Higher School of Economics (NRU HSE)

Computing Optimization at Genetic Algorithms Application to Online Identification of Regression Model

The computationally efficient method of fitness function evaluation (criterion for chromosomes selection) in genetic algorithms (GA) is discussed in this paper. This method may be used if a single gene modifies chromosome.
Steiner's problem in graphs is solved for the computing optimization. Population is represented as a weighted graph. Vertices of that graph represent chromosomes, edges represent the computational cost of selection criteria recurrent calculation. The GA application for identification of regression models assumes (a) gene is a regressor;
(b) chromosome is the set of regressors in single regression model (subset of all candidates);
(c) population — set of regression models (subset of all possible models); (d) selection criteria — residual sum of squares (RSS); (e) the chromosome modification by modification of one gene corresponds to the forward selection and backward elimination methods of variables (regressors) selection.
Keywords: genetic algorithms; regression model, Steiner's problem in graphs, system identification

P. 33—38

M. V. Bobyr, Professor, fregat_mn@rambler.ru, V. S. Titov, Professor, N. A. Milostnaya, lecturer, natmil@mail.ru, South-West state university, Kursk

Prediction of Mechatronic Systems Based on Soft Fuzzy Knowledge Bases. Part 2

When learning of fuzzy knowledge bases there is a problem associated with a decrease in the standard deviation between the values that are generated at the output of inference engine, and the data obtained from the training set of experimental data. For a learning sample is usually used means of multivariate regression analysis. This problem is particularly acute because the exact methods are not always able to provide sufficient performance due to the vagueness and uncertainty of the initial information. Way out of this situation is to use data mining techniques, on the theory of fuzzy sets. Note that when predicting multivariate regression equations allow only linear correlations between input and output parameters of mechatronic systems, while the output of fuzzy inference system formed nonlinear and linear dependence, the receipt of which is possible after training. Discussed in the article teaching methods soft fuzzy knowledge bases provide an opportunity to assess the effectiveness of the proposed solutions to minimize the standard deviation.
Keywords: fuzzy-logic inference, fuzzy knowledge base, adaptation, prediction, soft computing, modified algorithm fuzzy-logic inference, regression, additivity, root mean square error

P. 38—43

K. S. Sholanov, Prof, sholkor@rambler.ru, Kazakh National Technical University named after K. I. Satpaeyv

Synthesis of the Kinematical Scheme and Solution of the Positioning Problem for a New Parallel Manipulator

Analysis of Stewart's platform type robots showed that these robots have several deficiencies, namely: explicit direct kinematics problem for most robots with a degree of freedom of more than three cannot be solved; drive movements are dependent on each other. The indicated circumstances complicate the management system, reduce exploitation characteristics and limit the scope of use for such robots.
The objective of this paper is to further improve of robots of a platform-type. As a way of effective implementation of the objectives the synthesis of the structural scheme for the robot manipulator is proposed.
Based on the topological model of two interconnected bodies (five-dimensional simplex) the structural scheme for a new six degree of freedom parallel manipulator of a platform type is created.
Synthesized kinematical scheme with use of three and four-link spherical connections is implemented in the form of the construction of a parallel manipulator with controlled hydraulic drives. The construction demonstrated and confirmed a number of unique properties and advantages of the new parallel manipulator, namely: six drives placed on the connecting links can move individually and independently from each other; positioning to a predetermined position of the platform can be done by positioning in the space of a specified line and by turning around this line.
Due to structural features of the new parallel manipulator the explicit analytical solution of direct kinematics problem on position was obtained.
Computer implementation of the algorithm in Matlab for solving of the direct kinematics problem on position confirmed that while platform positioning the incrementation of lengths of the connected links can be done independently from each other or can do these movements at a predetermined set simultaneously.
Thus, the paper gives the justification and the structural scheme of the parallel manipulator of a platform type is synthesized. Functionalities of the new manipulator are confirmed by the current construction. The explicit analytical solution for direct kinematics problem on position was obtained and computer implementation of the algorithm for this problem solving, which can be certainly attributed to the merits of the proposed new scheme of parallel manipulator.
Keywords: parallel manipulator, robot platform type, kinematical scheme, direct kinematics problem

P. 44—50

D. B. Pogosov, Postgraduate student, pogosov.den@yandex.ru, Southern Federal University, Russia, Rostov-on-Don

Position-Trajectory Control with Power Regulation by Example of Tracked Robots

Introduced in this paper solutions allow to synthesize fuel performance control systems for off-road vehicles motion. Developed method for regulation the engine power or limit the vehicle speed or power at a desired level. This paper contains nonlinear and multilinked mathematical models of the robots chassis, its electrical transmission based on DC units and a diesel engine.
Fuel consumption rate is near to the minimum at an optimal mode of operation of the engine, namely at a constant rotational speed of the output shaft and developed by the engine power, which needed to the robots job. This defines the task of synthesis of a control system of the robot motion with high precision and with a constant power of the traction motors. During the robot motion, its speed varies depending on a motion resistance. Presented in this paper solutions empower the position trajectory control method for a class of systems, which motion is realized with a constant traction motors power, as well as a limitation of a maximum power or speed. In the paper presents a method of soft a motion mode switching. In this paper presents solutions for synthesize the nonlinear control algorithms for robots equipped with an electric transmission.
Together, the introduced solutions can improve the functionality of mobile robots, minimize fuel consumption at steady state without deterioration the characteristics of accuracy and speed. Simulation of the algorithms was executed in MATLAB package and the results shown a high efficiency of the introduced solutions.
Keywords: tracked robot, motion control, the position-trajectory control, power regulation, electric transmission, multimode control, energy performance

P. 51—58

S. A. Savonin1, Chief Engineer, savonin@rambler.ru, A. Yu. Abramov1, Senior Researcher, abramovay85@mail.ru, V. P. Ryabukho1, 2, Professor, Head of the Laboratory, rvp-optics@yandex.ru,
1Saratov State University, Saratov,
2Institute of Precision Mechanics and Control RAS, Saratov

Digital Holographic Interferometry of Mutual Diffusion Processes in the Transparent Medium

Micro-objects and medium that are transparent to optical radiation, are widespread in the industry. Occurring in such media diffusion processes are of great practical importance for the analysis and separation of substances, research swelling processes, dissolution and fiber formation, development regulations processes.
A special level among the mass transfer research methods received interference methods with high sensitivity and makes it possible to monitor of fast processes in real time.
The scope of our study is to overcome the problems of qualitative and quantitative interpretation of interference patterns with a complex pattern of bands that formed in the study of ultrafast processes in transparent media. Was demonstrated that the joint use of microscopy, interferometry, holography and high-resolution photographs provides new possibilities in the study of phase micro-objects and microscopic processes.
Were developed device design and software for digital holographic micro-interferometry of transparent micro-objects and micro-medium Shown that the method of digital holographic micro-interferometry can be used successfully for the study of diffusion processes in binary systems "solid — liquid" and "liquid I — liquid II".
Application of digital holographic interferometry in the study of the kinetics and dynamics of mass transfer in binary medium make possible to study the diffusion characteristics of the systems, mechanisms of swelling and dissolution of the components, to predict the diffusion mobility of components, to evaluate of molecular, phase and thermodynamic characteristics of systems. This has important practical signification for modern industrial and medical technologies.
Increasing the resolution and functionality of digital holographic micro-interferometry associated with the development of new digital optical recording devices and improvement of algorithms for digital holograms processing.
Keywords: holographic interferometers, diffusion, mass-transfer, digital interferograms processing, Fourier-holograms, spatial filtering, refractive index distribution

P. 59—66

P. P. Paramonov1, Professor, postmaster@elavt.spb.ru, A. V. Velikanov2, Leading engineer, I. O. Zharinov1, Head of Chair, Professor, igor_rabota@pisem.net, K. M. Izergin1, Postgraduate student, M. O. Kostishin1, Postgraduate student iob.max@me.com,
1Saint Petersburg National Research University of Information Technologies, Mechanics and Optics,
2SPb Scientific Design Bureau "Electroavtomatica" n. a. P. A. Efimova

Features of Construction Helmet Subsystem Positioning System Based on Avionics Optical Inertial Principle

The peculiarities of construction of perspective helmet-mounted target designation systems for avionics and display. The comparative analysis (strengths and weaknesses) of the electromagnetic, inertial and optical principles underlying the existing measuring system helmet-mounted positioning systems to guide the line of sight of the pilot of the aircraft. As promising for use in helmet-mounted system offers a combined approach based on a combination of optical and inertial component. The functional diagram of helmet-mounted target designation system and display, consisting of a board, helmet and worn parts. Descriptions of the main destination input nodes. The scheme of the measuring system of the helmet, constructed on the basis of the combined method of determining the direction of the line of sight several gauges running on heterogeneous physical principles. The main feature of this method is the co-processing of measurement results from optical and inertial subsystems in order to obtain more accurate than individually, assessing the angular position of the line of sight of the pilot.
Keywords: helmet-mounted target designation system and display avionics

P. 68—72