No. 3 (2021)

This paper describes the problem of strategic analysis and the choice of directions for the development
of an innovative enterprise in the conditions of transition to the 6th technological order and
industry 4.0. In these conditions, search and analytical processing of information cannot be fully performed
without the use of automated information and analytical systems, including those based on artificial
intelligence. During the analysis, the main priority functions that the developed services should
provide were identified. The main difficulties in the development of these services are identified, such as:
pre-processing of data and automated checking of the relevance of databases. To effectively solve thetasks set, the intelligent monitoring and information retrieval service should use an integrated approach,
taking into account the effectiveness of applying methods for individual subtasks, and ensure high efficiency
of implementing all stages of the intelligent monitoring procedure. In this regard, this paper describes
not only the development of a general intelligent search algorithm, but also individual block
algorithms necessary to ensure the priority functions of the service being developed. The paper presents
the following algorithms: an information search algorithm necessary to solve the problem of full-text
search of documents within the database of information resources of the information and analytical
complex; an algorithm for the procedure for entering new documents; an algorithm for pre-processing
data that includes stemming and removing punctuation marks for subsequent text analysis; an algorithm
for evaluating the ranking and relevance of information, including vectorization of documents; an algorithm
for clustering information search results based on the Kohonen neural network; the algorithm for
checking the relevance of information is to check whether the local copy of the document corresponds to
the current version on the source's web resource. The Python programming language for the implementation
of the presented algorithm is proposed and justified. The system provides automated continuous
monitoring with a high frequency of sending a request without the participation of an operator, which
will increase the quality and efficiency of information search in conditions of a large volume of unstructured
information.

The volume of processed information increases when analyzing and control the activities of an
enterprise as a system. The amount of processed information directly depends on the dimension of
this system. In the work, the activity of the enterprise is formalized as a digital twin of the enterprise.
The digital twin of the enterprise is analyzed as a dynamic system. The enterprise was identified as a
dynamic system. The digital twin of the enterprise is formalized as V. Leontiev's balance model. An
algorithm for optimal control of the digital twin of the enterprise has been created.
The following functions are considered as parameters of optimal control: the trajectory of the system,
the execution time of the algorithm and the indicator of the state of the system. In the algorithm for
enterprise control, the following methods were used: Bloom's taxonomy, the competence of graduates
in the SFU specialties and the National Qualifications Framework of the Russian Federation. The
identification of the enterprise processes is carried out by the method for which the patent has been
obtained. The algorithm is implemented in the author's software package for analyzing a system with
a dimension of 1.2 million values. The study showed significant changes in the values of the optimal
control functions characterizing the states of a dynamic object, depending on the selected techniques.
Calculations have shown how the choice of control method affects the optimality of decisions. The
state of the enterprise is displayed through the competencies of the personnel: psychomotor, cognitive
and affective. It was found that with low cognitive and affective abilities of the staff, psychomotor
activity begins to prevail, which leads to little result. With the growth of the cognitive abilities of thepersonnel, psychomotor activity becomes more adequate to the internal tasks and the influence of the
parameters of the external environment. An integral indicator was used to assess the implementation
of methods in enterprise control. The estimation of the optimality of the solution for control the digital
twin of the enterprise as a dynamic system is carried out.

Recently, there has been a rapid increase in interest in quantum computers. Their work is
based on the use of quantum-mechanical phenomena such as superposition and entanglement for
computing to transform input data into outputs that can actually provide effective performance
3–4 orders of magnitude higher than any modern computing devices, which will allow solving theabove and others. tasks in real- and accelerated-time scale. This article is devoted to solving the
problem of research and development of methods for optimizing quantum computing within the
framework of the application of quantum accelerators. A block diagram of a hardware accelerator
is proposed to increase the performance of simulated quantum computing. The development of the
structural diagram of the communication module of the hardware accelerator and the software
model was carried out. The relevance of these studies lies in mathematical and software modeling
and implementation of correction codes for correcting several types of quantum errors in the development
and implementation of quantum algorithms for solving classes of problems of a classical
nature. The scientific novelty of this direction is expressed in the elimination of one of the disadvantages
of the quantum computational process. The scientific novelty of this area is primarily
expressed in the constant updating and supplementation of the field of quantum research in a
number of areas, and the computer simulation of quantum physical phenomena and features is
poorly covered in the world.

A method for analyzing stability in the sense of Lyapunov for systems of ordinary differential
equations is proposed. The method is based on stability criteria in the form of necessary and sufficient
conditions obtained on the basis of vector-matrix transformations of difference numerical
integration schemes. The varieties of criteria in multiplicative, additive and matrix form are presented.
The design of the criteria implies the possibility of their programmatic realization. To increase
the reliability of the stability analysis, the approximations of the solution included in the
construction of the criteria are based on piecewise interpolation approximation by Lagrange polynomials
converted to a form with numerical coefficients. A programming and numerical experiment
is carried out to analyze the stability of the Belousov-Jabotinsky periodic reaction model,
which belongs to the class of rigid systems, under given initial conditions. The analysis is carried
out on the basis of the presented criteria and the results of the program clearly determine the nature
of the stability in real time. Based on the results of the experiment, it can be argued that replacing
the difference approximations of the solution with piecewise interpolation approximations
increases the reliability of the stability analysis, reduces the study time, and makes it possible to
determine the asymptotic properties of the solution. In general, the proposed approach is an alternative
to the methods of the qualitative theory of differential equations and makes it possible to
reliably determine the stability of rigid systems of ordinary differential equations in real time.

The paper deals with the problem of constructing a passability model of environment with
a large number of dynamic objects based on data from several different sensors. The aim of the
work is to improve the algorithm for constructing the occupancy map by adding data from both
existing algorithms for moving obstacles detection and from millimeter-wave automotive radar.
The study solves the problem of combining data on static environment and dynamic objects into
one general passability model for further trajectory planning. The modification of the algorithm
presented in the article is able to combine data from both occupancy maps based on a threedimensional point cloud from any sensor such as lidar or radar, and arrays of bounding boxes of
objects with known coordinates, sizes, and orientation. Data aggregation occurs at the level of
building occupancy maps and does not impose requirements on the source of information about
dynamic obstacles. The algorithm is able to refine the data on the position and size of the dynamic
object by speed from the radar, which allows to plan the trajectory taking into account the movement
of dynamic objects. The parallel use of the classical approach allows to detect obstacles in
the event of an error in the output of the dynamic obstacle detection algorithm. The developed
algorithm works in real time on the Jetson AGX Xavier module, and is tested in real conditions on
a mobile robotic platform in autonomous mode. Promising directions for further research to improve
the presented approach are formulated.

A number of digital signal processing applications use controlled IIR digital recursive filters.
The word " controlled " refers to filters whose structure ratios clearly depend on the cut rate or
boundary frequencies. Controlled IIR filters can be synthesized using a variety of tools to compute
traditional, uncontrolled IIR filters. The article dealt with the synthesis uncontrolled IIR filters and
analyzed the suitability of the presentation of the results of synthesis for the construction of controlled
IIR filters. The design techniques based on MATLAB (2021a) and the fundamental concepts of IIRButterworth
digital filters were described and explained. The composited signal was processed by the
analyzed filter to find whether it met the filtering progress criteria. To check the calculated filters, the
Simulink prototype was used, as well as FDA tool of signal processing toolbox. Based on the results
obtained, a conclusion was made about the applicability of the MAT LAB (2021a) system for the
synthesis of controlled digital recursive IIR-Butterworth filters. The analyzed technique was more
efficient, faster, decreased the tasks and found the results are satisfying.

In modern photography and video technology, any image in the process of its creation is
distorted by various types of noise. There are various types of noise, but in practice, impulsive and
Gaussian noise models are the most common. Attenuation of the effect of noise is achieved by filtering.
At the moment, there is no universal filter that suppresses noise data at various intens ities
of distortion. Therefore, an important aspect is to determine the field of application of each
type of filter when suppressing noise in the image and creating a filter, consisting of a combination
of different filtering methods for optimal image cleaning. The article presents a comparative
analysis of median filtering and Wiener filtering to eliminate impulse and Gaussian noise in
the image with different degrees of noise. For modeling, we used one image, separately distorted
by impulse and separately by Gaussian noise with pixel distortion probabilities from 1% to
99% inclusive. Filtration was performed with windows equal to 3x3 and 5x5. As a result, we
obtained numerical estimates of the image filtering quality based on the peak signal-to-noise
ratio (PSNR). On the basis of the data obtained, the application of the investigated filters, their
modifications, advantages and disadvantages were analyzed, as well as recommendations for
their use were given. As a result of a comparative analysis of the studied types of filtering for
noisy images, it was found that the median filter with a 3x3 window copes better with image
cleaning from low-intensity impulse noise and with a 5x5 window - with image cleaning with an
average noise intensity. Also, the median filter does a better job of filtering out Waussian noise
at its medium and high rms deviations. The Wiener filter with 3x3 and 5x5 windows better fi lters
Gaussian noise at small values of its root-mean-square deviation. Also, the Wiener filter
copes better with impulse noise with relatively high noise power.

In the text mining tasks, textual representation should be not only efficient but also interpretable,
as this enables an understanding of the operational logic underlying the data mining
models. This paper describes a modified Word Sense Disambiguation (WSD) method which extends
two well-known variations of the Lesk WSD approach. Given a word and its context, Lesk
bases its calculations on the overlap between the context of a word and each definition of its senses
(gloss) in order to select the proper meaning. The main contribution of the proposed method is
the adoption of the concept of “similarity” between definition and context instead of "overlap", in
addition to expanding the definition with examples provided by WordNet for each sense of the
target word. The proposed method is also characterized by the use of text similarity measurement
functions defined in a distributed semantic space. The proposed method has been tested on five
different benchmark datasets for words sense disambiguation tasks and compared with several
basic methods, including simple Lesk, extended Lesk, WordNet 1st sense, Babelfy and UKB. The
results show that proposed method outperforms most basic methods with the exception of Babelfy
and the WN 1st sense methods.

This overview article covers finite impulse response filters and filter banks. The use of these filters
for hearing aids is considered. Ways to compensate for hearing loss and ways to increase loudness
using broadband amplification are considered. A schematic diagram of a method for digital
signal processing using a bank of filters, as well as a technique for synthesizing interpolation filters
with low computational complexity, is presented. Also, the application of the MATLAB system for the
synthesis of narrow-band non-recursive FIR filters, their design procedure, methodology and examples
are considered. Finite Impulse Response (FIR) filters and filter banks have specific properties
that guarantee stability. Therefore, they are popular in many applications such as communication
systems, audio signal processing, biomedical instruments, and so on. Unfortunately, due to the longer
wavelength, the cost of implementing an FIR filter is usually not higher than an infinite impulse response
(IIR) filter that meets the same requirements. It is well known that the length of an FIR filter is
inversely proportional to its transition bandwidth. Therefore, the disadvantage becomes acute when a
given filter has a narrow transition band. The main goal is to consider computationally efficient
methods for designing FIR filters and filter banks. The masking method (FRM) results in significant
savings in the number of multipliers. Next, a 16-band, low group delay, non-equal-spacing digital
FIR filter bank is considered. Overall latency is significantly reduced as a result of a new filter structure
that reduces the interpolation factor for prototype filters. Masking filter may be an interpolated
finite impulse response (IFIR) filter that helps reduce complexity.

Attenuators are often used in radio receivers to expand the dynamic range of input signals,
as well as to control the output power of radio transmitters. Recently, attenuators are used in
transceiver modules of active antenna arrays. Attenuators differ in operating frequency range,
base of elements, control method, operating power. An urgent task is the creation and research of
new microcircuits of attenuators with digital control of domestic production. The purpose of this
work is an experimental research of the main parameters and characteristics of a digital attenuator
of the decimeter wave range. The object of the study is an attenuator of the M44752 type installed
on the test board. It is manufactured by JSC "SPE "Istok" named after A.I. Shokin". The
results of the experimental research are given in the operating frequency range from 0.1 to 2 GHz.
There are a switching circuit, a photo of a model and six amplitude-frequency characteristics for
different control codes. The following electrical parameters have been achieved: – operating frequency
range is from 0.1 to 2 GHz; – attenuation range is from 1 to 50 dB; – permissible inputpower is not more than 23 dBm; – the number of control bits is 6; – switching time is not more
than 50 ns;– VSWR of input and output is not more than 2. The obtained results of the study of the
M44752 module can be used in ultra-wideband transceiver communication equipment for various
purposes, navigation and radiolocation. The relevance of the research is confirmed by two current
trends – microminiaturization of electronic equipment and import substitution.

Microprobes have become an important tool in the study of brain activity. Research and development
in the field of invasive neurointerfaces is aimed at reducing the characteristic damage
to the nervous tissue by reducing the diameter of the implanted probes to less than 100 μm. Such
structures are produced by micromachining, in particular, by types of anisotropic etching. In this
case, the size and shape of the probe are influenced by the etching conditions. The latter should betaken into account at the designing of the probe. The paper evaluates the ranges of the geometric
parameters of a silicon microprobe taking into account the etching conditions and the number of
electrodes. Analytical calculations were carried out for the structure of the probe, represented by
four regions of different widths, carrying up to seven electrodes. The dependences of bottom base
width of a trapezoidal section of the probe and the size of the mask on the thickness and width of
the top base are received. The admissible ranges of sizes for the proposed case of the four-level
microprobe are established; in particular, the minimum values of the width of the top base were
17, 28, 39 and 50 microns, and the corresponding ranges of permissible values of the probe thickness
for cases with 1 electrode – 30–58 microns, 2 and 3 electrodes – 30–51 microns, 4 and 5
electrodes – 30–43 microns, and for the case of a probe with 6 and 7 electrodes – 30–35 microns.
The correction value of the mask size is estimated, reflecting the effect of etching conditions on the
probe geometry.

The main material of most mechanical sensors is silicon. For the formation of silicon structures,
the methods of bulk micromachining - deep etching of the substrate – are used. Anisotropic
wet etching is traditionally used to form structures that are subject to high requirements for dimensional
accuracy and reproducibility. In this case, an aqueous solution of alkali is used as an
etchant. Determining the optimal mode by the concentration and temperature of the solution will
allow you to obtain a relatively uniform, smooth surface at a high etching rate. An experimental
study of the influence of concentration (20-40%) and temperature (60-80°C) was carried an aqueous
KOH solution on the etching rate of monocrystalline silicon, as well as the surface morphology
under conditions of a long etching process. The etching rates in 20%, 30%, and 40% solution
for the selected temperature range were 0.68–2.0 μm/min, 0.77–2.4 μm/min, and 0.7–1.9 μm/min,
respectively. The morphology of the silicon surface at a depth of 270 microns was analyzed. It was
found that at a solution concentration of 20% KOH and 80°C, a developed surface morphology
with a roughness of ~ 400 nm is formed; a decrease in the solution temperature makes it possible
to obtain a more even surface with a residual roughness of ~ 340 nm. At a concentration of 30%
KOH solution, the surface is more uniform with a roughness of ~ 100 nm; a change in temperature
from 60 to 80 °C has almost no effect on its morphology. At a concentration of KOH solution of40% and 80°The initial relief of the etching surface is sufficiently developed ~ 340 nm, and a decrease
in the temperature of the solution to 60°C allows it to be reduced to a state characteristic of
the etching condition at 30% and a temperature of 80°C.

The master generator of the transmitter is the most important component, since it determines
its stability and range properties. In the Russian market there are many models of auto generators
of domestic and foreign production. They differ in the element base (active element),
weight, dimensions, cost, operating frequency range, and other parameters. In many cases, the
passport and technical specifications do not contain a number of parameters that are important
for the consumer. The purpose of this work is to study the main characteristics of the generator,
including those not declared by the supplier. The object of the study is a microwave generator
module in a typical switching scheme. The results of an experimental study of a VCO operating in
the 5 GHz region are presented. The estimation of parasitic products in the spectrum of the output
signal is given. Photos of the spectrum of the output signal showing a small width of the spectral
line are presented. The modulation characteristics are measured when the control voltage and
supply voltage change, and their average steepness is calculated. These data allow us to make
reasonable requirements for the stability of the control and supply voltages. The results obtained
can be used in receiving and transmitting equipment for communication, navigation, and electronic
warfare. The article expands the idea of the line of domestic generators, demonstrates their highelectrical characteristics. The following electrical parameters have been achieved: – operating
frequency range from 4968 to 5448 MHz; – output power of at least 11 dBm; – supply voltage
minus 16 V; – control voltage from 5 to 31.5 V.

Technologies of autonomous wheeled robotic systems are becoming more and more in demand
lately. A separate type of application of such technology is an autonomous unmanned
ground vehicle. Unlike other types of transport (air, water), ground vehicles need to periodically
operate in full autonomy - when external communication with the infrastructure and other agents
of the transport network is inaccessible. In such circumstances, the issue of autonomous navigation
comes out on top, and increased requirements are imposed on positioning accuracy, especially
in an anthropogenic environment, for example, when driving in an urban environment, along
narrow mountain roads, and tunnels. One of the components of autonomous navigation is often an
inertial assembly consisting of several accelerometers, gyroscopes, and magnetometers. To obtain
a high-precision navigation solution based on an inertial assembly, it is required to properly calibrate
it. A separate issue is automation and its cost for further scaling necessary for mass production.
The article presents the theory and methodology for automated calibration of an inertial
navigation system based on MEMS sensors by solving an optimization problem. The proposed
technique does not require high-precision calibration equipment. The aim of the presented work is
to develop methods and theory for the calibration of inertial navigation units. The article formulates
general measurement models of sensors included in the inertial assembly, and proposes
methods for calibrating the parameters of accelerometers and gyroscopes fixed relative to each
other. The method of automation of the calibration process is presented, which does not require
high-precision equipment. The results of the application of the developed methods for the calibration
of a real inertial assembly are presented. A stand for automated calibration is presented.

There is a large amount of research and development of continuous MIMO radars. The development
process of the antenna aperture for MIMO radars is different from the development of
traditional antenna arrays. The use of mutually orthogonal signals on the transmitting elements in
combination with the digitization of all receiving channels allows to form a virtual antenna array
by repeating the receiving antenna array at the locations of the transmitting antenna elements,
which significantly improves the angular resolution, and makes it possible to get rid of side lobes.
It is necessary to provide a high level of spatial attenuation of the signal between all of the transmitting
and all of the receiving elements, to enable continuous mode of operation, so that there isno oversaturation of the receiving paths. In this paper, the process of developing an antenna aperture
for a Ku-band MIMO radar is considered, including the following steps: calculating the requirements
for spatial attenuation between antenna elements, optimization of antenna elements
relative coordinates, electromagnetic simulation of: a single emitter, spatial attenuation of signals,
and the resulting characteristics of antenna elements. As a result of the selection and optimization
of the receiving and transmitting antenna elements relative coordinates, a structure of 32 transmitting
and 16 receiving elements was designed with spatial dimensions of 30 by 19 cm. The formed
virtual antenna array consists of 512 elements with effective spatial dimensions of 19 by 38 cm.
These results promise the sector of operation of ±60 degrees in both planes and potential resolution
of no more than 1.5 by 3 degrees (azimuth and elevation, respectively).Calculation and electromagnetic
simulation of spatial signal attenuation between transmitting and receiving antenna
elements showed that the designed antenna array configuration allows obtaining an attenuation of
66 dB, which is consistent with the design requirements.

The aim of the work is to choose a statistically optimal algorithm for making a decision
about the presence or absence of a signal for rank signal processing when solving the detection
problem under conditions of a priori uncertainty. Research objectives: 1) analysis of the decisionmaking
algorithm given in open sources for ranking procedures; search for its shortcomings; 2)
selection and justification of the optimal (in the statistical sense) decision-making algorithm for
use in rank signal processing; 3) conducting an experiment to obtain the characteristics of the
selected decision-making algorithm; 4) analysis of the results obtained. A model of signal processing
against the background of interference in conditions of a priori uncertainty is proposed.
The model consists of a rank detector and a solver that compares the empirical distribution of
ranks with the theoretical one. The rank detector allows you to reduce the problem of detecting asignal against the background of interference with an unknown distribution to the problem of testing
a simple hypothesis about the distribution of ranks. The decision device is based on the use of
a nonparametric Watson Consensus criterion, which has a high power (the probability of not making
a second – kind error-skipping a signal). The use of the proposed approach to solving the detection
problem under conditions of a priori uncertainty provides the following characteristics of
the system: 1) the use of rank procedures ensures that the parameters of the detection system are
insensitive to changing parameters of signals and interference; 2) the chosen decision-making
algorithm provides acceptable characteristics of the system under conditions of significant a priori
uncertainty. The proposed approach to solving the detection problem can find a place in many
scientific fields where there is a priori uncertainty. For example, in radar, sonar, communications,
medicine and other fields of science and technology.

The article presents the technology of computer simulation of the vacuum infusion process
in the production of large-sized polymeric composite structures, which is attracting more and
more attention in the aircraft industry, due to the ease of implementation and the relatively low
cost of production preparation. The difficulty of industrial implementation of the process and ensuring
the required quality is due to its high sensitivity to modes - temperature, vacuum pressure
and the layout of the vacuum ports and resin injection. The purpose of the developed methodology
for computer modeling of the process with the possibility of its subsequent optimization is to exclude
the currently used lengthy and very expensive trial and error method when working out the
technology. The proposed mathematical model of the process linking the equation of the phase
field, which reconstructs the interface between the resin and the void region of the preform, the
Richards equation for the propagating viscous fluid in an unsaturated porous medium, the thermal
kinetics of the resin and thermal conductivity, is implemented in the environment of a finite element
package. Computer implementation of the model provides an accurate reconstruction of the
dynamics of the front of the propagating resin in a porous preform, the possibility of the emergence
and localization of non-impregnated zones of the molded structure, thereby eliminating the
formation of irreparable defects. The results obtained demonstrate the ability of the developed
technique to ensure the stability of the quality of the produced composite structures with increased
requirements for the continuity of its microstructure and its structural strength.

The article considers the issues of fault-tolerant computing systems (CS) development in
terms of their structure and redundancy. It is necessary to take into account a great amount of
factors, which have an impact on performance, reliability and fault tolerance, during the distributed
CS development. For distributed CS such factors contain, among other things, structural characteristics.
The dependency graphs of processor nodes (PN)nonfailure operating probability of
distributed CS against system structural characteristics are presented in the article. The application
of advanced redundancy methods, such as performance redundancy, increases the complexity
of structure design problem. In the case of performance redundancy, instead of adding redundant
nodes to the system, it is proposed to use redundant computational resources among the involved
processor nodes. If a node fails, its tasks are reallocated to a free reserve of nodes, which are able
to work. To implement this method of system redundancy, the organization of a multi-program
operation mode is required, when some tasks can be performed simultaneously on each node.
Need for multi-program operation mode providing leads to increasing the number of system configurations, which have to be analyzed on the design stage and in the case of reconfigurations
when a failure takes place. To reduce the labour intensity of a configuration analysis an approach
based on graphs with multiple edges of different types is proposed. The use of models based on
such graphs makes it possible to represent the structure of CS taking into account a multi-program
operation mode and at the same time significantly reduce the computational time of basic characteristics
by means of applying relations in the form of a vector, which allows to integrate some
relations of different types.

The work is devoted to the synergetic synthesis of the astatic guaranteeing controller for the
aircraft hierarchical control system. The paper contains the general description of “flying platform”
type vertical take-off & landing aircraft & an integrator-based astatic guaranteeing controller.
An astatic controller must ensure the asymptotic stability of a reserved system, the implementation
of technological invariants, the estimation of immeasurable external influences from the
current values of the measurable state-space variables, & the parry of piecewise constant external
disturbances (for example, wind) that cause random changes in flight height, in pitch & in roll
angles. The article also presents an extended mathematical model of the “flying platform” in the
vertical movement mode under external piecewise constant disturbing influences, including disturbance
estimation equations, & the upper hierarchy level control algorithms based on the given
technological invariants are synthesized. In addition, the integrators’ equations are given; such
must be included into the astatic controller & are related to the equations of disturbing influences
estimates. In the framework of synergetic control theory, integrators don’t lead to worst stability
of a closed-loop system because the method of aggregated controllers’ analytical design guarantees
the dynamic system asymptotic stability. Finally, the results of computer simulation of the
upper & the lower hierarchy levels’ nonlinear dynamics under disturbed motion with parry of
external disturbances by astatic controller integrators are shown, as well as the results of computer
simulation of the vehicle’s nonlinear dynamics under disturbed motion without this controller to
allow a visual assessment of the controller’s performance by comparison. The relevance of the
work consists in the necessity of “flying platform” type vertical take-off & landing aircraft creation
to increase the effectiveness of people rescue operations in those disaster areas where helicopters
& other modern means don’t cope with a task. The scientific novelty of the work consists
in synergetic approach application to the design of the vehicle’s spatial position system equipped
with an astatic guaranteeing controller to parry disturbing influences.