No. 1 (2023)

The article deals with study оf the criteria, parameters and performance indicators for the implementation
of the collective mission of extended space monitoring by a group that includes control
objects with different functionality. The most urgent military-technical task of recent times – monitoring
of extended spaces- is considered as an example of a mission. A feature of the article is the assumption
about of hazardous zones in the monitoring area. Any counteraction from potentially critical
objects may significantly limit the capabilities and even disable the monitoring tools. This proviso
affects for implementation of the mission by the group and leads to a revision of the group collective
strategies and individual strategies for monitoring tools, their movement routes, and decision-making
algorithms and etc. Monitoring tools are modeled as intelligent agents trained by the "collectivism"
paradigm. It provides a common resource of situational awareness of the group, the organization of negotiations between agents and mutual assistance to each other in the event of problem situations.
A general approach has been developed to evaluate the effectiveness of solving collective problems
by a heterogeneous group of agents, taking into account the objective function, resource intensity of
the entire mission and organizing active interaction between agents. It is proposed that the mission
efficiency characteristic expressed as a weighted sum of the normalized indicators of the parameters
of the agents' functions with the weights "significance of the function for the mission" and "value of
the object". It is shown that the loss of efficiency in the performance of a collective mission in the
event of problematic situations with an agent (active enemy action, breakdown, lack of the necessary
functionality, resources, etc.) can be compensated by the required functionality of other agents of the
group with the appropriate reconfiguration of tasks.

The article presents the results of the development and synthesis of a hydraulic system for
stabilizing an underwater object. For completeness and accuracy of mathematical modeling in the
hydraulic system, the forces of dry friction between the piston and the walls of the hydraulic cylinder,
the forces of dry friction between the rod and the hydraulic cylinder, which together determine
the total dry friction force in the active hydraulic cylinder, the total dry friction force in the
passive hydraulic cylinder, and the acceleration of movement, are taken into account. Also taken
into account is the reduced mass of the system of blocks and chain hoist, the mass of the moving
parts of the active and passive hydraulic cylinders. After calculating the mass and dynamic characteristics
of the hydraulic stabilization system, mathematical modeling of the developed system
was carried out. In the process of developing and synthesizing the system, the features and typical
non-linearities of the hydraulic and pneumatic parts included in the system were taken into account,
such as the flow characteristic of a spool-type hydraulic valve, low leakage and compression
costs in the working cavities of the active hydraulic cylinder. When designing, the adiabatic
nature of the process in the pneumohydraulic displacer was adopted, since the reaction and
movement of the hydraulic stabilization system occurs quite quickly, which means that the heat
exchange with the environment will be negligible. In the process of synthesizing the mathematical
model of the system, the nonlinearity of the rope elasticity coefficient is taken into account. A study
of the stability of the mathematical model of the stabilization system was carried out and a synthesis
of the control system for the hydraulic part of the system was carried out using a fairly common
PID controller. The PID controller parameters were calculated using a standard calculation
method. Since the result of the operation of the stabilization system with such a synthesis of the
control system strongly depended on the perturbation signal, it was decided to increase the invariance
of the system with respect to the input signal by introducing a combined control. Such an
improvement of the system turned out to be sufficient to improve the quality of the mathematical
model of the hydraulic stabilization system. A digital redesign of the controller was carried out,
the features of the operation of analog-to-digital transducers of sensors were taken into account.
The simulation results showed the operability of such a control system.

The purpose of this paper is creation of an efficient software and hardware model of a ground
mobile object navigation system. Simulation process is one of the key instruments for engineering solutions
development at all stages of a complex technical system lifecycle. Navigation system model described
in this paper is software-hardware by nature and is implemented as software modules that support
hardware interaction with each other. The described system of ground object navigation system
simulation has been developed in the course of several design projects and scientific research works.
The developed model of a ground mobile object navigation system includes several programming units.
Each of these units simulates the operation process as close as possible to the original. Internal and
external interaction interfaces and navigation system communication protocols are also simulated with
the account for real object operation cyclograms. It should be noted that one of the main advantages of
a software simulation over a developmental testing or breadboarding is the opportunity to perform a
profound analysis of operation algorithms without the use of any additional resources. At the same time,
it is often necessary to perform firmware design in order to make the simulation process identical with
the real operation. The process of navigation system architecture simulation allows performing a comparative
analysis of several base components sets and their interaction patterns. Such comparison results
in an optimal system structure providing the information user with navigation data in the most
efficient way. The paper determines basic simulation process tasks. The simulation stage may become
crucial for complex systems design as it may aid achieving the best technical result. The proposed structure,
key elements of a ground navigation simulation system and approaches to their interaction arrangement
have been approved in the course of several research and development works. At the same
time, it was found that the validity of developed models and their compliance to simulated units allows
performing a highly reliable navigation system analysis. The developed software-hardware model allowed
processing telemetry records obtained under different product operation conditions, performing
their analysis and developing engineering solutions that increase the efficiency of navigation systems.

The purpose of the study is to evaluate the effectiveness of the system for protecting a mobile
protected object from a small unmanned aerial vehicle (UAV). In connection with the peculiarity
of the construction of the protection system for a mobile object, associated with the movement
synchronously with the object of the critical zone, into which the UAV should not fall, it was necessary
to develop a method and a mathematical model for assessing the effectiveness of the UAV. As an indicator of efficiency, the probability of diverting the UAV from the critical zone was taken.
It is analyzed that the removal of the UAV from the critical zone is carried out due to the timely
detection of the UAV and its transition from navigation using the signals of satellite navigation
systems to the onboard inertial navigation system. The timeliness of detection is determined by the
detection range of the UA. The detection range is determined, first of all, by the parameters of the
detection means themselves, the topology of their placement, the size of the critical zone around
the protected object, and the direction of movement of the UAV. The size of the critical zone is
determined by the danger of video filming from the UAV or payload drop. The direction of movement
of the UAV most vulnerable to the protected object is the movement to the meeting point with
the protected object. The results of the analysis and the developed algorithms for the functioning
of the protection system against a small UAV were taken into account when developing a mathematical
model for assessing the effectiveness of protecting a protected object. Due to the fact that
some of the parameters of the BVS are not known in advance, their values were played with
equiprobability. The method of statistical tests (Monte Carlo method) was used to calculate the
efficiency indicator. In each test, random parameters of the UAV were played out, initial data
were set, the processes of movement of the protected object and the UAV, changes in the position
of the critical zone were reproduced, the UAV hitting the viewing areas of the detection tools,
moving away from the general course of the UAV and getting into the limits of the critical zone
were evaluated. The developed method and mathematical model for evaluating the effectiveness
made it possible to conduct a numerical experiment aimed at assessing the influence of the UAV
speed on the protection efficiency of a mobile guarded object. The results of the work can be used
in the design and development of a system for protecting a protected object from UA, in a comparative
analysis of alternative systems for protecting against UA. The proposed method and mathematical
model can also be used in the underwater marine environment when evaluating the effectiveness
of protecting a protected inhabited / uninhabited object from marine robotic systems.

The subject of the study is the methods of intellectualization of automated systems and complexes
in the Armed Forces of the Russian Federation based on the use of knowledge-based models and technologies,
as well as reactive wireless sensor networks (RWSN), which have a great prospect of application,
especially when conducting local special operations by mobile tactical groups. The relevance of
the work is due to the fact that the dynamics of a modern clash involves the concentration of all types of
information when making decisions that are adequate to the combat situation, which makes it possible
to implement a new approach to the conduct of hostilities based on the integration of systems of all levels
and types of troops. The form of integration is the tactical group. The implementation of the approach
requires the construction of a knowledge cycle when making decisions, including the stages of
perception, representation, awareness and their replenishment based on new architectures for the construction
and use of information technologies. The aim of the work is to study the possibility of building
an information system for providing data for one of the key stages - the stage of acquiring knowledge
from distributed sources when using responsive sensor networks as the primary element of the system.
Main results. Studies have shown that the most effective solution is based on the use of SCADA tools and
sensor networks through their integration, as well as hybridization with expert knowledge. The architecture
of the tactical group information system is proposed, which provides situational awareness on the
entire tactical spectrum of combat operations and decision-making under severe time constraints. Such
a system can be considered as one of the main key factors for creating superiority over the enemy. An
overview of possible applications of RWSN in military areas is given. Their high efficiency in performing
combat missions is shown. Practical significance. The expediency of applying the results obtained in
the design of RWSN is substantiated.

Against the background of the ever-increasing needs for robotic complexes with an increased degree
of autonomy and the planned transition to their widespread use, the need for technologies for assessing
the quality and comparing the degree of autonomy of such devices is being actualized. The article
describes the current state of issues of evaluation and comparison of the degree of autonomy of unmanned
complexes. Known estimates of the degree of autonomy are given. In the existing classification
system, informational and intellectual autonomy are distinguished, which are considered in close connection.
Solutions are proposed that complement the known approaches to the general definition of the
degree of autonomy and allow us to form quantitative estimates of the degree of autonomy of robots in
various areas of the national economy. Technologies aimed at automating the receipt of these estimates
are considered. In particular, the possibility of using the tools of fuzzy cognitive maps well mastered by
domestic researchers to determine the degree of autonomy in conditions of incomplete information, the
availability of high-quality information and the influence of the human factor is discussed. The necessity
of developing ontologies of subject areas is substantiated in order to ensure the possibility of comparing
the degree of autonomy of various robotic complexes (RC) and their groupings. In general, the approach
is indicated, which is aimed at systematizing assessments of the quality and effectiveness of the
use of autonomous robots, and can allow in a short time to prepare a methodological basis for the widespread
introduction of robotics. One of the positive consequences of such a systematic approach is the
unification of formulations and solutions (modules) in the tasks of RC information support, which, in
turn, facilitates interaction between users, customers and developers. For RС developers, a systematic
approach makes it possible to reuse successful solutions in various combinations. In conclusion, wishes
are expressed to the community of domestic roboticists in joining efforts to unify terminology, describe
problem statements and metrics of intelligence of robotic complexes

The purpose of the study is to substantiate the technical requirements for a robotic complex
designed to eliminate man-made emergencies associated with the need to eliminate fires. These
emergencies can occur, first of all, in radiation and chemical accidents, as well as in accidents at
fire and explosion hazardous facilities. The elimination of such emergencies, as a rule, is associated
with an increased risk for firefighters and rescuers and requires the use of heavy equipment.
The article proposes a campaign that involves considering two possible options for using the complex:
when extinguishing a fire over an area in the modes of a single cycle with a transportable
supply of water and when extinguishing fires in a long-term fire extinguishing mode. At the same
time, it is proposed to consider the areal fire extinguishing rate and water consumption as the main indicators for assessing the effectiveness of the complex. Under the areal rate of fire extinguishing,
it is proposed to understand as the ratio of the fire extinguishing area to the time. Water
consumption during fire extinguishing is a single value for all links in a serial chain, in the form of
which a scheme for supplying water to a fire source can be represented. For the first option, the
amount of water flow is sequentially calculated, which depends on the pressure that is created in
front of the water shaft. This indicator primarily depends on such factors as the water pressure
generated by the pump, the pressure loss in the hose line, the excess or decrease of the water barrel
in relation to the pump. According to the results of calculations for each link, the obtained
indicators are summarized. For the second option, the capabilities of the robotic complex for longterm
fire extinguishing involve the use of an existing reservoir of natural or artificial origin as a
source of fire extinguishing agent. At the same time, the number of factors affecting the areal rate
of fire extinguishing and water consumption increases significantly. To simplify the calculations, a
nomogram has been developed that allows you to calculate not only the above indicators, but also
determine the predicted values of the time required to extinguish the fire. The data obtained as a
result of the above calculations make it possible to finally realize the main task of the studies under
consideration, that is assessment of the capabilities of a promising complex of a robotic complex
for extinguishing fires at radiation-, chemical- and explosive objects. This problem is proposed
to be solved by forming the technical forms of the RTK, which can be created to solve fires
at the above objects, and then by a comparative assessment of their qualities.

The aim of the study is to improve the accuracy of the motion control system of ground-based robotic
systems for military purposes (RTK VN) of tracked type based on the application of the method of
constructing two-circuit automatic control systems equivalent to combined systems. The use of automatic
control systems equivalent to combined systems makes it possible to increase the accuracy of automatic
control systems by reducing the value of the dynamic error, that is, achieving error invariance,
without violating the stability of the system. The objective of the study is the possibility of achieving zero
error in single-circuit and double-circuit automatic motion control systems RTK. To solve this problem,
it is necessary to determine the structure of the ACS and draw up block diagrams of automatic traffic
control systems of the RTK VN along the angle of the course. This task can be solved in stages. During
the first stage, the connection of control errors in single-circuit automatic control systems with a constant
input effect is considered. The next stage is the justification of the construction of two-circuit systems
taking into account the linear input effect. Next, it is necessary to determine the parameters of the
second circuit of the two-circuit ACS by the movement of the RTK. The problem considers the relationship
of the dynamic control error in dual-circuit ACS by the movement of the RTK along the angle of the
course with the linear input effect. The method used in the article allows us to solve the problem of
achieving the invariance of the error in the ACS by the movement of the RTK VN along the angle of the
course. The paper presents a methodology for determining the parameters and structure of the ACS in
order to achieve zero error, which, in turn, leads to increased accuracy while meeting the requirements
for the stability of the system. The calculation results confirm the operability of the proposed methodology
and show that with various input effects (constant and linear) in single-circuit and double-circuit
ACS, the RTK movement along the course can achieve independence of reducing the dynamic error
from the stability of the ACS (i.e., achieving error invariance without loss of stability of the system).

The great interest in cultural heritage reflects a person's desire to know and understand
their origins and achievements. However, archaeological sites, like the natural environment, are
finite non-renewable resources. Of all the types of heritage under threat, archaeological sites and
their wealth of information and artifacts are the most threatened. In current practice, options for
the preservation of archaeological sites include reconstruction, reassembly (anastilesis), in situ conservation and protection, including shelter and/or tissue consolidation, ex situ preservation by
relocation, and reburial with or without site interpretation. her. However, it is very important not
to move or lose artifacts during archaeological excavations. If they are lost or moved, their information
potential is lost. In order to ensure constant control of the process of archaeological research,
fixing the artifacts found, building a three-dimensional model of the object under study
and ensuring safety at the site, an excavation monitoring system has been developed, deployed on
an autonomous robot. The objective of this study is the development of hardware and software for
the robot. The robot is a suspended platform for data collection, the movement of which is provided
by several cables fixed on fixed supports. The movement of the platform (both in the plane and
in height) is provided by changing the length of the cables. Such a movement scheme makes it
possible to move the platform in the entire plane of the triangle formed by the fixed supports, as
well as to descend or ascend to a height limited by the height of the supports themselves. The data
acquisition platform is a flat platform with a communication module, a microcontroller and a
battery installed on it. A gyro stabilizer is attached to the bottom, with a video camera and a
rangefinder mounted on it, which allows you to dampen vibrations during the movement of the
platform and external disturbances. A multi-agent algorithm for the operation of the robot monitoring
system during excavation is presented. A program has been developed for managing and
collecting data from the monitoring system of archaeological sites.To test the monitoring system, a
robot prototype was made, which was tested during excavations of a complex of archaeological
monuments in the Baksan region of the Kabardino-Balkarian Republic.

In the theory of automatic control, an urgent problem is the development of design methods by
nonaffine control systems. In such systems, the control affects the input of the plant nonlinearly, so it
affects the state variables non-additively. The purpose of this article is to develop a design method that
ensures the stability of the zero equilibrium position of a closed control system in a certain area.
The object described by a nonlinear system of differential equations with one control is considered.
A restriction is introduced, consisting in the differentiability of the right part of the differential equations
for all state variables. The task of designing control in the form of a function of the reference signal, a
vector of state variables and control values at previous points in time is set. This problem is solved using
a quasilinear model of the control plant. This model of description allows you to preserve all the features
of a nonlinear plant without simplifying them. In the quasilinear model, matrices and vectors are
functions of the variables of the state of the control plant. The control is performed using an algebraic
polynomial matrix method. This method allows you to find control when the control condition of the
plant are met in the form of inequalities. This article presents the expressions for calculating the control
according to the polynomial matrix method. Based on the given coefficients of the desired polynomial,
as a result of solving an algebraic system of equations, coefficients are found that are a function of control
and state variables. At the same time, the fulfillment of the controllability condition guarantees the
existence of a solution of the specified algebraic system. An expression has been found that allows calculating
the control by the coefficients found. The article also finds a condition for the possibility of
providing a non-zero value of the output controlled quantity of a nonlinear Hurwitz system in a steadystate
mode. Under this condition, a zero value of the static error for the setting effect can also be provided.
Further, the transformation of the obtained continuous control into a discrete one is proposed, which
is implemented in a digital computer. The article also provides a numerical example of the control design
of a second-order nonlinear control and the results of modeling a closed nonaffine system.
The given example confirms the theoretical results obtained. Thus, the proposed approach makes it possible
to design stable Hurwitz control systems for nonaffine objects using the algebraic polynomial matrix
method with sufficiently small sampling periods of variables of the control object and small modules of the
roots of the characteristic polynomial of the matrix of a closed system in its quasilinear model.

The aim of the study is to consider the possibility of building competitive fast-track traffic control
systems on the basis of the electronic component base available in Russia. The author's methodology for
quantitative assessment of confidence in the control system, according to which confidence is determined
in accordance with the confidence in all its elements at all technological levels in relation to ensuring
functional reliability and information security based on the assessment of confidence in the results
of development and testing of these elements, is offered. The complex problem of providing confidence
to the traffic control systems, caused by the country dependence on import of equipment with
foreign control systems, small volumes and technological lag of semiconductor production and equipment
for this production, and also impossibility of providing confidence to the intelligent control systems
without full access to their development is considered. For this problem, a solution is proposed that does
not require bringing the full range of technologies used to create control systems to the world level in
Russia. This solution is based on the use of the complex methodology of synthesis of control systems,
proposed by the author, which is based on the known approach of building a control system in the form
of a sequential multi-level transformation from the problem statement to the electronic device level,
supplemented by the definition of the intermediate level (the level of control system architecture) and a
specific choice of memory-centric architecture. Taking into account the definition of the selected intermediate
level of the motion control system, the complex methodology of the control system allows, starting
from the possibilities of the memory-centric architecture, to form the methodology of the control
system programming in accordance with the set control task, and in accordance with the available electronic
component base - to determine the methods of synthesis of the motion control subsystems.
The proposed integrated methodology also involves the systematization of subsystems of the intelligent
block, sensing block and the executive block of the motion control system in the form of limited sets of
subsystems, sufficient for the construction of the entire variety of motion control systems.

The development of modern training complexes for simulating vehicle control is an urgent task
due to the high cost of control errors, which can be solved using parallel structure mechanisms.
The article presents current research in the field of creating a model and a real prototype of a simulator
complex for training drivers of vehicles and special equipment based on a dynamic six-degree
mobility platform. One of the mandatory requirements when designing a platform is the exclusion
from the working area of special positions in which the mechanism loses its controllability and malfunctions
may occur. The article presents the results of studies of the influence of special positions on
the solution of the direct problem of kinematics and the geometry of the working space of the Gough-
Stewart platform (commercial name - "Hexapod"). A virtual prototype of the robotic platform was
developed at MSC Adams, which made it possible to simulate the kinematic and dynamic parameters
that characterize the operating conditions under the action of workloads. The greatest resultant forces
acting on the hinges at the maximum speed that the actuator can develop are determined. In accordance
with the ultimate load, a 3D model of the training complex was built using computer-aided
design systems. The article presents the results of designing a training complex, a prototype is made.
The simulator consists of an upper platform and a base, which are connected by translational electric
drives. The driver's cabin is installed on the upper platform, which has controls similar to those of the
car. The simulation image is displayed on the installed monitors. For the interaction and immersion
of the driver in the simulation environment, the software and hardware complex "Route" has been
developed, with the following functionality: – automated formation of a digital terrain model (including
areas of urban development) based on electronic topographic maps, libraries of threedimensional
objects, results of laser scanning of real terrain, data from mobile complexes with precision
navigation equipment; – creation of new three-dimensional objects; – setting up a behavioral
model of dynamic objects (intelligent agents), developed using the principles of multi-agent systems;
– creation of sets of exercises with various emergency situations for trainees. Experimental studies of
the prototype made it possible to evaluate its capabilities and characteristics, and adjust the algorithms.
The research results presented in the article will contribute to the creation of a solid infrastructure,
promoting the provision of inclusive and sustainable industrialization.

The article proposes a parametric synthesis method of a multi-robot formation controller.
The movement of the fo m tion i c ied out on the oute et by hum n ope to . Robot’ control
system corresponds to the modular-assembly principle based on common software, the joint
functioning of which is implemented by middleware, for example, Robot Operating System. Errors in
the mobile robot control system are caused by: probabilistic application conditions, data-measuring
system random errors, using simplified dynamic model within the development process. The influence
of the operating conditions on the communication system and the mobile robot autonomous driving
system performance reflects by the probabilistic-temporal characteristics: communications and information
system delay and the inten ity of mobi e obot’ top . method of t ti tic imu tion
modeling allowed taking into account the probabilistic-temporal characteristics of the mobile robot
communication and the autonomous driving systems, as well as mobile robot dynamics. The coordinated
movement of the multi-robot formation along a given path is provided by the method of a decentralized
virtual structure. The task execution quality is evaluated by two indicators: the deviation
of the form from the given one and the task-performance time. As an example, we consider the task of
the movement of three robots along the route in a row-shaped formation, in which, for a given probabilistic-
temporal characteristics, a multi-robot formation accomplish the given task in the shortest
time with minimal deviations of formation shape from the given one. Optimization solution allowed
us to determine the optimal parameter of the formation control system. The optimization problem was
solved using the golden section method, statistical simulation was performed using MATLAB Simulink
and Parallel Computing Toolbox packages. A simulation of a homogeneous group of three
mobile robots movement was performed for the task of driving along the route in the row-shaped
formation with an interval of 5 m and a desired speed of 3 m/s. The quality of the autonomous driving
system ensures accident-free motion with an intensity of 1,2 stops per minute. The communications
and information system with fully connected network topology provides communications flow between
mobile robots with a frequency of no more than 10 Hz. Communications system delay vary in
the range from 0.1 to 0.5 s.

The work is devoted to the relevant problem of control synthesis for autonomous underwater vehicles
(AUVs). Since AUVs must perform actions in accordance with a given program under conditions
of a volatile predictable environment, it is necessary to provide working tools, the use of which, together
with the AUV position and orientation control requires, along with continuous local stabilization means,
implementation of supervising and coordinated control algorithms at the upper level. Such a two-level
control scheme, which can be called supervisory, is proposed in this paper to be implemented using two
types of asymptotic methods: to separate movements into fast and slow, an apparatus for analyzing singularly perturbed differential equations is used, and the upper level control is based on the principle
of large deviations. The general synthesis task is to control slow movements and stabilize fast movements.
At the same time, in the stochastic problem formulation, it is assumed that there is a random
perturbation in fast movements. Given that fast movements are stabilized, it is high probable that the
noise influence averaged and does not significantly affect the behavior of slow variables. However, with
sufficiently long observation it is possible to find a situation where at some period the perturbation values
are not only uncompensated, but, on the contrary, line up in a sequence as specially intended to
form an apparent deviation of the slow sub-vector from equilibrium. It is known from the theory of large
deviations that such a trajectory is the only and most likely of all those leading to a certain critical event.
At the same time, the phase of this process can be used to judge the critical event proximity. For this
reason, the large deviations theory usage makes it possible to organize the control of deviations from a
iven object’ t jecto y, capable of giving estimates on the probability of the controlled deviations
critical values. As a result, it is shown that if accelerations are formed by fast subsystems, then in slow
subsystems it is possible not only to achieve acceptable quality and accuracy at a fixed interval, but also
to ensure this regardless of the disturbances. The validity of the proposed approach to synthesis, based
on the separation of movements and the large deviations theory, is shown on the example of an autonomous
underwater vehicle with two rudders (fore and aft) in the task of controlling longitudinal motion at
a given depth. Simulation results and their discussion are presented.

Different problems of strategy planning and control of a mobile robot group under complex dynamic
conditions with incomplete information about the external environment are considered. Approaches
to solving problems of effective work scheduling under conditions of inconstant active group
composition, searching for the source of a nonstationary concentration field, supervisory control of
discrete-event systems are presented. An original mathematical model formulated in terms of work-shift
scheduling problems and a problem-oriented modification of evolutionary algorithms with a specialized
set of heuristics for its efficient solution are developed for the problem of scheduling top-level group
work. Searching and monitoring the source of the nonstationary concentration field is carried out using
a decentralized multi-agent control strategy that combines elements of bionic and gradient approaches,
as well as a method for generating artificial potential fields. The considered control strategy has low
computational complexity, high variability with respect to the types of fields surveyed, and is easily scalable
to control any available number of mobile robots. The latter is of special importance, in particular
when considering the problem of parallel and independent monitoring of multiple sources. It is proposed
to use the means of logical inference, namely automatic theorem proving in the calculus of positively
constructed formulas, to solve various problems of the supervised control theory of discrete-event
systems used at different levels of the robotic complex hierarchical control system. Features of the calculus
allows solving complex problems of dynamic systems control, as well as processing and controlling
events based on environmental data in real time in the process of logical inference efficiently. The
approach based on positively constructed formulas allows studying the properties of automata-based
discrete-event systems, as well as to synthesize and model finite automata for the construction and realization
of monolithic and modular supervisors. A general scheme combining the considered approaches
for controlling a group of mobile robots at different levels and time scales within a single hierarchical
control system is proposed.

Information about fire-hazardous situations circulating in the circuits of the listed systems
and the level of artificial intelligence technologies is quite enough to develop a scientific and
methodological apparatus for detecting fire-hazardous situations in ship premises, determining the
location of their occurrence and fire factors, predicting the development of a fire-hazardous situation
and developing a set of technological solutions using artificial intelligence to obtain sound
recommendations on localization and extinguishing fires on Navy ships. This will significantly
reduce the time for detecting sources of ignition, provide reliable information about the firehazardous
situation, predict the development of a fire in the ship's premises and promptly organize
the fight against a ship's fire before the occurrence of critical fire-hazardous factors and damage
to the ship, the health and life of personnel. Artificial intelligence technologies are an effective
means of solving complex poorly formalized tasks. This class traditionally includes the tasks of
classification, clustering, approximation of multidimensional maps, time series forecasting, nonlinear
filtering, and management of complex technological objects. The analysis of the fire hazard
of technological processes, the operation of ship systems and technical means has shown that one
of the most promising ways to resolve the systemic contradiction in ensuring fire safety is the use
of artificial intelligence technologies. The need to develop intelligent survivability systems on Navy
ships is due to the need to improve the effectiveness of leadership in the fight for survivability in a
number of accidents and catastrophes. Examples of the influence of various factors on the conduct
of the struggle for survivability in the event of accidents are described. The role of intelligent survivability
systems in the systems of ships and vessels is determined. The necessity of implementing
such systems is justified. The intelligent survivability systems currently being developed on Navy
ships are designed to assist the command staff of ships and vessels in the timeliness and validity of
decision-making, which will increase the effectiveness of the fight for survivability.

The article considers the actuated joint designs with added elasticity and equipped with a
mechanism for changing the value of this elasticity (adjustable stiffness) for robotic manipulators.
To date, there are no workable joint actuators with variable stiffness (VSA) in Russia. At the same
time, intensive research is being carried out around the world on various types of such joint actuators
and manipulators based on them. Although until now all the products created have mostly
been of an experimental and research nature, in the near future we can expect the appearance and
implementation of prototypes of VSA to solve specific practical problems that make it possible to
build manipulators with new qualities and improved technical characteristics. Such manipulators
will be in demand when solving tasks related to contact operations that require increased accuracy,
correctness and safety of execution, for example, in situations where a robot and a person are
in a single operating space. The aim of the proposed study is to form a scientific and technical
groundwork in the field of manipulator actuators design with adjustable stiffness in the form of
developing methodological recommendations for designing VSAs for the required specific tasks
and for using them as part of manipulation systems. To do this, at the initial stage of the study, the
tasks of analyzing and systematizing the existing technical solutions for stiffness control mechanisms
and constructing our own VSA for subsequent physical experiments are solved. To date,
there are a huge number of different options for the implementation of VSAs, which have their own
advantages for specific areas of application. There are no optimal devices for all types of tasks.
Proceeding from this, it is proposed to conduct a study of VSAs in the three most perspective
trends, in the opinion of the authors, using fundamentally different options for implementing the
variable stiffness. The combination of completely different options within a single design is proposed
to be implemented on the basis of a modular approach to constructing a research VSA,
which makes it quite easy and without the use of any special tools to reconfigure the actuator joint
from one option to another, using at the same time a number of common (typical) modules, which
significantly saves resources for the development and study of such an actuator. The article provides
a brief description of the design features of the proposed modular research VSA and stiffness
control modules. The results obtained allow us to proceed to the stage of making a mockup VSA
model and setting up physical experiments to study various types of VSAs.

The aim of the study is to develop a non-contact fluxgate position sensor to control the open /
closed state of the valve. There are many examples of the use in modern technology of elements or devices
that interact with a magnetic field. One of the most urgent tasks is to use the influence of the magnetic
field as a means of control or as a component of the control environment. The use of magnetooptical
sensors for monitoring the functioning of technical objects is due to their non-contact measure ment method, the ability to measure not only magnetic, but also various other physical quantities, the
relative simplicity, reliability and low cost of the design of the sensitive element, flexibility in use, operation
in low-temperature and high-temperature environments. One of the sensors of this type is a fluxgate
magnetic field converter. Valves of various pneumohydraulic systems are an example of the object of
introduction of a fluxgate sensor. The essence of the task is to create a non-contact limit switch of the
valve spool, signaling the closed or open state of the valve and transmitting this information to the control
system. It is proposed to divide this task into stages and their sequential implementation. First, a
search and analysis of existing solutions, literature on the topic of research of magnetic transducers is
carried out. Next, a model design of the sensor is developed, according to which a geometric 3D model
and a 2D model of the sensing element are created, and the proposed material of the constituent elements
of the sensor is selected. With the help of numerical methods of computer simulation and mathematical
models, the operation of the sensor is simulated and its output characteristics are determined
under various operating modes. According to the design characteristics, the optimal design and configuration
of the sensor's sensing element is selected and calculated. As a result of the simulation, assembly
and working drawings of the sensor are developed. The proposed method for solving the problem is
characterized by the complexity of studying nonlinear magnetic systems and their modeling. The results
of this study can be recommended for the development of magneto-optical sensors of this or another
type and for the study of materials with nonlinear magnetic properties.

The paper proposes a method for constructing a navigation system of an autonomous underwater
vehicle (AUV) using a limited set of onboard sensors and receiving position data of the AUV
via acoustic communication channels from a hydroacoustic underwater monitoring station (HUMS).
The proposed method obtains estimates of the position and velocities of the AUV based on its dynamic model, assuming that the angular velocities, orientation angles and depth of the AUV are determined
using its onboard sensors. Linear velocities are not directly measured. The Kalman filter is
used to implement the navigation algorithm. At the same time, the feature of this algorithm is the
implementation of a two-stage procedure for correcting estimates of coordinates and linear velocities
of the AUV obtained on the basis of its dynamic model. This correction is carried out in two ways,
depending on what data is available at the current step of the system. The first option assumes the
correction of these estimates only on the basis of data from the depth sensor, which is updated at
each step of the system. And the second option is used when data comes from HUMS via acoustic
communication channels. This data comes with a delay due to the limited speed of propagation of
acoustic signals in the aquatic environment, and may also periodically be distorted and disappear.
The paper proposes a method for compensating for these delays by saving an array of previously
calculated data and evaluating the necessary corrections by comparing the received data with the
estimates obtained earlier. The proposed scheme for the construction of the navigation system allows
for the correction of its readings in the conditions of irregular data updates from the HUMS. The
results of modeling using a model describing all the main features of the HUMS operation and its
interaction with the AUV (delays in obtaining information, the presence of measurement noise and
sampling of HUMS data) showed a sufficiently high efficiency of the proposed solution. At the same
time, the main advantage can be indicated by the possibility of using a minimum number of on-board
sensors and the possibility of fast deployment of HUMS for interaction with AUV.

The study is devoted to improving the efficiency of the functioning of robotic complexes
(RTCs) by increasing the conflict stability of their data transmission radio systems (RS). The presence
of a stable tendency to complicate the operating conditions of the RTK causes stricter requirements
for the characteristics of the RTK RS. Also, these increasing requirements are limited
by the need to function in conditions of a complex electronic conflict, which means the simultaneous
presence of antagonistic, coalition and indifferent conflicting electro-magnetic interactions.
In order to ensure the required conflict stability, it is proposed to endow the RTK RS with cognitive
abilities that will allow the adaptation of the RTK RS resources to dynamically changing conditions
of the functioning environment, including promising ones. The purpose of the work is to
develop a functional model of the resource management subsystem of the cognitive RS RTK, the
formalization of which will allow analyzing the relationship between the structure of the model 
and the properties of the simulated system. The functional model of the proposed subsystem for the management of telecommunication resources of the cognitive RS RTK is given. The proposed decomposition
of the general model allows us to consider the control algorithm of the subsystem
under consideration from a constructivist perspective. The proposed approach to the construction
of this algorithm is based on the theory of finite combinatorial Post processes, equivalent to other
well-known approaches to the formalization of algorithms. The choice of this model is justified and
consistent with the current approaches to the construction of knowledge bases proposed for use in
the developed subsystem. The hypothesis put forward about the potential conflict stability of the
RTK RS is confirmed by the example, as which the conflict with an information technology system
capable of carrying out targeted electromagnetic effects is considered. At the same time, consideration
of the complex concept of conflict stability is limited to the analysis of one of its key components
– electronic security. It is proposed to consider this conflict as an instance of a mass problem.
The unsolvability of the proposed mass prediction problem is proved by reducing to it the
well-known problem of stopping a deterministic Turing machine.

This article describes approaches to solving problems of optimization of bearing structure
of strapdown inertial navigation systems (SINS). A typical optimization problem in this case is
multiobjective parametric optimization of the bearing structure of the SINS accelerometer triad in
order to minimize the mass of the bearing structure and minimize deviation angles of the accelerometer
axes under the action of external loads. The ANSYS Mechanical and ANSYS
DesignXplorer modules are used as a tool for numerical modeling and optimization, respectively.
Practical issues related to parameterization of SINS bearing structure 3D-models, calculation of
accelerometer axes deviation angles, possible variants of numerical experiment plans, estimation
of response sensitivity to input parameters, generation and refinement of the response surface, and
multiobjective optimization are considered. For the rational parametrization of geometry, the
SINS device assembly was decomposed, as a result of which the parts and structural elements that have the greatest influence on the considered objective functions were identified. To calculate the
deviation angles of the sensitive elements axes, special two-node finite elements and relations for
the Bryant angles were used, which describe the relative position in space of two coordinate systems.
When planning a numerical experiment, at the first stage of optimization, a central composition
plan was used, and at subsequent stages, the parameter space was filled using the Latin hypercube
method with the option of relations between parameters, which made it possible to avoid
degenerate design options. The response surface was built using the genetic aggregation method
and subsequently refined based on a set of optimal solutions. Optimization for conflicting goals of
mass minimization and stiffness maximization was carried out using a multiobjective genetic algorithm.
The described set of approaches to solving optimization problems as a result of an exemplary
series of calculations made it possible to reduce the mass of a serial SINS bearing structure
part by 23% with fixed stiffness.

The article deals with the determination of coordinates and orientation angles of the autonomous
underwater vehicle (AUV) relative to the stationary landing platform using high-frequency
near-range hydroacoustic system. The navigation task implies maneuvering the vehicle and approaching
the underwater station, which is associated with the formation of zones with different
acoustic visibility of the station's emitters by the receiving elements of the vehicle. Three zones of
acoustic visibility can be distinguished. The first zone is characterized by observation of signals of all
beacons of the underwater station. As a consequence, this zone is the most informative for solving the
problem of positioning and orientation determination of the AUV. The second zone corresponds to
partial reduction of the number of observed beacons, which does not critically influence the possibility
of problem solving. The third zone (landing) is defined by essential reduction of a number of observed
beacons, that, as consequence, considerably complicates the solution of the positioning problem,
taking into account the increased requirements on accuracy at the moment of landing of the
device caused by provision of safety. To maintain positioning accuracy and determine the underwater
vehicle orientation in the landing zone, it is proposed to use the results obtained in the early stages of
approach of the vehicle to the underwater station (the first and second zones). A mathematical statement
of the problem is given in the work, and the algorithm of its solution is described. When finding
the AUV in the first and second zones, the solution algorithm consists of two subtasks. The first subtask
is a rough estimation of location vicinity and angles of vehicle orientation using K-nearest
neighbors method; the second subtask is specification of estimations using pseudo-dimensional
method by solving system of algebraic equations with Levenberg-Marquardt algorithm. In addition,
estimation of beacon emission time is carried out. At finding ANPA in the third zone the algorithm is
reduced to solution of system of algebraic equations with use of forecast of time of signal emission by
a beacon, received at finding of the device in zones one and two. The results of simulation modeling
and results of algorithm approbation obtained using a mockup of the vehicle and a mockup of the
underwater station in the test pool are presented.

Research in the field of creating specialized computing systems for robots is conducted
in many world scientific centers, including our country. The development of capabilities of
sensor systems, global navigation systems, growth of computing power and improvement of
algorithms allow creating onboard computing systems with broad intellectual capabilities.
An important, but unsolved problem remains the equipping of such computing systems with
domestically produced microprocessors. One of the difficulties hindering the widespread
integration of domestic hardware is the problem of unification and standardization of the
components of the onboard computers. Unification of onboard computer modules would open
up new opportunities for developers of robotic systems by reducing the price and simplifying
development and modernization. This article discusses approaches to the unification and
standardization of elements of onboard computers, describes the experience of the development
of ANSI/VITA standards in the field of onboard computers, and also provides examples
of computing modules in a unified COM-Express form-factor based on Elbrus microprocessors
for onboard computers. Experiments were conducted using unified computing modules based on Elbrus-2C3, Elbrus-1C+ and Elbrus-4C microprocessors. Their applicability for
creation of onboard computing complexes is shown. The necessity of developing a domestic
standard for on-board computer housings and form-factors is shown.

Development of distributed computing systems (DCS) takes an important place in modern scientific
and technical literature. Generally, only one of the most significant features of DCS is discussed
in the papers, for example, performance, reliability, fault tolerance, energy efficiency and
scalability. In this paper authors attempt to overall consider the problem of DCS design, based on the
example of a multi-channel onboard DCS for data processing places in autonomous underwater
vehicle (AUV). The aim of this paper is to formulate a unified concept of a multi-channel onboard
DCS for real-time data processing. As a result, the architecture and principles of operation of a multi-
channel onboard DCS are proposed, based on well-known approaches to fault tolerance and energy efficiency, taking into account the features of scalable systems. The proposed solutions can be
viewed as an advancement of traditional approaches to scalable systems development. Fault tolerance
is achieved by using test-based diagnostic tools. In order to reduce the complexity of these tools,
redundancy is preliminarily added into each software module (SM) of the system. Then tests for the
redundancies are built. It is shown that this test detects failures in the addressing of exchanges between
SM blocks that implement the data processing. Based on the results of the analysis of the diagnostic
tool reaction to the test, a failed software module is detected. Then failed module stops its
work, and a new SM that implements the same algorithm is started execute instead. Energy efficiency
proposals are suitable for the case of the presence of redundant processors in the system which could
support multi-core technology. These processors could be involved in the execution process of the
system SMs with a simultaneous decrease in the clock frequency and supply voltage. Since the power
consumption in the DCS significantly depends on frequency and supply voltage, it decreases along
with this parameter values. An optimal greedy algorithm is used to solve described problem, which
assumes sequential involving of additional processors into the system. It is important that energy
efficiency proposal of the DCS provides the latter additional fault tolerance capabilities. The practical
importance of the proposed concept consists in the possibility of using not only in AUVs application.
It also could be used in other cases of scalable multi-channel onboard DCS development with
real-time data processing which have fault tolerance and energy efficiency requirements.