No. 1 (2019)

The walking machines and robots at the movement in difficult conditions can be more effec-tive in comparison with traditional wheeled and tracked vehicles. For this reason they find appli-cation for works in extreme conditions. Use of the walking robots is perspective at implementation of new soil-saving technologies in forestry and agriculture. The known robotic tractors have, as a rule, tracked or wheeled type of mover. Traction properties of such tractors are limited by adhe-sion. They can realize the maximum traction force, despite of their high power saturation, less than body weight (the adhesion coefficient even for good soil does not surpass 0.8-1). The walking machines have no this disadvantage. At the same time, the speed of movement of the walking trac-tors is limited because of high power costs for overcoming inertial forces in each cycle (step) of the movement. In work the possibility of partial mutual compensation of energy consumption on implementation of useful "traction work" with other components of costs of the movement is dis-cussed. Modeling of dynamics of the walking robot with cyclic movers at realization of traction efforts is carried out. The walking movers of this type differs by simplicity and reliability. Cyclic dependences of the main components of energy consumption (spent for overcoming cyclic inertial forces in the mover for fluctuations of the frame, caused by the walking way of movement, for pressing of soil and for implementation of useful "traction work") are defined. In the analysis it was considered that power costs of performance of traction work, due to course unevenness of the movement, changes depending on a cycle phase, and power losses on pressing of soil take place only at a feet changing. The analysis was based on kinematic and inertial characteristics of the walking movers of a number of experimental samples of the walking machines and robots. The possibility of mutual compensation of various components of energy consumption of the walking robotic systems intended for realization of considerable traction efforts is investigated. It is shown that there is a basic possibility of development of such walking mover, where various costs of pow-er will be in antiphase, or their maximum will be displaced in time. Thereby it is possible to solve a task of increasing of energy efficiency of the walking robotic systems movement. Results of work can be demanded in developing both in simplest walking machines, for example tractors for agri-cultural purposes, and for the difficult robotic systems, intended for executing of soil works with deficit of adhesion weight, for example, in underwater conditions or in the conditions of the weak-ened gravitation.

The article analyzes the experience and promising areas of the development of combat and support robotic complexes of the Ground Forces. It has been shown that the robotization of ground-based military equipment and weapons follows the directions of creating unified kits (modules) of remote control equipment for installation on regular weapons models for the purpose of their unmanned use in the performance of combat, special and supporting tasks and develop-ment promising RTK on the original base for the implementation of combat, reconnaissance and support tasks using existing and newly created hardware and software modules. The aggregate-modular method of creating equipment is analyzed — designing and assembling robots and their means of control from standard assemblies, each of which is designed to perform predetermined functions. Examples are given of using the modular-modular method in the development of a mul-ti-functional heavy-duty tracked armored vehicle complex based on a special fire engine currently undergoing acceptance procedures. It is argued that the aggregate-modular principle of the con-struction of robotic complexes is the most rational at the present time and should be the basis for substantiating the tactical and technical characteristics of combat and support robots when gen-erating program documents. Based on the experience of combat operations, it is proposed in a number of cases to focus on the development of specialized robots oriented towards the accom-plishment of a specific task. This is caused by some restrictions on the introduction of new tech-nical solutions when focusing only on the modular principle of creating robots, exaggerated re-quirements for weapons and military equipment when solving a number of tasks, as well as the existence of a number of tasks important in terms of preventing personnel losses and large of the use of, lack of research on the development of weapons specifically for the RTC based on the ra-tional use of the advantages of the robot and the reduction of psycho-physiological limitations ivennyh man. The necessity of conducting studies on the justification of feasibility and the list of tasks on the functional approach to the design of robots is substantiated. Along with the development of multifunctional combat and support robots on the basis of aggregate and hardware-software mod-ules, it is necessary to consider the development of specialized robots oriented to perform one task, usually a combat one, and having an increased potential compared to universal robots its fulfillment. The examples of hypothetical combat robots, built on the functional principle. The conclusion is made about the need for the formulation of research works with the involvement of leading experts in the field of takiki, robotics, development of weapons and ammunition.

The development of the Arctic region is a task of national importance. In the last decade, the time has come for the Russian Arctic zone to implement large-scale projects that become priorities given the understanding of the special role of the Arctic for the Russian Federation. For effective activity in the Arctic seas, in conditions of continuous ice cover, in the near future, sometimes the only reliable means of solving a number of tasks will be autonomous underwater vehicles (AUV) capable of being under ice cover for a long time. At the same time, solving the tasks of ensuring the AUV abilities to safely maneuver under the ice for a long time, to survey large underwater and ground spaces, to find ice-holes for the purpose of surfacing for communication and navigation sessions, becomes one of the important elements of the successful development of the Arctic. The aim of the research is to increase the safety of the AUV subglacial sailing through the use of con-trol algorithms that take into account the influence of the complex ice situation on the application of on-board equipment and the maneuvering of underwater vehicles. At the beginning of the article we briefly review the experience for the subglacial AUV operation, as well as the features of the Central Arctic Basin. A method is proposed for the specification of a given AUV mission based on the assessment of ice conditions along the navigation route using information received from external sources and on-board technical devices. The main factors are considered that have an effect on the decision-making algorithm for finding an ice-hole suitable for surfacing, or its inspection. Critical conditions have been defined, the implementation of which imposes certain requirements on the mission planned by the operator, as well as on the AUV control system. Algorithms for de-termining the coordinates and sizes of ice-hole using the AUV technical equipment (ice fathometer and Doppler lag) are proposed, and AUV maneuvering schemes (diverging spiral and “flower”) are shown to meet the set requirements in the absence or presence of complete information about an ice-hole coordinates.

The purpose of researches was the development of a new underwater-surface vehicle of increased autonomy based on the analysis of advanced developments of leading foreign states in the creating of marine robotic complexes. The main results of initiative research engineering on development of con-ceptual shape of the perspective robotic underwater-surface unmanned vehicle of increased autonomy with changeable geometry of the hull are presented and options of its use at the solution of a wide range of tasks are given. Particularly presented are any variants of its use in the system of robotic underwater seismic exploration in the subglacial waters, and in the information-measuring network during oceano-graphic studies. The proposed conceptual image of a promising robotic tool is developed based on the analysis of the advanced developments of the leading foreign states in the creation of surface, underwa-ter and surface-underwater marine robotic complexes; advantages of the prospective robotic underwa-ter- surface unmanned vehicle with increased autonomy in comparison with the best foreign analogs prototypes are given. One of undoubted advantages of the vehicle is the relatively large volume reserved for payload, allowing to place onboard more precision, but power-intensive detectors and sensors. The variable configuration of the hull and the underwater-surface version of the vehicle minimize the con-tradiction between the need for high-speed deployment in the mission area, stability during searching and research operation, independence from external conditions (under water), and also ensure the op-eration of high-tech marine robotic tools. Based on the hydrodynamic calculations and power charac-teristics, as well as analysis of various types of batteries, preliminary configuration of the power station, a reserve of diesel fuel and rechargeable batteries and also ballast tanks is made. As a result of devel-opment of the concept of the robotic underwater-surface vehicle of the increased autonomy with changeable geometry of the hull we obtained the multipurpose universal marine platform-carrier of payload which combines all advantages autonomous unmanned surface and underwater vehicles and can be used at the solution of a wide range of tasks both in military, and in civil areas.

Issues of situation awareness are key in many subject areas from the defense sector to agri-culture. The purpose of the study was to create a model that allows to simulate the processes for-mation of situation awareness information on the current status of a selected geographic area by a group of heterogeneous autonomous robots. They have technical capabilities and equipment for monitoring of any territory. They using in different environments and acting on the principles of self-organization,. It was assumed that the functioning of the robots can be objectively limited passive factors (fog, rain, snow, night, etc.) and the active influence of opposing forces leading to obstacles in solving tasks, including their the non-fulfillment. In developing the model was raised and addressed questions on the distribution of tasks in a group of robots, search and evaluation of potential threats, formation of the routes subject to the limitations terrain and possible resistance, interaction of robots with each other for obtain and provision of necessary information and team-work to the formation and use of situation awareness information in the study area of space. The situation awareness model is presented as an Internet cloud with a given content structure and in-cludes three main sections describing the current state of robots, the state of various fragments of the functioning area of robots, and information from external systems. All the robots of the group can access online this cloud for receiving and placing information about their own state, the state other robots in the group, observable events in a selected fragment of the environment using robots monitoring systems. The local rules of self-organization form in according to the principles of the Internet of Things by way of organizing information/managing robots systems sensors interaction. Robots can assist to each other also. Algorithms of the model are invariant to different subject areas. The model is easily transforming for various environments — terrestrial and air operations using autonomous robots, the functioning of robots in the water area, underwater, ice, etc.

The evaluation problem of the influence of the way WMT application on their efficiency is considered. With this purpose, the efficiency of individual application WMT is compared with efficiency of WMT, when they are used in structure of the robotic complexes for military purpose. Known earlier mathematical models of a fight of several combat units of two contradictory sides are used for the solution of the problem. It has been established that with the joint actions of sev-eral combat units, a systemic (synergistic) effect arises. It lies in the fact that the realized military potential of an aggregate of several WMT, when it used together, is higher than with the unsuita-ble use of the same WMT. This effect is caused by that that with not joint actions set WMT mani-fests itself as multitude, and at joint actions, the same set WMT manifests itself as some dynamic system, therefore efficiency of their actions above. This efficiency increase of the WMT actions is the consequence of the organization of their actions as dynamic system and is called as systemic effect. For numerical evaluation of this systemic effect, analytical decisions of the «dynamics of average» equations, received earlier by the Russian and foreign military experts, have been found. These solutions received at some assumptions concerning the conditions of the military operations, give possibility to find the numerical values of the systemic coefficient under chosen assumptions. It is shown that the systemic coefficient changes during the process of the military operation and reaches a maximum value at the end of this operation. Researches were spent on the example of two kinds of the military operations. The received results are close enough to each other, despite of essential distinction of the researched operations. Practically, the systemic effect causes in-crease of the WMT military potential, i.e. increase of the WMT application efficiency at their shar-ing. It is represented expedient to take into account the phenomenon of systematicity in the study and planning of military operations.

The purpose of this study is to develop a simulation model based on multi-agent neurocogni-tive systems, which will create an effective tool for solving the problems of recognition and under-standing by the robot of unstructured input data flows. The task is to develop a simulation model of the recognition function of static objects shown on the camera. The presented simulation model of recognition and understanding of static objects by a self-learning robot on the basis of multi-agent neurocognitive architectures allows to create concepts and categories using multimodal flows of input information and interaction with users to expand the system of these concepts and categories and clarify the relationship between them. On this basis, the problems of formalization of the semantics of natural language for linguistic complexes limited by the subject area can be solved, which will allow the use of a dialogue system to solve the problem of setting complex mis-sions to robots. Formalization of semantics of "common sense" on the basis of self-organization of multi-agent neurocognitive architectures will allow to develop simulation models of understanding of natural language statements. This, in turn, will remove the restriction on the creation of a dia-logue system that allows operators using a natural language description to form the formulation of the problem and the statement of its essential conditions.

This research was aimed to determine approaches to generation of an optimized develop-ment strategy for RIC-systems – large cybernetic systems utilizing various robotic means (RIR -systems) in the aggregate with “civilization” – the infrastructures, flows and personnel, – realized through the mechanisms defining interaction of the above mentioned structures. The objectives of this research were to define a subject domain, organizational design principles, global develop-ment aims and generalized mechanisms of integration for RIC-system components; new destabi-lizing effects and threats as side consequences of new RIC-technologies: factors of growth of an-thropogenic disorders in RIC-systems; occurrence and strengthening of RIC-system component incompatibility factors; growth of cognitive bias when controlling the RIC-systems; generation of new technologies and growth of potential effectiveness of lethal stand-alone systems, as well as terrorist attack methods; defining an approach to goal-setting and compatibility in RIC-systems, as well as factors effecting variation of RIC-systems controllability with growing complexity;comparative assessment of reasonability of developing RIR- and RIC-systems for various design models; setting a problem of changing the effect derived from path-dependence in early stages of RIR-system development. Main conclusions: Creation of RIC-systems essentially expands the fea-sible approaches to selection of development strategies for a number of markets and robotic indus-try in particular. The properties of complex RIC-systems essentially differ from properties of RIR-systems. Organizational principles of such system design are offered herein. It is suggested that main components of RIC-system structures are: physical mateability of objects, adjustment and mating of objects; energy exchange; data exchange, communication and remote control; naviga-tion. It is shown that, with all other factors being equal, the value of profit significantly exceeds the profit from implementation of stand-alone RIR-systems. The research is offering a statement of the problem of changing the effect derived from path-dependence in early stages of RIR-system development in favor of the assumed RIC-approach. The design scheme of work planning and organization is offered as a perspective one.

The possibility of development and creation of samples of the small and average autono-mous underwater vehicles (AUV) based on the bionic principles of the movement intended for monitoring, investigation, fighting protection of surface and underwater means of navy and per-formance of transport functions in the hydrosphere by special purpose divisions of the Navy of the Russian Federation is considered. The scientific and technical novelty of the offered designs of bionic underwater robots is made by the mathematical models, methods, algorithms of design of mobile robots allowing to define the main regularities of the movement and to select optimum parameters of a design according to the criteria of quality defining the minimum energy con-sumption, the maximum speed of the movement, etc. Scientific justification of the new technical solutions allowing to create a design of the bearing part of mobile devices with use of new light materials (a coal plastic, kevlar, carbon fabrics, etc.) and the systems of automatic control of the movement of mobile robots on the basis of new microelement base and the distributed touch devices, taking into account features of local and global systems of navigation, the systems of self-diagnostics of the robot and control of the hinged equipment is offered. In a design the sys-tems of electric onboard food with a possibility of autonomous recharge of accumulators and uses of renewables are used. Methods and algorithms of the adaptive operated movement by mobile objects on the basis of methods of artificial intelligence with use of fuzzy logic and neu-ral network technologies in real time are developed and checked. Natural tests of prototypes of AUV based on the bionic principles of the movement and comparison of their parameters of functioning to traditional AUV to screw propellers showed a number of the expected advantages of the first over the second, in particular, on such tactical and technical indicators as maneu-verability, level and a range of the generated noise, etc. Preliminary estimate of degree of effi-ciency of application of the robotic means based on the bionic principles for the benefit of special divisions of the Navy of the Russian Federation shows that realization of this direction allows to increase significantly reserve of the performed special operations and also to exclude losses of staff of Special Forces. Besides, massive use of robotic means allows to increase the probability of performance of fighting tasks significantly.

There is a growing interest of researchers to the creation of space-arranged arrays of quan-tum dots (QDs). These structures are promising as an element basis for thermally stable solid state lasers, field effect transistors with enhanced electron mobility, photosensitive matrices etc. Such structures can be obtained by heteroepitaxial growth on a pre-patterned template. Under the proper conditions of heteroepitaxy nanoislands may nucleate in the pits or grooves, forming the space-arranged array of QDs. In the area of basic research the microscopic mechanism of atom diffusion on a non-planar crystal surface is not studied enough. The target of this paper is the elucidation of atomic diffusion mechanism on pre-patterned Si substrates. In order to achieve the purpose virtual Si(001)-1×2 structure with a system of parallel grooves was formed. The groove width and inter-distance were chosen the same, which corresponds to geometry of experimental pre-patterned substrates, prepared by nanoimprint lithography. An algorithm of calculation of the pre-patterned substrate energy surface was developed on the basis of molecular dynamics method. The energy surface was mapped out for Si (001) substrate in the region of groove. The positions of minima and saddle points at the energy surface were found, surface diffusion activation energy was calculated for Ge atoms, and the typical Ge atoms migration paths on the groove walls were determined. The analysis of microscopic mechanism of atomic diffusion on a pre-patterned sub-strate was carried out. Possible reasons, preventing atom migration inside grooves and nucleation of 3D nanoislands there, are discussed. MD simulations are related to big volume data processing and require significant machine time spent. In order to accelerate the calculations a parallel algo-rithm for neighbors seeking in a large system of atoms was developed. The time of calculations was obtained as depending upon the number of nuclei within a single node. The effect of accelera-tion was shown to be linear against the number of cores.

Analysis of methods for calculating operational tolerances on the parameters of radio-electronic systems showed the absence of taking into account the requirements for the permissible values of the quality index of the system characterizing robotic systems (complexes), as well as the assumption of a significant methodological error, increasing with the elevation in the number of controlled parameters. The purpose of the article is to study the relationship between the con-trolled parameters of a multiparameter robotic complex to reduce the number of failures by cor-recting the tolerances on the parameters. It is proposed to take into account the correlation of the output parameters in the mathematical model of the technical state of the robotic complex in the evaluation of the measurement results. The need for correction (agreement) of tolerances on the parameters due to the fact that one parameter being in the tolerance, due to the connection with another parameter, can take the last of the tolerance field. To take into account the correlation of the parameters, it is proposed to use the uncertainty region (tolerance range), since other methods (for example, the method of assigning independent intervals to each parameter separately) do not allow to take into account the correlation of the parameters of electronic systems, which leads to a de-crease in the reliability of the control results. To assess the state of the robotic complex in the param-eter space, it is necessary to have information about the boundary of the uncertainty domain, which can be set as a set of boundary points or as hypersurfaces. The uncertainty approximiert ellipsoid, such as the method of ellipsoids is most applicable to solve the problems of inaccurate processing of the measurement values of the monitored parameters of robotic systems. The construction of the un-certainty region based on its representation by the initial set of possible values of the n-dimensional estimated vector of the output parameters characterizing the technical condition of the robotic com-plex taking arbitrary values from the ellipsoid is carried out. The calculation of the probability of outputs (emissions) of the controlled correlated parameters beyond the uncertainty range by integrat-ing the density distribution in this area is made. The dependence of the emission frequency on the emission probability determined as the probability of non-falling into the scattering ellipse of corre-lated parameters on the basis of methods of the theory of random processes is determined. The mod-eling of the process of receipt of signals characterizing the technical condition of the robotic complex as a Queuing system, the input of which receives emergency signals in the form of random requests (requirements) for maintenance in the appropriate channels, the role of which in the control sys-tems is performed by controllers. The change in thresholds is determined by service requests with an intensity proportional to the frequency of emissions. Thus, it is shown that it is possible to im-prove the efficiency of control systems due to the organization of adaptive changes in the toleranc-es of correlated parameters by methods of Queuing theory

The use of autonomous planning is one of the main conditions for maximizing the potential of satellite constellation. Autonomous planning in this case implies the need for information inter-action between satellites and performing local calculations on satellites in accordance with the interaction schemes used. The paper deals with an approach in which autonomous planning in-volves the use of the results of ground-based computing. As a result of these calculations, a formal description of the execution scenario is developed for each incoming order. Scenarios can involve both single and multiple observations. In the case of many observations, form of scenario descrip-tion includes a possibility for specifying the logical conditions that determine the order of observa-tion execution. As a result of ground-based computing all time windows when observation can be performed by any of the satellites of the group are calculated. Lists of these time windows are considered as input data for the implementation of the information interaction scheme. According-ly, the autonomous planning of each observation is reduced to the following scenario. In a certain sequence, the possibility of local observation planning is transferred to the respective satellites. The order of local planning is determined according to the order of time windows in the list. The time window considered in the local planning process is an additional constraint in the planning. If an observation is not planned, the local planning capability is transferred to the next satellite. The effectiveness of information interaction in the group of satellites, and as a consequence – the effectiveness of autonomous planning, critically depend on the capabilities of the network layer, in particular on the time of data transmission between the nodes of the network. In this regard, the paper also discusses a possible approach to the organization of a communication network in a group of satellites. This approach is based on the DTN (Delay and Disruption Tolerant Network-ing) technology and CGR (Contact Graph Routing) approach to routing messages in the network.

The paper subject is a control problem in complex distributed cyber-physical systems pos-sessing heterogeneous resources of shared access. As a rule, such systems comprise formidable number of relatively simple autonomous and often mobile physical, virtual and social objects with embedded computational and communication capabilities. These objects are designed to jointly solve complex intelligent tasks through intensive interactions while exhibiting an intelligent behav-ior. The basic features of such systems are caused by the fact that they can solve concurrently several tasks and each of these tasks may involve a subset of the autonomous objects of the system. At that, each system object can participate, in parallel, in performance of several system tasks. As examples of applications of the system in question, one can mention complex robotic manufactur-ing, B2B-production and logistics networks, swarm robotics, swarm satellite-based distributed surveillance systems, and like called as group control systems. The paper proposes to revisit the theoretical foundation of modeling traditionally exploited for the considered class of systems that is knowledge-based paradigm of Artificial Intelligence and to use behavior-based paradigm in-stead of it. Accordingly, the paper objective is to introduce and describe the basic concepts of behavior-based ontology intended to specify scenario knowledge and data constituting the shared information space of distributed cyber-physical system. This behavior-based ontology should rep-resent domain-independent component of knowledge on group behavior and group control. In particular, the paper introduces such concepts of this ontology as group behavior scenario and its structure, event end event- driven control component, situation, exceptional situation, emergent situation, situational awareness, local, adaptive and terminal group control. The advances and novel features of the behavior-based paradigm focusing on scenario knowledge model compared to the knowledge-based paradigm of intelligent systems are demonstrated based on adaptive group control as applied to a manufacturing assembly system performed, in autonomous mode, by a group of robots.

The aim of the study is elaboration of control algorithms for an unmanned vessel movement in uncertain environments. The mathematical model of the unmanned vessel is based on the equa-tions of motion of a solid body. In the article three modes of movement are considered. The first mode is a terminal movement to a given point. The second mode is homing in a given area of the point. The third mode is obstacle avoiding. It is necessary to ensure smooth transients. Base multi-mode controller is designed by the position-path attitude of a movement control. In this study a novel algorithm of the references calculation is proposed. The algorithm changes the mode in a planning level. The low level single controller is used for the considered modes of a vessel motion. In the mode of terminal control a vessel velocity reference is calculated as function of the distance to the homing point and the given time of movement. A problem of terminal control is solved as a problem of weak terminal control. A weak terminal control problem introduces the error of a vessel homing. This error eliminates a singularity at the homing point. In the homing mode the vessel velocity reference is calculated as function of the distance to the homing point. The vessel velocity reference is the proportional function of the distance to the homing point. In the obstacle avoiding mode the vessel yaw is corrected by additional component. This component is solution of the addi-tional differential equation. The solution is stable if distance from the vessel to the obstacle is more than the safety distance. The solution is unstable if distance from the vessel to the obstacle is less than the safety distance. Composition of the different modes is made by fuzzy logics algo-rithms. Developed fuzzy logics based algorithms smooth the transients, and eliminate the singular-ity at the homing point. Asymptotical stability of the origin of the closed control system is proved. Presented results are demonstrated by simulation. Developed algorithms are implemented in the control system of mini vessel.

On the plane the differential game of one pursuer against two consistently evading targets and , one of which is false, is considered. Players have simple movements. The targets form a coalition. The pursuer, having an advantage in speed, does not know which of the targets is false, i.e. both targets are identical for him. The task of the pursuer is to capture the true target or minimize the miss to it in the worst case for the pursuer, when he initially caught a false target. It turns out that in the game there is always the last moment of the decision of the pursuer about the beginning of the alternate pursuit, i.e. the instant from which the order of the alternate pursuit or does not change until the end of the game. The specificity of the statement is that at this instant the pursuer loses sight of the second in order of the pursuit target and if the first target is false (which is determined at the time of the meeting), the only information about the second target, which has a pursuer, are its coordinates at the instant of the beginning of the alternate pursuit. For this reason, the pursuer is forced to move to the point where he saw the second target last time in such a way as to minimize the terminal miss on the second target at this point. Since the choice of the instant of the beginning of the alternate pursuit is carried out by the pursuer, the instant is in fact his control. This instant can be chosen programmatically, i.e. at the beginning of the game (the sequence of meetings is fixed from the very beginning and does not change until the end of the game) or positionally, i.e. during the pursuit, as a function of the current positions of the players. In the considered statement the instant of transition to alternate pursuit is carried out positionally and it is shown that in this case the stage of alternate pursuit is preceded by the stage of joint pursuit of two targets on the interval during which the pursuer holds the targets in the conditions of uncertainty concerning the forthcoming order of pursuer.

The article discusses the issues of justifying decisions in the design and management of technical objects in the conditions of probabilistic uncertainty. For exploratory and predictive research, applied research and development, aimed at the development of systems and simulation of robotic complexes, it is proposed to use models of tasks of the nominal optimum. These models are positioned as decision-making models under probabilistic uncertainty. In models the “utility” of the probability distribution of the output characteristics of technical objects is taken into ac-count. Briefly stated the basic ideas, models and methods of D.V. Svecharnik, author the tasks the optimum of the nominal. The theory and practice of modeling these tasks has been successfully developed since the middle of the last century in two directions: the study of technological pro-cesses and the manufacture of apparatus. New mathematical models of tasks are presented in the form of a generalized efficiency function the optimum of the nominal in one-dimensional and mul-tidimensional cases, as well as static and multi-step tasks with "management" of the distribution parameters to maximize the expected utility of the results. Figures illustrating the formulation of various problems about the optimum of the nominal are given. Models of these tasks were tested on many technical objects and production processes, as well as in the design of instruments and devices. Ideas, models and methods of tasks the optimum of the nominal can be recommended for use in the development of intelligent control systems of robotic complexes.

When remote and supervisory control is provided, operator becomes the key element of con-trol loop. For the purpose of effective performance of control system, friendly human-machine interface (HMI) is required. The main rule of HMI designing is the rule of operator psychophysi-cal stress reducing. This rule provides increasing speed and accuracy of decision making in robot control performance. Reviewed HMI design principles are based on Hick's and Fitts's law, as well as consider rules of interface building, represented by B. Schneiderman and J. Nielsen. Represent-ed block diagrams of graphical operator interface are reviewed. Variants of interfaces for display-ing different types of information, such as instrumental or immersive mapping, are shown. Hori-zontal and vertical schemes HMI elements placement are analyzed and benefits of current schemes are shown. Robot movement trace planning involves the use electronic terrain map. This article covers main requirements for map information displaying. As an authors offered ideas example, implementation results of operators automated work places for remote controlled special mine clearing and fire fighting vehicles are described.

The purpose of the study is to improve the accuracy of the trajectory motion of autonomous underwater vehicles (AUV) due to using of control algorithms taking into account dependence propulsion system parameters from vehicle velocity. The problem statement of control allocation actions between thrusters with a low sensitivity to changes in their static parameters in a wide speed range is given. A method for estimating the dependence between AUV velocity thrust of propulsion system, based on the results of hydrodynamic simulation of the propeller and the load tests of the motor is proposed. The dependence of maximum thrust of the thruster from AUV ve-locity by adjusting motor torque for the entire velocity range of the AUV is determined. The algo-rithm for calculating the static propulsion characteristic is proposed. The algorithms based on the scaling of result of the bollard pull test accordance with the change of maximum mooring stop at the known velocity. The algorithm for thrust allocation is developed. The algorithm ensures accurate and independent thrust of each thruster in the entire range of AUV velocity. The obtained results would allow the actual problem of adaptive redistribution of the trust by varying the limits depends with ranking of motion controller and target value to be solved. Thus, the maximum efficiency of the propulsion system and accuracy of the trajectory motion can be ensured.

The hybrid power supply system functioning in a perspective autonomous underwater ve-hicle of high autonomy is considered. A distinctive feature of the device is the use of a hybrid pow-er supply system, which includes a lithium-ion battery and one or more electrochemical genera-tors. The hybrid power supply system allows the device to carry out alternate movement in different speed modes, using one or the other energy source. However, the use of a rechargeable battery requires its full charge to ensure movement in high-speed mode for the entire specified period of time, which is not always possible due to the limited transition period between speed modes. The aim of the work was to develop a mathematical model of the hybrid energy supply system function-ing and identify the features of the energy supply system during the transition from movement in economy mode to movement in high-speed mode during the entire specified period of time. The objectives of the study were the following: development of mathematical models for the operation of dissimilar energy sources of the energy supply system; development of algorithms for the joint operation of dissimilar energy sources of the energy supply system based on the functioning model of the hybrid energy supply system; development of algorithms for the operation of the power supply system of the apparatus; development of software implementation of algorithms for the operation of the energy supply system; carrying out numerical experiments aimed at the study of transients. The results of the hybrid power supply system simulation allowed us to obtain depend-encies that allow us to predict the time of the vehicle movement in high-speed. The results of the conducted numerical experiments allowed us to estimate the permissible ranges of the parameters of the sources of electric power of the energy supply system, the time of transient processes and the associated limitations. The mathematical model of the functioning of the hybrid energy supply system can be used in the subsequent stages of developing the energy supply system by scaling the mathematical model and more detailed reproducible processes. The developed user-friendly interface of the software implementation of the mathematical model of the functioning of the hybrid power supply system can subsequently be taken as the basis for developing software for the opera-tor’s automated workplace for imitation, bench, semi-natural and field tests.

The peculiarities of digital space-time signal processing (DSTSP) in multi-beam sonar (MBS) of marine underwater robotic systems (URS) for monitoring the situation in the direction of underwater vehicle movement and detecting potentially dangerous for navigation obstacles are considered. Specifications of the forward looking sonar for universal multichannel towed complex of the deep-water unmanned underwater vehicle, created in the Scientific and Design Bureau of Digital Signal Processing of the Southern Federal University, are given.It is shown that when using the probing signals with linear frequency modulation (LFM) to achieve high resolution and given range, in the case of unknown moving underwater objects detection extraneous errors of distance measurement occur due to the Doppler effect influence on the frequency of reflected sig-nals. This leads to an increased navigational hazard of various purposes autonomous and remote-ly controlled, manned and unmanned underwater vehicle operation. The purpose of this paper is to estimate additional errors of distance measurement and synthesis of DSTSP algorithms in the MBS, which allow excluding the specified drawback and increasing the safety of URS navigation. The article considers the algorithm of DSTSP, which allows operation with moving underwater objects, potentially dangerous for navigation, to improve the accuracy of determining the distance to them, as well as to determine their speed and direction of movement relative to URS. The speed and direction of the detected underwater objects motion will allow increasing the navigation safety and expanding the functional capabilities of marine URS of various purposes. Structural scheme of the algorithm and description of its functioning in forward looking MBS marine submarine RTK for different purposes is given.

The publication shows the relevance of cartographic and software anomalous component of the Earth’s magnetic field (AEMF) for use in magnetometric navigation systems of robotic com-plexes. There is a presentation of: the theoretical data on the components of the Earth’s magnetic field, the shift of the magnetic poles and international models of the Earth’s main magnetic field in the article. Studies aimed at determining the actual state of cartographic and software have been conducted, recommendations have been issued for their use in correlation-extreme navigation systems (CENS). The analysis showed that the maps of the AEMF of the territory of the Russian Federation were compiled before the introduction of satellite navigation systems into the aerogeophysical practice and also these maps are outdated. There is no source material in digi-tal format for 80-90% of existing cartographic products. The cartography of the country's terri-tory with modern magnetic measuring equipment is about 10–20 %, which can be used for the operation of magnetic navigation systems (MNS) in CENS. AEMF is a spatial geophysical field and the nature of the AEMF changes with increasing altitude – the useful signal decreases non-uniformly. Therefore, it is necessary to know the AEMF module at any point in elevation levels. For this purpose, various programs are developed for the conversion of AEMF height. The nav-igation and guidance of autonomous underwater vehicle (AUV) is showed as a separate direc-tion. This direction is a more difficult task due to little-studied spatial geophysical fields of the world ocean. While the problem of navigation of AUV on geophysical fields is solved by model-ing methods to assess the possibility of correlation-extreme processing (CEP) and working out its accuracy characteristics using magnetic, gravitational fields of the Earth and the seabed relief, as well as their aggregation. Developed proposals for AEMF need to be made in a num-ber of research projects aimed at providing information on the characteristics of the magnetic field for navigation and guidance of the robotic systems (RTS). It is imperative that development work be carried out to create databases and fill them with information products about the geophysical fields of the Earth. The field of application of the obtained results of cartographic and software is the creation of a geo-base for the MNS for aircraft carriers (RTS). AUV as well as the centralization and use of digital cartographic products for geological exploration, various studies in the field of earth sciences.

The purpose of this paper is to increase the accuracy and stability of moving vehicle attitude estimation by GNSS/gyros attitude sensors information fusion. To this end, an algorithm is pro-posed which integrates carrier phase measurements of multi-antennas GNSS signal receiver and angular rate measurements provided by gyros. The algorithm estimates attitude parameters (di-rection cosine matrix, quaternion), angular rate vector and vector of gyro biases. The difference of the proposed method from the majority of previously developed methods is that the attitude solu-tion is obtained in two stages: first, attitude quaternion is estimated using a batch algorithm; next, this quaternion is used as an effective measurement in linear Kalman filter. GNSS signal receiver measures carrier phase differences between signals of navigation satellites detected by antennas placed at different points in space. These phase differences are converted to vector form. This makes it possible to use one of the well-known fast algorithms developed for Wahba problem solu-tion. Covariance analysis of this solution is presented and an expression for error covariance matrix is derived. The quaternion (direction cosine matrix) obtained is a maximum likelihood es-timate of the attitude. Therefore, this quaternion can be used as an effective measurement in linear Kalman filter. The filter state vector includes attitude quaternion and vector of gyro biases. This approach makes it possible to increase computational efficiency of the algorithm by avoiding the use of extended Kalman filter and to enhance numerical stability. Mathematical simulation results demonstrate stable algorithm performance under the influence of GNSS receiver measurement noise as well as dynamic system model noise caused be gyros measurement noise and rate random walk noise. Simulation results also indicate that the proposed algorithm allows for substantially increased accuracy of attitude estimates in comparison with the accuracy provided by batch algo-rithm. The proposed algorithm also enhances stability of navigation information user to the GNSS faults by propagating attitude and angular velocity estimates through GNSS signal outage without substantial loss in accuracy.

The goal of this paper is to improve the efficiency of automatic tracking and recognition sys-tems of local objects in difficult observation conditions. In automatic object recognition tasks, it is often difficult to predict object’s angle of observation, and therefore impossible to prepare re-quired etalons. In such conditions the best performance is shown by the algorithms based on deep convolutional neural networks (CNN). The novelty of this work is in the development of original object recognition algorithm using CNN. This algorithm belongs to the group of supervised ma-chine learning algorithm. The main feature of algorithms of this group is their good scalability on new object image samples that not represented in a training set. Typical CNN development pro-cess can be divided in three main stages: researching and architecture selection, training and CNN application. On first stage the research of application field is performed, typical objects images analysis is conducted, typical object class amount is determined, training set preparation, and CNN architecture selection. The result of the first stage of development is a defined CNN ar-chitecture and prepared training set. On the next stage iterative CNN training process is per-formed CNN architecture correction possibility depending on training metrics analysis. The train-ing is conducted in laboratory conditions on powerful workstations. On CNN application stage the recognition procedure by train CNN is performed, also known as forward propagation. This stage is being performed on embedded systems. The key difference of developed CNN from wide group of similar known algorithms is its fundamental orientation usage in embedded systems, which are have strict restrictions on their mass, dimensions, energy consumption, etc. This is achieved by using of integer binary arithmetic, which allows its efficient FPGA implementation. The efficien-cy evaluation of developed CNN has been conducted with the help of complex mathematical model of hardware and software complex of electro-optical systems (EOS). The developed algorithm was tested as part of special purpose software of unmanned aerial vehicle EOS and demonstrated high practical efficiency.

The goal of this paper is to improve the efficiency of automatic object and landmark detec-tion and tracking algorithms in poor observation conditions in presence of noise and artificial obstacles. A particular complication for automatic tracking algorithms in these conditions are rapid scalar and affine image distortions of the object being tracked. In such situations the best performance is shown by the image processing algorithms based on image key features (key point) detection. To solve the stated task a new automatic object and landmark detection and tracking algorithm is developed, based on image key point detection techniques. The developed algorithm of several separated stages. The preliminary stage of processing of each image, being received from electro-optical system (EOS), is the preprocessing stage, which consist of image brightness and contrast equalization. On the first algorithm stage the key point detection and filtering is done with the use of highly efficient Hessian matrix approximation of multiscale second order discrete image derivatives. The local spatio-scale space maxima of Hessian matrix determinant are then selected as key points. Each found key point is then processed to build the description of its local neighborhood. This paper proposes a new multicomponent key point feature vector, providing fast preliminary key point comparison with more precise refinement on the later comparison stages if necessary. The last stage of algorithm consists of finding the best match between two key point sets of tracked object and current image being processed. In case when current video frame contains an object or its significant part, this algorithm allows to precisely locate its position and transfor-mation on the current image with the computational complexity sufficiently low to use the algo-rithm in embedded systems of manned and unmanned aerial vehicles. The proposed algorithm has been tested as a part of special purpose software onboard of state-of-the-art unmanned aerial vehicle and proved to be highly efficient and noise resistant.

The work is devoted to improving the quality of the solving tracking tasks by modern robotic systems. Considering method of tracking objects based on the representation of images in the fea-tures form, and using intuitionistic fuzzy logic. Work with images presented in the form of features clouds, due to desire to increase the speed of optical information processing, and the use of intuitionistic fuzzy sets (IFS) is trying to make the behavior of the complex similarity to the thinking of human. Presents the analysis of modern methods of detection features, their description and matching, implemented in the OpenCV library. The comparative characteristics of the considered methods are given. The most suitable methods for the detection and description features on the low quality and noisy images selected. The disadvantages of the considered methods of matching pre-sented. The developing method takes into account the geometric structure of the tracked object. The truth feature matches estimated by categories close to "not absolutely correct", "almost correct ", "absolutely correct ". The rules used for fuzzy inference presented. The developing method divided into three stages. The first is the features detection on the images of the tracked object and the search window. Then compute the description of the neighborhoods founded features to create unique, robust to changes in the rotation and scale descriptors of features. The final stage is a feature matching to determine an unequivocal correspondence between features of the object im-age and the search window. The results of experiments with the proposed method, as well as esti-mates of its stability and speed demonstrate the high quality tracking objects in video sequence. The developed method has a high robust to the size of the object changes, its rotation and position in the frame. However, the method is weakly robust to perspective or projective changes of the object, which compensated by timely updating of the object template. In general, this method designed to improve the efficiency of modern robotic systems.

The article deals with the problem of clustering obstacles in the cloud of laser scanner points and the problem of assessing the complexity of the environment by a mobile robot. The developed method uses laser scanner data, because such scanners allow to obtain information about the envi-ronment in the form of a cloud of points, using a small amount of resources. In this paper we propose a method for determining the contours of obstacles in a cloud of points using approximating circles. The method based on Delaunay triangulation is used to estimate the complexity of the medium. In the conduct of the existing methods for approximating the circles of the point cloud are considered and arguments proving the inexpediency of their use are given. The paper presents a block diagram of the system for assessing the complexity of the environment. The cases and their characteristics in which the approximation by one circle is impossible, because it will entail a number of errors, and the solu-tion for such cases is proposed – the construction of the office obstacles set of circles of the same radius. Also in the article the algorithm and block diagram of the developed method of approxima-tion of a point cloud obtained from a system of technical vision for a stationary 2D scene are given. Examples of application of the method confirming its efficiency are given. To test the method, a simu-lation was carried out in the Matlab R2017b package. Modeling is given for scenes with obstacles – circles of different radius, straight or a set of straight lines, a set of circles of different shapes. In conclusion, the analysis of the developed method of approximation of the point cloud and the results of assessing the complexity of the environment for different scenes.