№3(8) vol 1, september

The online scientific and methodological journal

«ВЕСТНИК МГТУ МИРЭА» «HERALD of MSTU MIREA»

Registered in Roskomnadzor Эл ФС 77-57811 № 180414, ISSN 2313-5026

by September 2015 the University is comprised of:

MIREA, MGUPI, VNIITE, R.I. ITiAP, IPK of Ministry of education and science of Russia

2015 № 3 (8) ( September 2015, Issue 8 )

Vol 1

Download one file 21

PHILOSOPHY OF INFORMATION and INNOVATIVE TECHNOLOGIES

(prepared by Nazarenko M. A., rector's Advisor, MIREA )

01

Kudzh S.A.
Kochetkova L.N.
Nazarenko M.A.

The philosophy of quality management 17


Abstract. In the article the question of shifting paradigms quality philosophy in historical terms, as well as the analysis of the current paradigms of systems quality assessment. Identified aspects of methodological character, associated with the modern level of development of systems of quality assessment. The necessity of the development and paradigm shift to a new philosophy of quality, taking into account national quality assessment methodology (qualimetry), as well as the peculiarities of the mentality of the state-forming nation, namely, the commitment to the social welfare state.
Keywords: quality management, management philosophy

1

02

Los V.P.

Problematic issues of education development in the field of information security 7


Summary. Tendencies of development and problematic issues in the field of information security training are analyzed. Historical development milestones of education in the field of information security are given. The main problematic issues of education development in the field of information security are formulated. The mentioned issues include the establishment of the organizations which are authorized to keep the register of approximate main professional educational programs in the field of information security, the consideration of professional standards requirements in educational standards, and also the technical support of educational process.
Keywords: information security specialties, integrated group of specialties and directions of training, professional standard, technical support, state educational standard, federal state educational standard, crucial objects, approximate main educational programs, examination and register maintenance of approximate main educational programs.

9

03

Sleptsov V.V.

The method of approximate solution of equations 3


Abstract.The article is devoted to the presentation of a method for approximate determination of the roots of equations , based on the use of logarithmic amplitude and phase characteristics
Keywords: the roots of the equation, amplitude and phase characteristics, a polynomial, vector

16

ROBOTIC COMPLEXES and SYSTEMS

(prepared by M. P. Romanov, Director of the Institute of Cybernetics MIREA)

04

Lokhin V.M.

The development of intellectual technology management at the institute of cybernetics of MIREA 11


Abstract. Discusses the development of intelligent control technology, in the Institute of Cybernetics MIREA. Shows the main results of research on the boards create intelligent handling and transport robots, control systems, intelligent mechatronic modules and systems for machines of a new generation. As the base, highlighted with intelligent technologies: expert systems; neural network architectures; associative memory; fuzzy logic. Describes the stages of development of robotics in MIREA.
Keywords: intelligent control systems, expert systems; it rosamelia patterns; machine associative memory; fuzzy logic.

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05

Romanov M.P.

The fuzzy controller of executive subsystem of industrial assembly robot "ROBAS-SCARA" 8


Abstract. The article is synthesized and studied the fuzzy controller executive subsystem of industrial assembly robot with horizontal angular kinematics (ROBAS-SCARA) developed at the of "Control problems Department". Is shown that under the action of various uncertainties, which include inertia, the gain and others, fuzzy controllers provide a significant improvement of dynamic parameters in comparing with traditional PID controller.
Keywords: fuzzy controller, executive system, a robot with a horizontal angular kinematics

41

06

Romanov M.P.

High-precision control system of assembly robots based on associative memory 5


Abstract. It is shown that manipulation robots and other types of industrial equipment with multi connected structure are a class of complex dynamic objects operating in a predictable uncertainty. The issues of improving speed and accuracy characteristics of multivariable systems with dynamic separation of the drive based on an integrated use of technologies of intelligent control and associative memory are discussed. The structure and algorithms for intelligent control system with associative memory for an assembly robot type SCARA are provided. Development efficiency is confirmed by the simulation results.
Keywords: dynamic interchange drives, intelligent control systems, associative memory, predictable uncertainty, assembly robot

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07

Romanov M.P.
Kior S.V.

The neural network control system of precision mechatronic module of geostationary spacecraft 7


Abstract. The advantages of using PLIS to implement neural network control systems of complex dynamic objects are proved. The peculiarities of construction and functionality of the system design automation "NEYROPLIS" developed in MSTU MIREA to create a neural network controller based on PLIS are discussed. As an example, it considers the neural network controller synthesized using "NEYROPLIS" for precise mechatronic control module for geostationary spacecraft. The results of experimental studies of neural network controller, confirming its high functional efficiency are provided.
Keywords: PLIS technology; neural network controller; CAD "Neuro PLIS"; synthesis of neural network controller; system control of mechatronic module

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08

Lokhin V.M.
Arbuzov A.V.

The high-speed adaptive controller based on an integrated application of technology of expert systems and neural network structures 4


Abstract. It is developing a new methodology for constructing intelligent control systems that provides high efficiency operation under incomplete information available based on a combination of advantages of expert systems technology and neural network structures. The architecture of intelligent control expert controller with the elements in the neural network structures is designed. It is solved the problem of synthesis of dimension and parameters of neural network structures that are part of the expert control. The results of experimental studies are provided.
Keywords: expert system, neural network structures, adaptive intelligent controllers and intelligent control system

108

09

Romanov M.P.

The absolute stability of mechatronic module with intelligent regulator on the basis of associative memory 6


Abstract. The article examines the criteria for absolute stability of the equilibrium position and processes for mechatronic module with intelligent controller based on associative memory. The developed criteria is adapted to convenient graphical and analytical techniques and provides parameter settings of intelligent controllers with associative memory, ensuring the stability of the system with a minimum amount of memory required. It is shown that when configuring intelligent controller with associative memory by the method of inverse problems of dynamics a given quality control is provided.
Keywords: criteria for absolute stability, intelligent mechatronic module, intelligent controller with associative memory

129

10

Lokhin V.M.
Romanov M.P.
Kazachek N.A.

The investigation of the periodic oscillations in the control systems with fuzzy controllers 9


Abstract. The article analyzes the characteristics and the nature of non-linear transformations in intelligent controllers that are based on fuzzy logic technology. Based on the analysis given by the development of the harmonic balance method for the study of periodic oscillations in the class of intelligent automatic control system is done. Specific examples of research of intelligent automatic control system with fuzzy controllers of various kinds are displayed.
Keywords: intelligent control, fuzzy logic technology, intelligent control systems, the study of periodic oscillations, harmonic balance method

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11

Manko S.V.
Lokhin V.M.
Romanov M.P.

The concept of multi-agent robotic systems 4


Abstract. The reasonable prospects of application of multi-agent robotic systems for a wide range of practical tasks in different application areas are provided. The concept and principles of modular multi-agent robotic systems are suggested. It identifies the key development tasks and directions of development of multi-agent robotic systems. They form a generalized structure of intellegent system of group control autonomous robots serving as a multi-agent group. It is shown that the main functional elements of the multi-robot system should be comprised a subsystem of intelligent man-machine interface, a subsystem of planning and allocation of tasks; a subsystem of the collection and collation of diverse sensory information; environment simulation subsystem, as well as wireless networking subsystem.
Keywords: intelligent control system, autonomous robots, multi-agent robotic systems

156

12

Manko S.V.
Diane S.A.K.
Lokhin V.M.
Romanov M.P.

Models and the software-algorithmic maintenance of multi-agent robotic systems 5


Abstract. The article summarizes the results of research conducted in the MSTU MIREA on methods and algorithms for group control autonomous robots operating as part of the multi-robot system. Models and algorithms for scheduling and resource allocation in multi-agent robotic systems based on the use of the apparatus of finite automata and multi-criteria choice are provided. The program-algorithmic means of intelligent man-machine interface is included in the multi-agent robotic system for quick setting of required applications. The results of model experiments are enclosed.
Keywords: multi-agent robotic systems, human-machine interface, task scheduling, resource allocation, finite automata, multi-criteria selection

166

13

Manko S.V.
Diane S.A.K.
Lokhin V.M.
Panin A.S.

The increasing the adaptive properties of autonomous robot and multi- agent robotic systems on the basis of self-training 4


Abstract. The article examines the processes of self-realization in intelligent control systems of autonomous robots and multi-agent robotic groups on the basis of automatic classification trees. Simulation results are showing the effectiveness of self-learning onboard control system of autonomous mobile robot to improve its adaptive properties when working in a priori uncertain environment. It is shown that the efficiency of processes self-learning robots working in a group can be significantly enhanced by the mutual exchange of accumulating knowledge.
Keywords: intelligent control system, self-learning, classification trees, adaptation, autonomous robots, multi-agent robotic systems

192

14

Evstigneev D.V
Lokhin V.M.
Manko S.V.
Romanov M.P.

Set of software and tools for design, modeling and development of tactics of autonomous robot and multi-agent robotic systems 4


Abstract. The paper presents the developed by MIREA the set of software and tools «Dyn-Soft RobSim 5», intended for the design and integrated virtual simulation of autonomous and semi-autonomous robots. It proves the structure and composition of the complex, describes its software and algorithmic tools. The uniqueness of the complex is to support all phases of the design (mechanical robot design to hardware and software, human-machine interface) and integrated modeling of the developed autonomous robot sample or multi-agent robotic systems in a virtual environment that simulates the conditions being adequate to reality. It provides practical examples that reveal the complex functionality and features of its applied use in the automation solution design, simulation and testing of tactics of autonomous robots and multi-agent robotic systems.
Keywords: multi-agent robotic systems, autonomous robots, intelligent control systems, design automation, simulation in virtual reality environment

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15

Lokhin V.M.
Manko S.V.
Romanov M.P.

The universal technologies testing ground for developing the intellectual and network-centric management of autonomous robot and multi-agent robotic systems 4


Abstract. We discuss the relevance of the experimental research base for developing technologies and intelligent network-centric control by perspective samples of autonomous robots and multi-agent robotic systems. It is shown that the organization of such a framework in the form of multi-functional semi natural simulation testing ground will ensure the development of means and methods of individual and group control for different types of robots, data network exchange in multi-agent systems, self-learning and adaptation on its base. It is grounded the structure of test site described composition included therein robotics equipment. It reveals the prospects and possibilities of using a testing ground for the development of robotic systems and complexes of the new generation to the advanced level of performance characteristics.
Keywords: multi-agent robotic systems, autonomous robots, intelligent control systems, network-centric technology

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16

Lokhin V.M.
Manko S.V.
Romanov M.P.
Romanov A.M.

The universal on-board control system for robots of various type of deployment and purpose (implementation of the principles of unification and import substitution) 7


Abstract. The article proves the possibility of creating intelligent on-board control systems for autonomous semi-automatic robots on the base of a unified platform with components produced in Russian Federation. The FPGA are shown to be a prospective element base for creating intelligent on-board systems. An increase of the FPGA resource usage efficiency is suggested by means of a new technology for developing control system elements in the FPGA architecture, based on the use of sigma-delta modulation.
Keywords: Intelligent on-board control system, unification, FPGA, resource usage optimization, sigma-delta modulation.

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17

Sobolev V.B.
Lokhin V.M.
Manko S.V.

Robots and robotic systems for special purposes (functional tasks, special design features, examples of developments) 5


Abstract. In the first part of the paper it provides a brief overview of the foreign robotics of special purpose. Particular attention is paid to the specifics of applications of mini- and micro-robots-oriented to work in the conditions of uncertainty and extreme environments in the semi-automatic and autonomous modes. The second part of the article is devoted to the development of robotic systems of various types and purposes at the Institute of Cybernetics of MSTU MIREA. Examples are given in samples of autonomous and semi-automatic robots and robotic systems produced at MSTU MIREA for a wide range of industrial and specialty applications.
Keywords: robotic systems of special purposes, stand-alone mini-robots, intelligent control systems of autonomous mobile objects

249

18

Chizhikov V.I.
Kurnasov E.V.

The capture of artificial limb of object with slipshod geometrical characteristics by fingers in conditions of its static instability 2


Abstract. The work is related to the creation of a control system of executive capture device the use of which is possible both in a hand prosthetics and in robotic systems with expanded functional capturing possibilities. The problem of the object capture based on the sensors indications which are the source of information about the beginning and the end of the capture process in terms of unclear information about the conditions of contact of the object with the reference surface and its shape is being solved in this work. Movement of the parts of the mechanism on the area of the effort development from the lowest value under the tactile object detection by the ability to capture the object without permanent object deformation is considered. The above conditions imply finding such an action of the object between the object detection in the search movement and object detection, which eliminates the possibility of buckling of the object.
Keywords: capture; artificial limb; robot; gripper; management; unclear information; isoperimetric problem; the Poisson distribution.

269

19

Stashkevich М.А.
Evstigneev D.V.

Realization of robot waiter model visual navigation in DYN-SOFT ROBSIM 5 software system. 3


Abstract. In the article is considered the problem of robot waiter visual navigation system modelling in Dyn-Soft RobSim 5 software system. The mission statement envisages the variability of space configuration.
Keywords: multi-agent system, software system, visual navigation, robotic system.

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