A method of counteracting Byzantine robots with a random behavior strategy during collective design-making in swarm robotic systems

The active introduction of robotics swarm systems into life brings the issues of their information security up to date. Known security approaches often do not take into account the peculiarities of the implementation of swarm systems, such as collective design-making, and only consider the presence of Byzantine robots with a strategy of behavior consisting in voting against a majority when a consensus is reached. The aim of this work is to increase the security of the collective design-making process in a swarm robotics system from the imposition of false and ineffective alternatives by Byzantine robots with a random behavior strategy. It is proposed to use an approach based on the use of a distributed ledger and analysis of deviations in the process of collective design-making, which will allow identifying and isolating harmful effects. The solution to the problem of detecting Byzantine robots is based on the application of the criterion of the degree of confidence of a robot in choosing an alternative when a consensus is reached by the swarm system and is based on the assumption that the distribution of the degree of confidence of a Byzantine robot due to ignoring the parameters of the external environment and voting for random alternatives is significantly different from the behavior an ordinary robot. The elements of novelty of the presented solution include the use of the degree of confidence criterion to ensure the safety of collective design-making and the ability to take into account various strategies of behavior of Byzantine robots. The use of the presented solution makes it possible to increase the efficiency of reaching consensus by a swarm robotics system in the presence of Byzantine robots. The simulation for a swarm of 20 robots, including 5 Byzantine ones with random behavior, showed an increase in the probability of correctly reaching a consensus by 12.5%. The practical significance of the presented solutions lies in the possibility of ensuring the stability of reaching consensus by a swarm robotics system in the presence of robots with harmful behavior.

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The Correlation between Time and Frequency Dynamic Performance of Control System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.628.186 ◽

2014 ◽

Vol 628 ◽

pp. 186-189

Author(s):

Meng Xiong Zeng ◽

Jin Feng Zhao ◽

Wen Ouyang

Keyword(s):

Control System ◽

Performance Index ◽

Dynamic Performance ◽

Frequency Domain Analysis ◽

Practical Significance ◽

Order System ◽

Time Frequency ◽

Performance Indexes ◽

Quantitative Performance ◽

The Stability

The control system performance requirement was divided into three parts. They were the stability, rapidity and accuracy. The time-frequency domain analysis in the requirements of three performance were measured through quantitative performance index. The mutual restriction of time-frequency performance and system characteristic parameters of normal second order was discussed. The correlation of system time-frequency performance index was established. The relationship between time-frequency performance indexes in standard two order system was extended to higher order system. The mutually constraining and time-frequency correlation between each performance index was obtained by analysis and calculation. The work had been done above had practical significance to reflect the system dynamic performance in different analytical domains.

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A Finite-Difference Wavenumber-Time Domain Method for Sound Field Prediction in a Uniformly Moving Medium

Shock and Vibration ◽

10.1155/2021/1637338 ◽

2021 ◽

Vol 2021 ◽

pp. 1-12

Author(s):

Bichun Dong ◽

Runmei Zhang ◽

Chuanyang Yu ◽

Huan Li

Keyword(s):

Finite Difference ◽

Time Domain ◽

Sound Pressure ◽

Sound Field ◽

Time Domain Method ◽

Practical Significance ◽

Moving Medium ◽

Domain Method ◽

Aero Engines ◽

The Stability

Sound field prediction has practical significance in the control of noise generated by sources in a flow, for example, the noise in aero-engines and ventilation systems. Aiming at accurate and flexible prediction of time-dependent sound field, a finite-difference wavenumber-time domain method for sound field prediction in a uniformly moving medium is proposed. The method is based on the second-order convective wave equation, and the wavenumber-time domain representation of the sound pressure field on one plane is forward propagated via a derived recursive expression. In this paper, the recursive expression is first deduced, and then numerical stability and dispersion of the proposed method are analyzed, based on which the stability condition is given and the correction of dispersion related to the transition frequency is made. Numerical simulations are conducted to test the performance of the proposed method, and the results show that the method is valid and robust at different Mach numbers.

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Dynamic multi-priority control in redundant robotic systems

Robotica ◽

10.1017/s0263574713000416 ◽

2013 ◽

Vol 31 (7) ◽

pp. 1155-1167 ◽

Cited By ~ 33

Author(s):

Hamid Sadeghian ◽

Luigi Villani ◽

Mehdi Keshmiri ◽

Bruno Siciliano

Keyword(s):

Null Space ◽

Impedance Control ◽

Robotic Systems ◽

Whole Body ◽

Control Law ◽

Level Control ◽

Redundant Robots ◽

Dynamic Level ◽

The Stability ◽

Robot Body

SUMMARYThis paper presents a dynamic-level control algorithm to meet simultaneously multiple desired tasks based on allocated priorities for redundant robotic systems. It is shown that this algorithm can be treated as a general framework to achieve control over the whole body of the robot. The control law is an extension of the well-known acceleration-based control to the redundant robots, and considers also possible interactions with the environment occurring at any point of the robot body. The stability of this algorithm is shown and some of the previously developed results are formulated using this approach. To handle the interaction on robot body, null space impedance control is developed within the multi-priority framework. The effectiveness of the proposed approaches is evaluated by means of computer simulation.

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Implementation of CSR in the organizations’ strategies: experience of Russia and Belarus, directions of methods and tools development of CSR in the conditions of digitalization of economies

SHS Web of Conferences ◽

10.1051/shsconf/20208906007 ◽

2020 ◽

Vol 89 ◽

pp. 06007

Author(s):

Galina Yaheva ◽

Andrey Plakhin ◽

Yulia Vailunova ◽

Maria Selezneva

Keyword(s):

Sustainable Development ◽

Scientific Literature ◽

Practical Significance ◽

Un Global Compact ◽

Csr Strategies ◽

Digital Ecosystem ◽

Scientific Significance ◽

The Republic ◽

The Stability ◽

Regional Authorities

The purpose of the article is to analyze the experience of introducing CSR in the Union State of Russia and Belarus and to develop directions for the development of CSR methods and tools in the context of the digitalization of the economies of Russia and Belarus.The article systematizes methods for assessing CSR at the macro and micro levels: compliance with international CSR standards; involvement in the UN Global Compact; indices for assessing the effectiveness of companies in the field of CSR; ratings and indices for assessing the effectiveness of CSR, developed by public and state organizations.The analysis of the experience of CSR implementation in the Union State of Russia and the Republic of Belarus is carried out. Identified barriers to the development of CSR in Russia and the Republic of Belarus. The directions of development of CSR methods and tools in the context of digitalization of the economies of Russia and Belarus are studied. Scientific significance lies in the development of CSR methods and tools in the context of digitalization of economies. The study used modern scientific literature on the digital ecosystem and CSR, statistical and analytical materials found on thematic Internet sites and in print media. The practical significance of the results lies in the possibility of their use by state and regional authorities, business in CSR strategies, as an integral part of the strategy for sustainable development of the economy, for making decisions aimed at increasing the stability and competitiveness of the economies of the Union State.

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SUSTAINABILITY OF THE FINANCIAL SYSTEM OF THE REGION: ISSUES OF THEORY AND PRACTICE

Audit and Financial Analysis ◽

10.38097/afa.2020.24.33.008 ◽

2020 ◽

pp. 95-102

Author(s):

О.В. Гончарук ◽

Ю.Е. Путихин

Keyword(s):

Financial Stability ◽

Financial System ◽

Financial Sector ◽

Theory And Practice ◽

Practical Significance ◽

Insurance Companies ◽

Municipal Finance ◽

The Russian Federation ◽

The Stability ◽

Definition Of

В статье с позиций общего методологического анализа понятия «устойчивость» обоснована теоретическая и практическая значимость использования понятия «устойчивость финансовой системы региона», проанализированы подходы к раскрытию особенностей понятий финансовой устойчивости нефинансовых организаций, банков и страховых компаний, проанализированы подходы к определению понятия финансовой системы страны/ региона и ее структуры. В качестве основополагающего для целей анализа устойчивости финансовой системы региона выбран подход, в рамках которого финансовая система региона рассматривается как совокупность взаимодействующих и взаимосвязанных между собой таких секторов как сектор государственных и муниципальных финансов, финансовый сектор региона, региональный сектор корпоративных и личных финансов. Показана неравномерность развития отдельных институтов финансового сектора Российской Федерации и проанализированы основные показатели развития секторов финансовой системы страны за период 2016-2020 гг. Изложены методические подходы Банка России к исследованию финансовой стабильности. Предложено авторское определение «устойчивость финансовой системы региона» и совокупность параметров и показателей для оценки устойчивости секторов финансовой системы региона. The article substantiates the theoretical and practical significance of using the concept of "stability of the financial system of the region" from the standpoint of a general methodological analysis of the concept of "stability", analyzes approaches to revealing the features of the concepts of financial stability of non-financial organizations, banks and insurance companies, analyzes approaches to defining the concept of the financial system of a country / region and its structure; as a fundamental approach for the purposes of analyzing the stability of the financial system of the region, the approach is chosen in which the financial system of the region is considered as a set of interacting and interconnected sectors: the sector of state and municipal finance, the financial sector of the region, the regional sector of corporate and personal finance. The uneven development of individual institutions of the financial sector of the Russian Federation is shown and the main indicators of the development of the country's financial system sectors for the period 2016-2020 are analyzed. The methodological approaches of the Bank of Russia to the study of financial stability are described. The author's definition of "stability of the financial system of the region" and a set of parameters and indicators for assessing the stability of the financial system sectors of the region are proposed.

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Ecological-phytocenotic analysis of the field layer of urban recreational forests (on the example of Kaluga and Obninsk)

Bulletin of Nizhnevartovsk State University ◽

10.36906/2311-4444/20-2/09 ◽

2020 ◽

pp. 68-75

Author(s):

A. A. Evseeva

Keyword(s):

Forest Ecosystems ◽

Urban Forests ◽

Practical Significance ◽

Anthropogenic Pressure ◽

Forest Communities ◽

Field Layer ◽

The Stability ◽

The City ◽

Forest Habitats ◽

Observation Period

The aim of this study is to study the diversity of the ecological-coenotic structure of the field layer of the residual urban forests, using as an example the cities Kaluga and Obninsk, which have different approaches to the conservation of residual forest communities in the city. Obninsk practices the conservation of forest zones that have entered the urban environment as recreational objects, while in Kaluga, such forest communities are in a state of interrupted succession and have experienced forestry activities. The objectives of the study are to study the ecological-coenotic and ecological-biological spectra of the field layer of forest ecosystems, and to identify adventive and protected plant species. The study took place in 2014–2015. In the forest communities under study, 30 sites were selected for geobotanical descriptions by the Braun-Blanquet method at different periods of the growing season (in June and August) to fully cover floristic diversity. A total during the observation period were made 240 floristic descriptions. Kaluga city forests turned out to be more susceptible to negative changes occurring in conditions of recreational for-est management. The field layer of the Kaluga forest recreational zones turned out to be more susceptible to negative changes occurring under the influence of anthropogenic pressure, in comparing with the Obninsk forest recreational zones. This is ex-pressed in the proportion of ecological-coenotic and ecological-biological groups, the presence of a greater number of alien species in the studied communities of Kaluga, which indicates greater resistance to the recreational load of the city forests of Obninsk. For example, the share of the group of forest habitats is much higher in Obninsk, where forest species make up more than half of all types of grass layer (54,2%). In the Kaluga forests, the share of forest habitats is lower and amounted to 47,5%. The discovered difference in the stability of the field layer of the Obninsk forests is presumably due to the strategy of their conservation in the urban area in a state of natural succession. The practical significance of the results obtained can be the possibility of using them to determine the degree of negative changes in recreational forests. The direction of further research can be directed at organizing monitoring of the urban forests of Kaluga and Obninsk according to the state of the field layer

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Archive-Based Multiobjective Evolutionary Algorithm for Large-Scale EV Charging Station Energy Management

Discrete Dynamics in Nature and Society ◽

10.1155/2021/2000041 ◽

2021 ◽

Vol 2021 ◽

pp. 1-6

Author(s):

Wanxing Sheng ◽

Qing Duan ◽

Haoqing Wang ◽

Guanglin Sha ◽

Chunyan Ma

Keyword(s):

Renewable Energy ◽

Energy Management ◽

Large Scale ◽

Practical Significance ◽

Utilization Rate ◽

Charging Station ◽

Electric Vehicle Charging ◽

The Stability ◽

Grid Operation ◽

Microgrid Energy Management

With the increase in renewable energy, improving the utilization rate of renewable energy is of great practical significance. The microgrid has been proved effective in addressing this issue. As a flexible load, electric vehicles are connected to the grid on a large scale, which will have an impact on the grid. In order to solve this problem, this paper proposes a microgrid energy management model for electric vehicle charging stations, which takes into account the economics of microgrid operation and the stability of grid operation. Subsequently, this paper proposes an evolutionary multiobjective optimization algorithm to deal with constraints. Finally, this paper verifies the effectiveness of the proposed model and algorithm through experiments.

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Preliminary Study of the Potential Photoprotective Effect of Organogel-Based Lipstick Formulations: Texture Analysis, Rheological, Thermal and Sensory Properties

10.20944/preprints202105.0661.v1 ◽

2021 ◽

Author(s):

Cloé L. Esposito ◽

Plamen Kirilov

Keyword(s):

Texture Analysis ◽

Stability Study ◽

Protection Factor ◽

Protective Properties ◽

Uv Protective Properties ◽

The Stability ◽

Low Molecular Weight Organogelators ◽

Harmful Effects ◽

Unique Chemical

With the increase in occupation-specific risks of lip cancer associated with solar radiation, there is a need for developing photoprotective lipsticks to protect skin against harmful effects of UV radiation. Considering the unique chemical and physical properties of low-molecular-weight organogelators (LMOGs), the present study intended to assess the UV protective properties of LMOGs-based lipstick formulations. In this study, dibenzylidene-D-sorbitol (DBS) and 12-hydroxystearic acid (12-HSA) were used to formulate lipsticks : L1 (1% DBS), L2 (10% 12-HSA), L3 (1.5% DBS) and L4 (control, no LMOGs). The lipstick formulations were tested for in vitro sun protection factors (SPF), UVA protection factor (UVA-PF), thermal, mechanical and texture analyses. Lipsticks with LMOGs exhibited higher UVA-PF and SPF, and more particularly 12-HSA-based lipstick. Results showed also the viscoelastic and heat-resistant properties of LMOGs and their effect of increasing pay-off values. In general, texture analysis indicating that 12-HSA-based lipstick was significantly harder to bend compared to control, while other formulations became softer and easier to bend throughout the stability study. Finally, sensorial and instrumental analyses permitted to classify lipsticks into two groups. This work suggests the potential use of LMOGs as a structuring agent for lipsticks paving the way towards more photoprotective and sustainable-derived alternatives.

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Economic and legal component of mortgage market development in Ukraine

University Economic Bulletin ◽

10.31470/2306-546x-2019-40-165-173 ◽

2019 ◽

pp. 165-173

Author(s):

Vyacheslav Prosov

Keyword(s):

Private Property ◽

Legal Aspect ◽

Financial System ◽

Mortgage Lending ◽

Mortgage Market ◽

Practical Significance ◽

Historical Period ◽

Credit System ◽

Degree Of Confidence ◽

The Law

The development of the economic and legal component of the mortgage lending system in Ukraine is traced. It was determined that the adoption of the Law of Ukraine «On Property» was the first step towards the formation of the mortgage market in the country. The mortgage system is studied as a factor influencing the accumulation of free funds, their redistribution and risk reduction. The role of mortgage lending in solving socio-economic problems of the country is considered. The necessity of studying the experience of other countries and taking into account national peculiarities for effective development of the mortgage system in Ukraine is substantiated. It was emphasized that the level of development of the mortgage lending market shows the maturity of the financial system development and the degree of confidence of the population of the country in the financial and credit system. The subject of the study is evolution of the economic-legal component of the mortgage market in Ukraine. The purpose of the work is to substantiate the logic of the economic and legal aspect of the formation and development of the system of mortgage lending in Ukraine. To achieve the goal, the system approach was used - to integrate the methodology of scientific knowledge of the history of the development of the financial system in Ukraine as part of the world financial system, which made it possible to establish the need to take into account world experience, current problems and taking into account national specificity; logical-critical analysis - in determining the sequence and extent of the importance of separate legal acts in Ukraine. The practical significance of the results is the possibility of their use to improve the theoretical basis of the formation of the system of mortgage lending in Ukraine. Conclusions. 1) The modern market of mortgage lending is the result of a long, gradual, logical development of the financial market; 2) The level of development of the mortgage lending market indicates the maturity of the financial system and the degree of confidence of the population of the country in the financial and credit system; 3) For a long historical period, the Ukrainian lands belonged to different state formations; accordingly, the laws and the procedure for the formation of the financial system changed, which contributed to its «lagging» in development from the western countries; 4) The first step in shaping the system of mortgage lending in independent Ukraine was the adoption of the Law of Ukraine «On Property», because private property issues are the cornerstone of the country's mortgage system; 5) Mortgage should become an effective financial mechanism that overcomes the problem of accumulation of financial resources of our country in conditions of high inflation; will help to solve the problem of introduction of technological innovations, modernization of agriculture, industrialization of industry, solving chronic and large-scale problems of residential unfinished projects.

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ANALYZE THE EFFECT OF TIME DELAY ON THE STABILITY OF HYBRID ACTIVE POWER FILTER

Journal of Science and Technology - IUH ◽

10.46242/jstiuh.v36i03.4079 ◽

2022 ◽

Vol 36 (06) ◽

Author(s):

CHAU MINH THUYEN

Keyword(s):

Time Delay ◽

Active Power Filter ◽

Active Power ◽

Practical Significance ◽

Stable Domain ◽

Power Filter ◽

Hybrid Active Power Filter ◽

The Stability ◽

And Control ◽

The Mathematical Model

Hybrid Active Power Filter (HAPF) has highly effective in improving the power quality of power system. In this paper, a stable analysis of HAPF considering the time delay was made. The mathematical model of HAPF with time delay has been established. Based on that, the stable domain of the HAPF parameters was determined based on the Routh’s stability standard. Simulation results based on Matlab software have shown that: time delay has a marked impact on the stability of the HAPF system. This research has practical significance in the design and control of HAPF in real system.

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