Automated synthesis of mobile robots of arbitrary orientation in the technological space

The research is devoted to the solution to the development of a methodology for the synthesis of mobile robots of arbitrary orientation in the technological space with systems for holding mobile robots on the moving surface to compensate for the gravitational and technological load. Mobile robots, also known in international publications as Climber Robot, are a new modification of mobile robots. The creation of this type of robotics is dictated by the need to perform technological operations in such areas as monitoring industrial facilities, erection and dismantling of building structures, repair and preventive maintenance of their components, maintenance of high-rise buildings of urban utilities, forest and park woodlands, etc. The operation of mobile robots acquires particular relevance in the extreme conditions of manmade disasters, which are dangerous and even unacceptable for a person's stay. The paper proposes designs of mobile robots, which are based on new principles of their synthesis. In the performed studies, in addition to the latest patented designs of mobile robots, a strategy of active synthesis of a new class of mobile robots is proposed.

Exploit Direction Information for Remote Ship Detection

Ship detection in remote sensing has been achieving increasing significance recently. In remote sensing, ships are arbitrary oriented and the detector has to learn the object features of arbitrary orientation by rote, which demands a large amount of training data to prevent overfitting. In addition, plenty of ships have a distinct direction from the center point to the head point. However, little attention has been paid to the direction information of ships and previous studies just predict the bow directions of ships. In this paper, we propose to further exploit the ship direction information to solve the arbitrary orientation problem, including direction augmentation, direction prediction, and direction normalization. A Variable-Direction Rotated RoI Align module is designed for direction augmentation and normalization with an additional feature extraction direction as input. The direction augmentation method directly augments the features of ship RRoIs and brings great diversities to the training data set. The direction prediction introduces additional direction information for learning and helps to reduce noise. In the direction normalization method, the predicted ship directions are utilized to normalize the directions of ship features from stern to bow through the VDR RoI Align module, making the ship features present in one orientation and easier to be identified by the detector. On the L1 task of the HRSC2016 data set, the direction augmentation method and direction normalization method boost the RoI Transformer baseline from 86.2% to 90.4% and 90.6%, respectively, achieving the state-of-the-art performance.

Analytic solution of in-plane vortex–rotor interactions with arbitrary orientation and its impact on rotor trim

The general aerodynamic problem of arbitrarily oriented in-plane vortex-rotor interaction was investigated in the past only by numerical simulation. Just one special case of in-plane vortex-rotor interaction with the vortex axis in flight direction was recently solved analytically. In this article, the analytical solution for arbitrary in-plane vortex orientation and position relative to the rotor is given for the first time. The solution of the integrals involved as derived here encompasses and simplifies the previous derivation of the special case significantly. Results provide the vortex impact on rotor trim (thrust, aerodynamic rolling and pitching moments about the hub) and the rotor controls required to mitigate these disturbances. For the special case with the vortex axis in flight direction, the results are identical to the former solution and results for the other in-plane vortex orientations and positions agree with the numerical results obtained so far.

Application of Uniformly Valid Shell Theory

For the purpose of demonstrating the applicability of the previously derived theories, the problem of a laminated circular cylindrical shell under internal pressure and edge loadings will be examined. The cylinder is assumed to consist of boron/epoxy composite layers. Each layer is taken to be homogeneous but anisotropic with an arbitrary orientation of the elastic axes. We need not consider the restriction of the symmetry of the layering due to the non-homogeneity considered in the original development of the theory expressed by the constitutive equations. Thus, each layer can possess a different thickness.

Application of Uniformly Valid Shell Theory

For the purpose of demonstrating the applicability of the previously derived theories, the problem of a laminated circular cylindrical shell under internal pressure and edge loadings will be examined. The cylinder is assumed to consist of boron/epoxy composite layers. Each layer is taken to be homogeneous but anisotropic with an arbitrary orientation of the elastic axes. We need not consider the restriction of the symmetry of the layering due to the non-homogeneity considered in the original development of the theory expressed by the constitutive equations. Thus, each layer can possess a different thickness.

Dyakonov plasmon-polaritones along a hyperbolic metamaterial surface

We consider dissipative Dyakonov plasmon-polaritons as surface waves propagating along the plane boundary of a hyperbolic metamaterial with an arbitrary orientation of the crystallographic axis. Conditions for the existence of fast, slow, gliding flowing, forward and backward plasmon-polaritons are found. A waveguide in the form of an asymmetric layer of a hyperbolic metamaterial is also considered. An expression for the density of electromagnetic energy in such a metamaterial is given.