Functional Model of a Self-Driving Car Control System

The article describes a structural and functional model of a self-driving car control system, which generates a wide class of mathematical problems. Currently, control systems for self-driving cars are considered at several levels of abstraction and implementation: Mechanics, electronics, perception, scene recognition, control, security, integration of all subsystems into a solid system. Modern research often considers particular problems to be solved for each of the levels separately. In this paper, a parameterized model of the integration of individual components into a complex control system for a self-driving car is considered. Such a model simplifies the design and development of self-driving control systems with configurable automation tools, taking into account the specifics of the solving problem. The parameterized model can be used for CAD design in the field of self-driving car development. A full cycle of development of a control system for a self-driving truck was implemented, which was rub in the “Robocross 2021” competition. The software solution was tested on more than 40 launches of a self-driving truck. Parameterization made it possible to speed up the development of the control system, expressed in man-hours, by 1.5 times compared to the experience of the authors of the article who participated in the same competition in 2018 and 2019. The proposed parameterization was used in the development of individual CAD elements described in this article. Additionally, the implementation of specific modules and functions is a field for experimental research.

Computational approach to synthesis of the multiversion structure of distributed information decision-making support system

The computational approach to synthesis of the multiversion structure of distributed information decision-making support system is presented. A formal model of the local information system is given. This system is intended to ensure the functioning of a complex control system based on the multiversion approach and consisting of a set of multiversion objects. The problem of distribution of objects by local information subsystems has been solved. For a set of valid queries in a distributed system, the answers for the decision maker are formed sequentially without repeating queries. To take into account certain requirements regarding the structure of a distributed system, it is necessary to formulate these requirements in formalized constraints and introduce them into the mathematical description of the problem. Note that the effectiveness of the targeted use of the system depends both on the results of synthesis (structure and parameters of the system) and on the correct organization of the subsystem for monitoring its technical condition during operation.

Robotized complex control system with a modernized electric drive for calibration and transportation of glass tubes for medical and veterinary purposes

The paper considers the process of automating calibration steklomramor for medical and veterinary industry, with the introduction of the functions of vision and of methods of intellectualization of process technology for control of electrical drives for transportation and the management of mechanical parts, with the purpose of increase of efficiency of functioning of the complex.

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

Among mobile robotic research field, legged locomotion is largely applied for advanced robotic systems due to the higher degree of versatility compared to wheeled robots, which allows them to successfully move and interact in unstructured environments; nevertheless, legged robots present several designing problems and require a much more complex control system. Based on an effective robotic leg, this paper presents a novel design, which integrates a cam joint, aimed to improve the versatility performances minimizing changes in the original model and without increasing the control complexity. Furthermore, the design strategy aims to exploit the coupled action of two actuators, which are disposed in a novel configuration so to gain versatility advantage while maintaining velocity performances of legs equipped with a single actuator. The model is presented through a kinematic analysis, followed by the simulation of the leg mechanism trajectory and a comparison with the original configuration.

Assessment of Selected Spatio-Temporal Gait Parameters on Subjects with Pronated Foot Posture on the Basis of Measurements Using OptoGait. A Case-Control Study

Walking is part of daily life and in asymptomatic subjects it is relatively easy. The physiology of walking is complex and when this complex control system fails, the risk of falls increases. As a result, gait disorders have a major impact on the older adult population and have increased in frequency as a result of population aging. Therefore, the OptoGait sensor is intended to identify gait imbalances in pronating feet to try to prevent falling and injury by compensating for it with treatments that normalize such alteration. This study is intended to assess whether spatiotemporal alterations occur in the gait cycle in a young pronating population (cases) compared to a control group (non-pronating patients) analyzed with OptoGait. Method: a total of n = 142 participants consisting of n = 70 cases (pronators) and n = 72 healthy controls were studied by means of a 30 s treadmill program with a system of 96 OptoGait LED sensors. Results: Significant differences were found between the two groups and both feet in stride length and stride time, gait cycle duration and gait cadence (in all cases p < 0.05). Conclusions: pronating foot posture alters normal gait patterns measured by OptoGait; this finding presents imbalance in gait as an underlying factor. Prevention of this alteration could be considered in relation to its relationship to the risk of falling in future investigations.

Numerical and Experimental Study of a Device for Electrical Power Lines Probing for a Tunnel-Boring Complex Control System

The article considers the problems of the magnetic field distribution, generated by a power electric cable at the micro-tunnel-boring shield arrangement site by numerical modeling with a further full-scale device model experiment. The impact of foreign magnetic field sources on readings of three-component sensors was established in the process of the study. The considerable existence of parasitic noises, conditioned by external magnetic fields and high sensitivity of the probes, which will require the use of additional filters, was established. When using three-component ferroprobes, the most informative is the probe component coinciding with the tunnel shield longitudinal axis Z. The study showed that with current values greater than 200 A and changes in cable location during the experiment, it is possible to record signals from other sensor components and subsequently determine the location and orientation of the current-carrying cable. The experimental results obtained confirm the feasibility of a multi-sensor probing device for the micro-tunneling machine shield movement control system.

Graph-Analytical Method of the Regional Transport Complex Control System Optimizing

A graph-analytical optimization model of the formation of the regional transport complex management system (RTC) is presented. The model allows analyzing and implementing priority selection in the formation of effective control schemes for the RTK management. It allows taking into account socio-economic characteristics of a specific region when carrying out comparative analysis of the existing management models. The model is based on the ideas of cognitive approach for solving semi- structured problems.

SYSTEM ANALYSIS AS AN INNOVATIVE TOOL FOR THE DEVELOPMENT OF DECISION-MAKING MECHANISMS IN MODERN MANAGEMENT AND MANAGEMENT

Modern systems analysis and management is a whole complex of activities based on a system of ideas, methods and models of effective organization management. Modern management does not have exact recipes for correct decisions, cannot be based on rigid management schemes, because the modern management system is rather a "philosophy of management activity" – a kind of system of views and methods of research, cognition of economic phenomena, solving management problems, achieving strategic goals. Such a set of measures is called a complex control system. Each system, regardless of the scale and number of its constituent elements, is subject to changes, and any change requires research and the adoption of an appropriate management decision. Decision making in these types of complex systems is carried out by a technical device or a person and is based on the comparison and assessment of options for action. The study of decisionmaking procedures and the proper organization of the system is an urgent problem in the creation and operation of complex systems. Making such decisions is impossible without a systematic analysis. This circumstance determines the relevance of this article.