Design and Testing of Two Haptic Devices Based on Reconfigurable 2R Joints

This paper presents the design and testing of two haptic devices, based on reconfigurable 2R joints: an active 2R spherical mechanism-based joint and a differential gear-based joint. Based on our previous works, in which the design and kinematic analysis of both reconfigurable joints were developed, the experimental setup and the various tasks intended to test the reconfigurability, precision, force feedback system and general performance, are presented herein. Two control modes for the haptic device operation are proposed and studied. The statistical analysis tools and their selection principles are described. The mechanical design of two experimental setups and the main elements are considered in detail. The Robot Operating System nodes and the topics that are used in the software component of the experimental setup are presented and explained. The experimental testing was carried out with a number of participants and the corresponding results were analyzed with the selected statistical tools. A detailed interpretation and discussion on of the results is provided.

RESEARCH OF WAYS TO DEVELOP ACCURATE DIGITAL MODELS FOR OBJECTS AND NODES OF TRANSPORT INFRASTRUCTURE

The article solves the problem of finding a solution for building a digital model of the transport network or transport infrastructure object. On the basis of the analysis, the limitation of available solutions is given and the limited state of implementation of digital models in new modernizations of transport systems is fixed. The paper provides a general scheme of using documentation of the state of the transport system, nodes and elements and considers examples based on real transport systems. The paper examines the basic requirements for digital transport models and proposes a solution based on the use of unmanned aircraft systems. A model of formation of flight task variants is proposed and, as a proof of relevance of the research, the results of a real experiment are given. The task of modernizing a segment of the transport network of the city, the identification of the state of the site on the basis of data from unmanned aircraft system is considered. The article presents a solution to the problem, which has a high quality of building a digital model and the possibility of integration into other information systems for monitoring the condition and forecasting of development.

The unified system for storing and accessing geophysical data. Traditions and new approaches

The features of the development of data collection systems within the Information Processing Center (IPC) of the Geophysical Survey of the Russian Academy of Sciences (GS RAS) are presenting. Historical information is given, including technical details related to the systematization of the archive and the evolution of geophysical data formats. The historical, territorial features, as well as the experience of deploying such information systems within the Federal Research Center of the Unified State Social Service of the Russian Academy of Sciences and abroad are taken into account. A new concept of building an information system is proposed, which takes into account the requirements for scalability, reproducibility at various objects and the use of standard software. A lot of work was done to form a homogeneous archive of waveforms and an inventory of metadata for seismic stations, which resulted in the possibility of including the GS RAS in the international centers for processing geophysical information based on FDSN. Creation of a distributed collection and processing system using a cloud service allows abstracting from the territorial features of collecting and storing geophysical information, which increases the performance of the data access service and the degree of technical readiness of key system nodes.

Modelling Artificial Immunization Processes to Counter Cyberthreats

This paper looks at the problem of cybersecurity in modern cyber-physical and information systems and proposes an immune-like approach to the information security of modern complex systems. This approach is based on the mathematical modeling in information security—in particular, the use of immune methods to protect several critical system nodes from a predetermined range of attacks, and to minimize the success of an attack on the system. The methodological approach is to systematize the tasks, means and modes of immunization to describe how modern systems can counter the spread of computer attacks. The main conclusions and recommendations are that using an immunization approach will not only improve the security of systems, but also define principles for building systems that are resistant to cyber attacks. The immunization approach enables a symmetrical response to an intruder in a protected system to be produced rapidly. This symmetry provides a step-by-step neutralization of all stages of a cyber attack, which, combined with the accumulation of knowledge of the attacker’s actions, allows a base of defensive responses to be generated for various cyber attack scenarios. The theoretical conclusions are supported by practical experiments describing real-world scenarios for the use of immunization tools to protect against cyber threats.

Determination of Maximum Acceptable Standing Phase Angle across Open Circuit Breaker as an Optimisation Task

There are several threats that require the control of the conditions of switching operations in the transmission grid. They result mainly from the negative effects of the high-value current, which may appear after the breaker is closed. Problems considering closing the power circuit breakers on a large standing phase angle (SPA) are often formulated by grid operators. The literature most often discusses the problem of SPA reduction, which allows the system to be restored without the risk of damaging the turbogenerator shafts. This reduction can be achieved by various operational solutions; most often, it is the appropriate adjustment of active power generation, sometimes backed up by partial load shedding. The subject of the presented article is a slightly different approach to the SPA problem. The method of determining the maximum value of SPA for which the connection operation allows to avoid excessive transitional torques was presented. With this approach, finding the maximum value of SPA between the two considered system nodes is treated as an optimisation task. In order to solve it, the original heuristic optimisation method described in the article was applied.

Improved Byzantine Fault-Tolerant Algorithm Based on Alliance Chain

Alliance chain is a typical multicenter block chain and is easily implemented, so it is supported by more and more enterprises and governments. This paper analyzes the advantages and disadvantages of the Practical Byzantine Fault Tolerance (PBFT) in the alliance chain application scene. Aiming at the low efficiency of multinode consensus of the PBFT algorithm, the C-Raft-PBFT consensus algorithm is proposed. By integrating the Raft algorithm and the PBFT algorithm with the credit mechanism, designing node credit evaluation and grading protocols, and increasing Byzantine node detection based on feedback mechanism and other methods, the system efficiency is improved. The experiment results show that the improved algorithm has better throughput and lower delay, and the system’s fault tolerance is also improved. Among them, the delay is reduced by 1.93 seconds on average; in the case of an increase in system nodes, the number of nodes in the experimental data is between 200 and 225, and the throughput is increased by 6.46% on average.

SPSO Based Optimal Integration of DGs in Local Distribution Systems under Extreme Load Growth for Smart Cities

Renewable energy-based distributed generators (DGs) are gaining more penetration in modern grids to meet the growing demand for electrical energy. The anticipated techno-economic benefits of these eco-friendly resources require their judicious and properly sized allocation in distribution networks (DNs). The preeminent objective of this research is to determine the sizing and optimal placing of DGs in the condensed DN of a smart city. The placing and sizing problem is modeled as an optimization problem to reduce the distribution loss without violating the technical constraints. The formulated model is solved for a radial distribution system with a non-uniformly distributed load utilizing the selective particle swarm optimization (SPSO) algorithm. The intended technique decreases the power loss and perfects the voltage profile at the system’s nodes. MATLAB is used for the simulation, and the obtained results are also validated by the Electrical Transient Analysis Program (ETAP). Results show that placing optimally sized DGs at optimal system nodes offers a considerable decline in power loss with an improved voltage profile at the network’s nodes. Distribution system operators can utilize the proposed technique to realize the reliable operation of overloaded urban networks.

Validation of optimal electric vehicle charging station allotment on IEEE 15-bus system

Introduction. The diminishing conventional energy resources and their adverse environmental impacts compelled the researchers and industries to move towards the nonconventional energy resources. Consequently, a drastic paradigm shift is observed in the power and transportation sectors from the traditional fossil fuel based to the renewable energy-based technologies. Considering the proliferation of electric vehicles, the energy companies have been working continuously to extend electric vehicle charging facilities. Problem. Down the line, the inclusion of electric vehicle charging stations to the electric grid upsurges the complication as charging demands are random in nature all over the grid, and in turn, an unplanned electric vehicle charging station installation may cause for the system profile degradation. Purpose. To mitigate the problem, optimum allocation of the charging stations in existing power distribution system in a strategic manner is a matter of pronounced importance in maintaining the system stability and power quality. In this paper, optimum allocation of electric vehicle charging stations in IEEE 15-bus system is studied in order to minimize the highest over and under voltage deviations. Methodology. Primarily, voltage stability analysis is carried out for identification of the suitable system nodes for the integration. Voltage sensitivity indices of all the system nodes are calculated by introducing an incremental change in reactive power injection and noting down the corresponding change in node voltage for all nodes. Henceforth, dynamic load-flow analysis is performed using a fast and efficient power flow analysis technique while using particle swarm optimization method in finding the optimal locations. Results. The results obtained by the application of the mentioned techniques on IEEE 15-bus system not only give the optimum feasible locations of the electric vehicle charging stations, but also provide the maximum number of such charging stations of stipulated sizes which can be incorporated while maintaining the voltage profile. Originality. The originality of the proposed work is the development of the objective function; voltage stability analysis; power flow analysis and optimization algorithms. Practical value. The proposed work demonstrates the detailed procedure of optimum electric vehicle charging station allotment. The experimental results can be used for the subsequent execution in real field.

Pipeline design in SolidWorks

It is shown that is the program SolidWorks and what it is intended for, taking into account also that SolidWorks is a network standard for tree- dimensional solid state design. There are also tree basic system configurations, which are used depending on the class and complexity of the tasks. Application in practice of design of SolidWorks provides automatic reception of the license for use of technologies of tree- dimensional designing which allow to design and bring to the market modern innovative production. Respect for those that the SolidWorks program functions on the Windows platform has been transferred to the Russian language and on- demands DSTU and ESKD. The use of SolidWorks can significantly reduce labor costs when performing assembly work. The risibility of tree- dimensional design is fundamentally different from the usual project and allows workers to perform assembly work without contact consultation and ongoing control by engineering personnel. SolidWorks can be used for the design in various branches of mechanical engineering, construction, as well as for installation work on water supply and sewerage pipe systems. There tasks are solved using the SolidWorks Routing module, which is included in the configuration of the SolidWorks Premium and is specially designed to facilitate the design of prefabricated and bent pipelines, as well as flexible hoses. When designing plumbing equipment in pumping stations there is a task to complete the individual components and nodes of the project to obtain a tree- dimensional model in a complete form. The inclusion of pipeline equipment in a tree- dimensional model of a object allows solving many problems already at the design stage and avoiding situations when at the installation stage it is revealed, that the pipes are incorrectly bent and interfere with the operation of other system nodes, or there is little free space in the created structure for saying all the necessary communications. Using the SolidWorks Routing program makes it possible to optimally and compactly place water and sewer pipes indoors, prevent them from crossing and quickly get accurate data on the needs for materials and components. Indicates additional modules, which can also be used witch the SolidWorks program to facilitate the design work on the boring and bent pipelines, flexible lines and communications.

Hardware in the Loop Topology for an Omnidirectional Mobile Robot Using Matlab in a Robot Operating System Environment

The symmetry of the omnidirectional robot motion abilities around its central vertical axis is an important advantage regarding its driveability for the flexible interoperation with fixed conveyor systems. The paper illustrates a Hardware in the Loop architectural approach for integrated development of an Ominidirectional Mobile Robot that is designed to serve in a dynamic logistic environment. Such logistic environments require complex algorithms for autonomous navigation between different warehouse locations, that can be efficiently developed using Robot Operating System nodes. Implementing path planning nodes benefits from using Matlab-Simulink, which provides a large selection of algorithms that are easily integrated and customized. The proposed solution is deployed for validation on a NVIDIA Jetson Nano, the embedded computer hosted locally on the robot, that runs the autonomous navigation software. The proposed solution permits the live connection to the omnidirectional prototype platform, allowing to deploy algorithms and acquire data for debugging the location, path planning and the mapping information during real time autonomous navigation experiments, very useful in validating different strategies.