Design and Analysis of 7-DOF Human-Link Manipulator Based on Hybrid Intelligent Controller

A manipulator is an alternative to progress profitability in mechanical computerization. The robotic controller executes forms’ assembly operations in hazardous conditions. Since computerized controllers are highly vulnerable nonlinear powerful frameworks, it is hard to provide precise unique conditions at controlling laws’ configuration. Virtual Reality (VR) is a fundamental advance at use in modern biomedical, medical procedures and different fields where a 3D object helps to comprehend complex behavior. This work proposes the interaction with 3D models in VR environment achieved by accurate sensing from feedback, and then reconstructs the instruction according to practical limitation of a real human arm movement. In this work ANFIS played a key role in finding results with optimal values because the combination of Neural Networks (NN) benefits and obscure logic systems research examined the individual defects in both of them. Use of Artificial Neural Networks (ANN) in dynamic systems has quite extensive and accurate results, when adding a training signal system to the mixed learning base implemented at combining the slope proportions technique, a Least Square Error (LSE) preparing the ANFIS organization for any framework to take care of the issue any way. This work presents a keen controller actualization with 7-DOF controller for a model designed with a VR situation that reproduces the system design by associating Matlab/Simulink to connect the VR model with some instruction to execute orders delivered by the hybrid intelligent controller based on ANFIS technique. Palatable outcomes are implemented in reproductions that improve the procedure as an essential utilization of this controller design.

Structure and Functions of a Replicative Neuro-like Module

The given work describes a technology of construction of neural network system of artificial intellect (AI) at a junction of declarative programming and machine training on the basis of modelling of cortical columns. Evolutionary mechanisms, using available material and relatively simple phenomena, have created complex intelligent systems. From this, the authors conclude that AI should also be based on simple but scalable and biofeasible algorithms, in which the stochastic dynamics of cortical neural modules allow to find solutions to of complex problems quickly and efficiently.. Purpose: Algorithmic formalization at the level of replicative neural network complexes - neocortex columns of the brain. Methods: The basic AI module is presented as a specialization and formalization of the concept "Chinese room" introduced by John Earle. The results of experiments on forecasting binary sequences are presented. The computer simulation experiments have shown high efficiency in implementing the proposed algorithms. At the same time, instead of using for each task a carefully selected and adapted separate method with partially equivalent restatement of tasks, the standard unified approach and unified algorithm parameters were used. It is concluded that the results of the experiments show the possibility of effective applied solutions based on the proposed technology. Practical value: the presented technology allows creating self-learning and planning systems.

Study of Internet Structure Properties based on Metagraph Models

Studying the Internet its structure is usually divided into levels: Autonomous Systems Level (AS), Point of Presence Level (PoP), Router Level, etc. The global network can be represented on each of them as a graph based on the initial data obtained from open sources. Consideration of a network within the framework of a separate level facilitates analysis, but does not allow to systematically assess its structural properties when providing the connectivity between several segments of the network related, particularly, to the objects of critical information infrastructure. To overcome this contradiction, a mathematical model of the global network in the form of a metagraph was developed at the interface between AS-level and PoP-level that takes into account the characteristics of each level and allows to find bottlenecks both in the interdomain routing system and in the topology of internal networks of Internet providers. Based on the proposed model some structural phenomena of the global network are described: stub, multihomed and transit autonomous systems, content providers. Taking into account available data from open sources about Internet structure, a method for constructing a metagraph is proposed. A comparative analysis of tools that automate the process of analyzing a network model is carried out. The practice-oriented problems of finding a cutting subset in a metagraph were set. Certain areas of further research are software implementation of the models using module MGtoolkit in Python and the assessment of structural phenomena of Russian segments of the Internet.

Applied Aspects of Optimization of Orbital Structures of Satellite Systems by Specifying Parameters of Orbital Motion

The paper deals with issues related to optimizing the ballistic structure of a satellite system for remote sensing of the Earth. Approaches to the ballistic design of the satellite system, previously developed by specialists from various scientific schools, were focused on maintaining the structural stability of the system by deploying groupings with the same geometry and with the same inclinations, which ensured the same age-old departures of elements from all the orbits. At the same time, there is a whole range of tasks that require the formation of a satellite system in different orbits. To achieve the required level of stability of a new cluster of orbital structures we provide an approach, including: heuristic formation of many target different height orbits; identifying some basic near-circular orbit; selection of possible variants of iterative quasi-synchronous orbits; coordination of the composition of the vector of characteristics of traffic conditions and final calculation of an acceptable option that provides the specified accuracy of the route closure cycle. Testing of the proposed approach is carried out on the example of determining the parameters of orbits that ensures equality of effective days in a given range of heights. The method of selecting the degree of consideration of various physical factors of the space environment, which ensures the achievement of identical deviations of the forecast trajectory from the reference one, is presented. The characteristics of the mathematical model of quasi-synchronous orbit motion used in forecasting are calculated from the condition of stability at a given time interval. To get the appropriate estimates, we use corrections to the orbit parameters given from the Greenwich coordinate system. A detailed algorithm is described that provides the possibility of unambiguously determining the characteristics of a stable structure, in the implementation of which the transition from the solution of a normal system of equations to the solution of two triangular systems is performed. The analysis of the subject area has shown that the proposed approach is new, and the solved scientific problem belongs to the class of inverse problems of space cybernetics.

Application of Cluster Analysis with Fuzzy Logic Elements for Ground Environment Assessment of Robotic Group

Emergency situations, that cause risks for human life and health, dictate elevated requirements to completeness and accuracy of the presentation of information about current ground environment. Modern robotic systems include sensors, that operate on different physical principles. This causes incrementation of information entering control system. Computing resources and technical capabilities of robotic systems are limited in range and detection probabilities of appearing objects. In case of insufficient performance of the on-board computer system and high uncertainties of ground environment, robotic systems are not able to perform without combining information from robotic group and producing a single view of ground environment. Complex information from a group of robotic systems occurs in real time and a non-deterministic environment. To solve the problem of identifying attribute vectors related to a single object, as well as to evaluate the effectiveness of obtained solutions, is possible using known formulas of the theory of statistical hypothesis testing and probability theory only under the normal distribution law with the known mathematical expectation of an attribute vector and a correlation matrix. However, these conditions are usually not met in practice. Problems also arise when methods of nonparametric statistics are used with an unknown law of probability distribution. The new method of identifying attribute vectors is proposed, that does not rely on a statistical approach and, therefore, does not require knowledge of the type of distribution law and the values of its parameters. Proposed method is based on the idea of combining cluster analysis and fuzzy logic, and is relatively simple to the basic methods of multidimensional nonparametric statistics. The results of modeling information processes are presented. The advantages of proposed method are shown. The comparative values for the number of false recognitions are given. The recommendations are given for constructing fuzzy inference rules when creating an expert system knowledge base.

Method for Creating Collections with Embedded Documents for Document-oriented Databases Taking into Account Executable Queries

In the recent decades, NoSQL databases have become more popular day by day. And increasingly, developers and database administrators, for whatever reason, have to solve the problems of database migration from a relational model in the model NoSQL databases like the document-oriented database MongoDB database. This article discusses the approach to this migration data based on set theory. A new formal method of determining the optimal runtime searches aggregate collections with the attached documents NoSQL databases such as the key document. The attributes of the database objects are included in optimizing the number of collections and their structures in search queries. The initial data are object properties (attributes, relationships between attributes) on which information is stored in the database, and query the properties that are most often performed, or the speed of which should be maximal. This article discusses the basic types of connections (1-1, 1-M, M-M), typical of the relational model. The proposed method is the following step of the method of creating a collection without embedded documents. The article also provides a method for determining what methods should be used in the reasonable cases to make work with databases more effectively. At the end, this article shows the results of testing of the proposed method on databases with different initial schemes. Experimental results show that the proposed method helps reduce the execution time of queries can also significantly as well as reduce the amount of memory required to store the data in a new database.

Minimal Structure of the Database for Storing Organisms’ Biodiversity Data

To date, a huge amount of data on organisms diversity has been accumulated. Databases help to store and use these data for scientific purposes. There exists several dozens of databases for storing biodiversity data that were described in publications. Each has an original structure which badly correlates with the structures of other databases. This complicates data exchange and the formation of big biodiversity data array. The cause of this situation is the lack of the formal definitions of universal data components, which allow to build the database with any data on the diversity of organisms. The analysis of publications and author’s experience show that such universal components are present in the characteristics of any organisms. For example, it is an organism taxonomic name and a location where it was found. There are six such components and they answer to one of the six questions: what, where, when, who, where from and where to. What determines the name of an organism; where determines the location where it was found; when indicates the date of finding; who enumerates the persons, who found and analyzed an organism; where from refers to publications, where data about an organism are extracted or published; where to shows in which biological collection an organism is put in. Each component corresponds to a separate database table. These tables are linked to the table with data about organism (individual) and they are not linked with each other. Attributes of the links between the organism table and the component tables are stored in intermediate tables. They are used, for example, to store bibliographic facts, descriptions of collection items or geographical points. They also act as docking stations to which tables with any other information are attached. The creation of any database about the diversity of living organisms begins with the definition of the table of organism specimens. It must be used even if there is no explicit data on organisms. In that case virtual organisms should be introduced and the other components should be linked with them by means of intermediate tables. The latter are docked to other data. Minimal structures of all the tables, links between them and examples of databases construction are described in the work.

Mathematical Modeling of Optimal Measures to Counter Economic Sanctions

The paper considers the problems of developing recommendations in the area of fiscal and trade policies to counter economic sanctions at the level of both individual countries subject to such sanctions and at the level of economic union including such countries. Research study has been carried out based on the developed dynamic multi-sectoral and multi-country computable general equilibrium model, which describes the functioning of the economies of nine regions of the planet, including five countries of the Eurasian Economic Union (EAEU). The initial data of the model contain built sets of consistent social account matrices (SAMs) for the historical and forecast periods based on data from the Global Trade Analysis Project (GTAP) database, national input-output tables, international trade and IMF data (including forecast) for the main macroeconomic regions indicators. Results of the impact on macroeconomic and sectoral indicators of the EAEU countries and other regions of a hypothetical scenario providing the imposition of additional economic sanctions since 2019 against Russia from some regions were obtained. An approach to solving problems to counter the sanctions policy based on the parametric control theory by setting and solving a number of dynamic optimization problems to determine optimal values of the corresponding fiscal and trade policy instruments at the level of individual EAEU countries and the EAEU as a whole was proposed. The results of the model-based calculations were tested for the possibility of practical application using three approaches, including evaluation mappings’ stability of the exogenous parameters’ values of a calibrated model to the values of its endogenous variables. The results demonstrate greater efficiency for each EAEU country using a coordinated economic policy to counter sanctions, compared with the implementation of such policy separately at the level of each country.

Optimal Solar Panel Area Computation and Temperature Tracking for a CubeSat System using Model Predictive Control

Recently, there has been a rising interest in small satellites such as CubeSats in the aerospace community due to their small size and cost-effective operation. It is challenging to ensure precision performance for satellites with minimum cost and energy consumption. To support maneuverability, the CubeSat is equipped with a propellant tank, in which the fuel must be maintained in the appropriate temperature range. Simultaneously, the energy production should be maximized, such that the other components of the satellite are not overheated. To meet the technological requirements, we propose a multicriteria optimal control design using a nonlinear dynamical thermal model of the CubeSat system. First, a PID control scheme with an anti-windup compensation is employed to evaluate the minimum heat flux necessary to keep the propellant tank at a given reference temperature. Secondly, a linearization-based controller is designed for temperature control. Thirdly, the optimization of the solar cell area and constrained temperature control is solved as an integrated nonlinear model predictive control problem using the quasilinear parameter varying form of the state equations. Several simulation scenarios for different power limits and solar cell coverage cases are shown to illustrate the trade-offs in control design and to show the applicability of the approach.

Methodology for Development of Event-driven Software Systems using CIAO Specification Language

Event-driven software systems, belonging to the class of systems with complex behavior in the scientific literature, are reactive systems, which react to the same input effect in different ways depending on their state and background. It is convenient to describe such systems using state-transition models utilizing special language tools, both graphical and textual. Methodology for automated development of systems with complex behavior using the designed CIAO language (Cooperative Interaction of Automata Objects), which allows formally specifying the required behavior based on an informal description of the reacting system, is presented. An informal description of a reacting system can be provided verbally in a natural language or in another way adopted in a specific domain. Further, according to this specification in the CIAO language, a software system for interacting automata in the C++ programming language is generated with a special system. The generated program implements a behavior guaranteed to correspond to a given specification and original informal description. CIAO provides both graphical and textual notation. Graphic notation is based on an extended notation of state machine diagrams and component diagrams of the unified modeling language UML, which are well established in describing the behavior of event-driven systems. The text syntax of the CIAO language is described by context-free grammar in regular form. Automatically generated C++ code allows using of both library and any external functions written manually. At the same time, the evident correspondence of the formal specification and the generated code is preserved on conditions that the external functions conform to their specifications. As an example, an original solution to D. Knut's problem of a responsive elevator control system is proposed. The effectiveness of the proposed methodology is demonstrated, since the automaton-converter generating the C++ code is presented as a responsive system, is specified in the CIAO language and implemented by the bootstrapping. The proposed methodology is compared with other well-known formal methods for describing systems with complex behavior.