Evolution of the technogenic world, the development of networked and cyber-physical systems includes mechanisms of socioenvironmental self-organization of techno-society through the transformation of human experience within the cycles of autopoietic selforganization of the techno-environment. An essential role in the issues of creating new forms of emerging socio-technical systems that include artificial intelligence technologies at the stages of formation and implementation of a technical project is played by the concept of including mechanisms of self-organization and system development, which is related to the methodology of assessing the ergonomic properties of the systems being created. Ergonomic assessment plays a unique harmonizing and corrective role in creating man-machine socio-technical systems. The determining role in the formation of ergonomic assessment of socio-technical systems is shown to be played by reduction mechanisms, which determine the evolution of these systems in the required direction. A socio-technical system with artificial intelligence does not have a priori predetermined, clearly known and intelligible to authors and user’s properties, and displays them only in a working context, which does not allow applying the usual methods of ergonomic assessment used in assessing the permanent qualities of a socio-technical system concerning a human user. We noted the unique role of symbiotic relations in maintaining the effective operation of socio-technical systems with distributed artificial intelligence considered to the processes of coherence-decoherence, influencing the change of forms of organized complexity, and determining the system’s viability in the environment. We pointed to the problem of inactivating technologically generated elements of the techno-environment into the socio-technical system’s evolving part. Using the Internet as an example, we show that the free evolution of the techno-environment associated with excessive information diversity of the social component of the network leads to acceleration of its evolution but reduces its social stability and sustainability.

The article discusses the issues of decentralization and dynamic redistribution of roles in cyber-physical systems (CPS) designed for working in changing environments and especially open spaces, where there are increased risks of module failures and communication loss. In particular, decentralized methods for controlling the CPS behavior and ensuring the redundancy of their components and connections are investigated. A number of requirements for such systems are identified and it is noted what limitations in existing approaches impede the implementation of systems that satisfy these requirements at the physical, network and application layers. For different layers, behavior models are proposed, which provide autonomous role distribution between components. This made it possible to synthesize a structural-parametric model of an autonomous mobile CPS, focused on functioning in open areas and solving applied problems performed through the coordinated interaction of groups of mobile agents. The model takes into account aspects of system stability and its response to destructive influences. The advantages of the proposed models include task decentralization, absence of central, critical nodes and bottlenecks, no line of sight requirements or small distance between devices, ability to work in unexplored environments. The solutions can be applied primarily in the field of business and are suitable for use in industrial plants equipped with mobile robotic devices with cameras, for example, for agricultural tasks, or territorial exploration. The proposed approach makes possible to study the terrain more accurately, including unexplored areas with limited accessibility to humans. Also, the results obtained can be applied during rescue operations.

The article has developed an automated control system for the electroplating process, which has a two-level architecture. At the lower level, the technological parameters of each bath are controlled: temperature stabilization and electrolyte level in the bath; stabilization or software control of electric current. At the upper level, the problem of calculating the optimal configuration of a non-conductive of electric current perforated screen is solved, providing a minimum value of the unevenness of the coating. For this, a nonlinear mathematical model of the galvanic process in a bath with a perforated screen is developed which differs from the known ones by adding boundary conditions on a non-conductive screen. It is noted that the nonlinearities contain the equations of the model describing the boundary conditions near the anode and cathode of the galvanic bath. Therefore, a numerical method for solving the model equations is developed, which is distinguished by the implementation of Newton’s method in Maxima (the mathematical package) through input/output redirection. The article describes an algorithm for working with a mathematical package, a feature of which is the preparation of package commands in a text format and parsing the results of calculations also from a text file. The applied numerical method for solving the system of model equations has a quadratic convergence rate which indicates its effectiveness on a large grid, for example, of 900 nodes. Numerous computational experiments is shown a tenfold gain in time compared to the traditional iterative method described in well-known articles.

For the first time, the problem of discrete optimization was posed and solved for the developed automated control system for the electroplating process. A feature of the formulation of this problem are restrictions that allow only a complete enumeration of possible values of the varied parameters, the volume of which is not large. Therefore, a sequential algorithm for solving the optimization problem is used. The combinations of possible values of the varied parameters and criterion values are given, and the time for solving the optimization problem is analyzed.

The article proposes an approach to the organization of counteraction to the probable enemy on the basis of the joint use of mechatronic devices using the phenomenon of electric explosion to counteract homing systems and solving a group control task in order to protect the target from defeat. The above class of tasks involves the use by the attacked of mechatronic devices that play the role of mobile defenders, in the quality of which can act as a self-propelled source of interference, distracting the attacking object (missile or torpedo) by intercepting it, and a shock RTK aimed at destroying a dangerous object. A characteristic feature of the considered tasks is the incompleteness of a priori information about the distance to the attacking object and the possibility of instant use of active means. It is shown that the presence of even only a second defender is advisable, since it significantly increases the interception time compared to the case of only one defender. Also, an additional defender increases the probability of choosing one of the defenders for the intermediate pursuit instead of the main target. Under the conditions set in the considered models for starting positions, speeds and power reserve, in the case of a real torpedo attack on defenders, when following the constructed schemes for the release of defenders, the torpedo will not have enough fuel to defeat the main target. The methods of interference formation based on electric explosion are considered. It is proposed to use mechatronic hydroacoustic counteraction devices capable of moving in an aquatic environment and creating broadband interference of a given intensity as such sources. A model example of the use of mechatronic devices in a given scenario is considered.

The actual problem of an autonomous transport robot design for work in an unstructured environment and in emergency situations is considered. The design of the robot contains a combined system, consisting of transformable track and wheel groups, which allows moving over different types of surfaces, including the conditions of the urban environment, in particular flights of stairs. Movement on a flat surface is carried out only by wheel groups with raised track groups, which provides an increased speed of the robot. Movement on uneven surface is carried out only by track groups, while the wheel groups are raised. It provides increased cross-country ability. Staircase and complex obstacles can be overcome with the simultaneous use of wheel and track groups at angle of the wheel groups relative to the track groups during reconfiguration of geometric shapes and steps of the staircase and obstacles. The robot reconfiguration unit is made in the form of a lever mechanism with electric cylinders, which can be self-locking. It implements the switching of the robot movement modes, as well as lifting the wheel group to the required angle for overcoming obstacles. The analysis of the design and calculation of the lever mechanism of the wheel-track robot is carried out. A kinematic model of the reconfiguration unit has been developed. Relationships between the angles and length of the levers, as well as between the angular velocity of movement of the levers and the speed of movement of the electric cylinder pusher of the lever mechanism are obtained. Optimization of the reconfiguration block operation by creating its mathematical model for programming in the Matlab package is done. The target function and restrictions on the system operation have been determined. As a result, improved mechanical characteristics of the reconstruction unit are obtained.

For a linearized model of the fourth order of longitudinal motion of an airplane-type aircraft with three controls, analytical expressions of control laws are obtained that ensure robustness according to one of the coefficients of the model of the control object having the smallest range of values. As such a coefficient, the increment of the lifting force from the increment of the angle of attack and the angle of inclination of the trajectory is considered. The work is based on the original decomposition of the control object model and the modal synthesis method developed on its basis. The search for robust control is based on the parametrization of a set of solutions and the assignment of eigenvalues of a closed system. The idea of this approach is as follows. If, for a given control object, we find in an analytical form the entire set of feedback control laws that provide a given set of eigenvalues, then with the appropriate parametrization of this set, we can distinguish a subset of robust control laws with respect to a particular factor. The basis for obtaining a parameterized solution to the synthesis problem is the similarity transformation for the matrix of eigenvalues of the zero level of the decomposition of the control object. The results of numerical simulation of the control of the longitudinal motion of the aircraft using synthesized analytical laws are presented. Based on its results, the influence of the coefficient of the model is estimated, at which, for a non-robust analytical control law, the aircraft loses stability in longitudinal motion. It is noted that the robust control law has no restrictions with respect to the error of setting the considered coefficient of the model, which characterizes the increment of the lifting force of the aircraft from the increment of the angle of attack and the angle of inclination of the trajectory.