Digital control systems are considered, the functioning of which can be represented as a sequence of functions from a finite alphabet. For such systems projects debugging by simulation it is necessary to generate the minimal complete, in the sense of a particular criteria, set of tests for the applying on the simulated system to verify that it is functioning correctly. Digital control systems are modeled on the logic level of the signals they exchange with the external environment, including controlled object. As input data for the simulation input interactions are used, comprising both the actual input signals and output control of exchange signals. Algorithm of the minimum complete test set generation for project debugging is proposed, the algorithm is based on developer-defined classes of equivalence of input interactions. A designer chooses the set of attributes for digital system functions, the set has a hierarchical structure. Mathematically it is the definition of equivalence relation set for the set of input interactions. All input interactions causing the same digital system function fulfillment have equivalence relation. Attributes of input interaction subsets are the markers of equivalence relations. Hierarchical structure of equivalence relations is representing by bipartite graph. The full minimal test set generation is maid by processing this bipartite graph and includes all possible functions checking.

The article discusses a number of strategies intended to support and maintain informational interactions between a group of robots functioning as a collective of autonomous agents. The article demonstrates advantageousness of utilization of technology of mesh-networks building for the realization of wireless connections in multi-agent robotic systems. Also, the article substantiates importance and actuality of the connectivity maintenance, whose preservation in frames of the group asks for each of the agents to be in an area of reach of communication devices of at least one another agent of the group. An algorithm of control of the connectivity loss is proposed. Models and algorithms of planning of actions and control of the movement of the robot group taking maintenance of connectivity between agents into account are discussed. Two key problems are considered, the solution of which is necessary to ensure the reliable network inside MARS. The first task is the preservation or recovery of the unity of the information space by reconfiguring the group of robots and assigning appropriate robots to the role of repeaters. The second task is maintaining of the unity of the information space of MARS in the process of its purposeful movement. To realize the first task, we propose an algorithm for the control for loss of the connectivity maintenance. It is based on finite state machines technology enabling change of the robot group’s configuration in an autonomous mode for providing the permanent presence of all agents in the area of the receiving and transmitting devices, at least for one agent in the group. To realize the second task, we propose an algorithm for maintaining a specified distance between the agents moving in a non-deterministic environment. This algorithm is based on potential field method and the A-star pathfinding algorithm.

The new branch of robotics has been formed nowadays as a collaborative robotics. It seems as a natural result of the developments in the area of manipulation and mobile robots controlled by human operator. Evolution of robotics intended to enlighten human's work resulted in creation of autonomous robots with multimodal interface which make it possible to control a robot for a human without special training. The safety of such robotic systems is to be guaranteed as for operator himself as for other humans in the working area of robotic system. Development of collaborative robotic systems is connected with the problems of human-robot interaction. The human operator can only observe the behavior of the robotic system and state the new tasks in the form of speech dialogue. From the tasks of movement control the operator comes to the tasks formulation as if he collaborates with a human - assistant. So the interface of operator has to propose him an adequate perception of the current situation and his instructions are to be "clear'' for robot - assistant. Important part in the autonomous robot control is the navigation system proving the robot to appreciate the environment and to plan its own way in presence of other moving objects. One of the tasks of control is the robot return in case of communication loss with the operator. The task is more complicated for operator if it is necessary to control a group of autonomous robots to fulfil the tasks of the environment monitoring, radiation or chemical reconnaissance etc. Dialogue control may be enlightened for human by "emotional" support of speech communication by demonstration of mimic expression of robot's face. The mutual "understanding" demands also the analysis of the human state by the robot. It is also necessary to pay attention at human possibilities to perceive information and adopt the necessary decision. The possible way of coordination of human-robot possibilities are the linguistic variables application and fuzzy logic inference as on the stage of information perception as on the stage of actions planning and decision adoption. The "natural" relation of space and time make it more close the human-robot dialogue to the dialogue between human-master and human-assistant. The most important problems of mentioned above were under discussion at the first international conference on collaborative robotics on 2106 and are reflected in the paper.

This paper presents results of research of force interaction with various soil surfaces for a loaded UGV and for a group of UGVs. To ensure the reliable motion of a loaded wheel-based UGVover soil or the movement of two or more robots carrying a common cargo it is essential to analyze forces acting on the robot's wheel from the ground. The interaction with the soil of a robot with a hinged load was considered through the wheel system as the interaction of a loaded wheel with a soil. The peculiarities of the motion of a loaded UGV in the previously performed studies of automobile design field were taken into account. Basing on the analysis of different approaches to understand the nature of forces acting on the loaded mobile robot, the choice of forces was considered. The force of the wheel-ground cohesion is considered to be a physical force. The components of this force are projections on the coordinate axes. Motion of the robot is caused only by external applied forces. System of forces includes traction, weight, rolling friction, sliding friction, grip of the wheel with the ground, external forces. Because of unknown terrain along which moves the loaded robot, it is also necessary to include an additional unit in the control system, providing compensation of the initial torque to the initial position of the cargo regarding the robot's hull. Results of force interaction simulation of a loaded robot with various types of soil are presented.

The article is devoted to the methodology of designing simulators for operators of complex systems that create a symbiotic interactive intellectual environment. The problem of professional training of operators of robotic and mechatronic systems operating in the conditions of supervisor, remote and direct control using an interface based on virtual, supplemented and induced reality is relevant and of independent importance, despite the widespread use of simulators simulating the real-world environment. There were new types of professional and educational activities related to the setting of tasks and the creation of target installations for intelligent agents of automatic systems, the formation and management of missions of robots and mechatronic systems. Simulative training integrates with the cognitive study of the professional environment, including in it, the acquisition and application of knowledge. Complex robotic systems, providing a wide field of activity to the operator, require him to respond in a timely manner to random and unique events leading to emergency and non-standard situations. In the group of operator activity there is a special form of self-organizing communication that forms the governing discourse of the ergatic system. These properties of complex systems are not taken into account in classical simulator training, but are crucial when preparing operators and users of robots and mechatronic systems. The way out of this situation was the transition to a non-classical version of environment-oriented learning. The main features of this conceptual scheme and prospects for its development within the framework of constructivism and the theory of step-by-step formation of mental actions are considered in the article. The problems of increasing the training efficiency of operators of robotic systems are considered, due to the intellectualization of training and training environments. It is supposed to create an active interactive environment involving the interaction of the artificial intelligence of the learning environment that creates rich associative fields around the basic concepts and algorithms of the studied professional activity with the intellect of the trainees. It is advisable to keep a record of the complete history of the training and operation of all operators and the conditions for the application of a particular robotic system. Training is considered as an element of support and maintenance of autopoietics cycles of functioning and development of the operator in the process of intelligent symbiosis.

Network-centric business model implemented as open self-organizing B2B production network is a relatively novel paradigm of modern digital economy. It has become the subject of the active research and developments during the last times. In particular, this fact is proved by several dozen of the projects on this topic funded by the European Commission Programs during last 15 years. The developed countries consider this novel paradigm of production business organization as a solid trend and a new very promising future model for distributed business, virtual organizations and digital economy as a whole. The paper outlines and analyzes various aspects of this problem and their algorithmic support. In its Part II, the paper formulates the basic production management tasks to be solved in В2В production networks, those include distributed planning and distributed coordinated scheduling of resources of В2В production network nodes (particular companies, production plants), which resources are involved concurrently in multiple common production processes. The paper also analyses the basic (core and reusable) set of tasks and services of the infrastructure aimed to realize the self-organizing style of the В2В production network performance, to support of node interactions and communications, and to provide for the network with the openness. It outlines the basic algorithms solving the aforementioned tasks and refers to the previously developed software prototypes implementing the particular most complicated algorithms supporting В2В performance in stand-alone mode that justify the feasibility of the В2В paradigm of production network at current time.

A model is developed for controlling the heating and the rate of drawing of leicosapphir crystals, when grown from a liquid melt. The model operates in real-time, on modern controllers, providing a flat front of crystal crystallization throughout the process. A block diagram of the weight control system for growing leucosapphire crystals is presented based on weighing the descending melt in a crucible and obtaining a control signal in function of deviating the current crystal area from a given one. The above model control heating and crystal pulling rate of sapphire crucible stationary liquid melt operates based on reference shape of the growing crystal and the axial gradient throughout the process and allows to set the drawing speed and the power for the heating installation, before starting the growth process. On the basis of the liquid melt, which changes during the growth of the weight, a correction signal is introduced in the control system as a deviation of the varying weight of the crucible with the melt from the programmed one on the cylindrical part of the grown crystal. The control signal, as an integral component, is introduced into the heating power circuit, and as proportional to the pulling speed loop, periodically each cycle of the crystal moving by 1 mm, provides the given shape of the grown cylindrical part of the crystal. The results of this work can be used in the design and modernization of existing growth plants for the growth of leucosapphire crystals from a fixed crucible with a melt.

A power-efficient algorithm is developed for discrete control of a geostationary spacecraft's orbital plane parameters using an adjustable low-thrust rocket engine. The algorithm is developed according to the approach described in [3] for a discrete feedback system. To reduce the onboard computer load, when the system operates during tens of days, the calculation interval is taken equal to 100 s. To use such a long interval, the author applied the approach described in [4], where the system state vector comprised the vector of coordinates of a geostationary spacecraft's centre of mass and the vector of its increments at one calculation step. A distinctive feature of the auxiliary system used for construction of the power-efficient control algorithm is the dependence of the current vector of the system state not from the previous one but from its initial state. That allowed using a transition matrix of the auxiliary system in the form of a diagonal matrix. The diagonal elements were taken in the form of hyperbolic first-order polynomials functions of the calculation step number. Besides, the weighting matrix in the control law was taken in the form of a constant matrix, since the elements of the weighting matrix in the control law quickly converge. To assess the efficiency of the algorithm proposed, the author compared results of its modeling to the results given in [2], where a three-step algorithm was proposed to control plane parameters of a geostationary spacecraft's orbit using a nonadjustable low-thrust rocket engine with the thrust applied in the transversal direction. The modeling was done with the same initial deviations of orbital parameters from the specified ones as those taken in [2]: for the revolution period the deviation was AT = 1,000 s, for the eccentricity it was Ae = 0,005 and for the longitude of the orbital position it was AX = 5 deg. The orbit correction time was also taken, according to [2], equal to 4,000 steps of 100 s each, that is about 5 days. As a result of modeling, it was determined that the characteristic velocity consumption for correction of an orbit, with the correction beginning at the orbit perigee, was 9.4 m/s, which is 20 % less than that in the case given for comparison (11.8 m/s). If, with the same initial deviations, the correction of the orbit begins at its apogee, the characteristic velocity required for correction increases up to 11.5 m/s.