This paper presents a task of a mobile object positioning in the presence of determinate disturbances. A mobile object is described by kinematics and dynamics equations of a solid body in a three dimensional space. The control inputs of the mobile object are forces and torques. Design of the adaptive control is based on the position-path control method for the mobile objects. This article presents two algorithms of the adaptive position-path control. The first algorithm is the adaptive position-path control with an integration component and reference model. The second algorithm is the adaptive position-path control with a reference model and an extended mobile robot model. The authors propose a unit diagram for a direct adaptive position-path control system with a reference model. The article also presents the design procedures for the adaptive position-path control systems and stability analysis of the closed-loop system, as well as the computer simulation results of the designed adaptive closed-loop systems with both constant and variable disturbances. The authors make conclusions on the basis of the analysis and modeling results. The main advantage of the proposed method is separation of the basic position-path regulator and adaptation algorithms. The parameters of the position-path controller are the parameters of the reference model. Therefore, a classical structure of the adaptive control with a reference model requires a change in the parameters of the model. The adaptation algorithms presented in this paper can be applied for the parameters of the additional dynamic units.

Research objective. The research objective is development of asymptotic methods for synthesis of the terminal control laws for the two-tame-scale plants. A two-tame-scale property is typical for he moving objects - aircraft, ships, etc. All of them are characterized by fast rotational and slow translational motions. In power electric drives the mechanical motions of the armature are slow, and the electric transients in circuits are fast. This circumstance hinders formation of the control laws because of the necessity for a frequent time discretization of the transients and performance operations on the ill-conditioned matrices. It is also known under the name of a system rigidity. In case of a terminal control it manifests itself most dramatically due to the non-stationary nature of the process of bringing an object to a predetermined position within a finite period of time. The paper proposes an asymptotic approach to the development of the terminal control law for the two-tame-scale plants. It allows us to decompose the control process into the fast and slow components, which are calculated separately in two time scales, followed by their arrangement in a holistic solution. This simplifies a dynamic representation of the controller and accelerates the numerical procedure for initiation of the control actions. Formulation of the problem. In the article the problem of an asymptotic decomposition for a controlled system is solved with fast and slow motions described by means of the linear differential equations with a small parameter at some derivatives. Terminal control is achieved by minimizing the corresponding quadratic quality functional defined on a finite time interval. Such a statement leads to a singularly perturbed optimal control problem which can be solved in the form of synthesis, and an asymptotic behavior of the control by the method of a boundary layer can be achieved. Research results. As a result of the research, the asymptotic behavior of the terminal control law is built within small singular parameters, uniform on the interval of the control time. The problem is solved for the general case of the output control, which distinguishes the obtained results from the well-known works, devoted exclusively to the state control problems. For this purpose, a special multiplicative decomposition of the control feedback loop matrix into three more simple matrices is used. Improved estimates of the asymptotic expansion remainder, more accurate than the existing estimates, are proved. Conclusion. Application of the developed asymptotic behavior based on its precision estimates allows us to build effective laws for a terminal control of the two-tame-scale plants. The proposed approach solves the problem of the rigidity, simplifies the terminal control laws, and makes their accuracy close to the optimal laws of the terminal control.

A scheme of independent calculations of the Bellman function for the Precedence Constrained TSP, in which the cost depends on the list of pending jobs was constructed. The authors use a version of the dynamic programming method to solve a routing problem with the precedence constraints; this method makes use of an extension for the initial problem, which is based on a transformation of the precedence constraints into a special "deletion" rule (for tasks from the "current" list). At the stage of construction of the Bellman function, the whole array of its values is not used. In order to parallelize the computation procedure of the above mentioned function, they propose to distribute the task lists, which are realized at the penultimate stage of the procedure between different cores. In the construction of individual threads of the computational scheme, the authors use discrete dynamical systems, which build the sets, which may look similar to the reachability sets in the optimal control theory; the latter sets are employed in construction of the layers of space of position. The layers of the Bellman function, which are constructed in threads, are defined as restrictions of the latter onto the respective layers of the space of position. The statement of the problem and the solution methods are focused on a real-life problem of dismantling of a decommissioned nuclear power unit.

The authors propose a technology for a quantitative valuation of technology specimens on the example of a middle military-transport plane. The technology employsa min-max optimization criterion of valuation. The scientific selection of the best specimen for its designated purpose was proved in practice. An estimate can be correct, only if a sample is large enough. There is a discrepancy between a theory and an experiment. A multiple-criterion scientific choice is the only possible way. An adoption of the right solution or sound decision without a scientific foundation is impossible, because it can lead to unfortunate results. A vivid example is the decision of the high military command of the air force on closing of all works on An-70 plane. This mistake resulted in huge waste of time, money and control over the air industry. Algorithm of the suggested technology leads to perfection. This algorithm alongside with the use of the multiple-criterion method allows us to prove scientifically that An-70 plane is the best among the middle planes of the military-transport aviation. For the first time the algorithm of multiple-criterion valuation introduced into practice the maximum and minimum ways for optimization of the criterions. The maximal optimization is ensured by one group of criterions, and the minimal optimization is ensured by another group of criterions. Applied to the planes of the military-transport aviation this method allows us to select the best plane-model with account of its take-off weight and cost in relation to the maximum-mass of a payload. The suggested algorithm of the quantitative valuation and selection of the most rational of the specimen can be used conformably to any kind of equipment.

The authors investigate feasibility of application of the charging/discharging effects observed in the gas-sensitive metal oxides under the effect of a longitudinal electric field, and their variations at different atmospheres for a selective analyze of the gas of interest. The authors employ a concept of the gas-analytical devices, which operate on the principles of the biological olfactory system. Such devices, often referred to in literature as "electronic noses", are based on the multi-sensor array, which generates a primary vector signal under the influence of the gas mixture, and a pattern recognition technique based on the algorithms, which process the cumulative multi-sensor array signal. Like in case with a biological analogy, the analysis of the gas mixture is carried out not due toits decomposition into components, as it is done in the traditional spectrometers, but due to an odor "image" recognition complex. For measuring of the resistance of each segment of the multi-sensor array chip, an electric field (potential difference) is applied. The transient response of the measuring current, as it was shown in our previous studies, depends on the kind of a gas and the concentration of its constituent components. Here we employ a chemiresistor array based on the SnO₂:Pt thin film segmented by multiple electrodes into a chip. The authors describe the charging processes in such structures experimentally observed at the operating temperatures of about 300 °C. The longitudinal electrical field applied along the metal oxide film is distorted. This electric potential distortion depends on the gas and may serve as an "image" (or a vector signal) of the gas. We process this "image" with the use of a linear discriminant analysis. The results obtained demonstrate feasibility of this method for a selective identification of the gas of interest and development of new gas-detection instruments based on this principle.

The article analyzes effectiveness of the diagnostic systems of small dimensions (2-3 faults) with a small number of features (1-3). The systems are based on a fuzzy inference. Research is conducted using a stochastic model of an object, which implies generation of random characteristic values with given expectation (MO) and values of the standard deviation (SD) for the respective types of faults (pathologies). Herewith, various options are generated, membership functions, the types of distributions generated by the signs, their MO and SD are explored. A stochastic model of the object allows us to measure the performance of the diagnostic system with small volumes of training samples. It is shown that in many cases the diagnostic system of full dimension does not provide an unambiguous and quality solution to the problem of diagnostics. It is advisable to start construction of a multi-level diagnostic system using fuzzy logic with a mutual comparison of the sets of attribute values for the relevant problems in order to determine the feasibility of construction of the first, low-level diagnostics. At this level an obvious fault can be determined, or groups of faults can be selected. At the next level, using the additional features, we can diagnose specific faults in the pre-selected lower level group by the methods of fuzzy logic. In the developed system the fuzzy logic diagnostic method is most efficient when used as a part of the terms of triangular membership functions. With the increasing number of faults, and depending on the location of the sets of attribute values it makes sense to increase the number of the terms. In this case, it would be expedient to ensure that each term corresponds to at least one fault.

The article is dedicated to the problem of simulation of the functional activities of a human operator in the class of the additive system of representations, the main indexes of which are operational productivity during a shift and framing of the finished goods to the end. For the simulation the key moments were selected of the activity of a human operator, which determine the real operational productivity taking into account the processes of beginning of operation, getting tired, and restoration of his (her) functional abilities during an interval for rest. The obtained model allows us to establish an analytical relation between the productivity of a human operator and duration of the interval as a system guarantor for compensation for the fatigue. It allows us to control the course and results of the functional activities of a human operator due to the use of an additional potential of the functional activities of a human operator. Representation of the functional activity of a human operator must be considered with the use of the mathematical models with the interval parameters of the functional activity during the work shift, the influence on him (her) of such systemic factors as workplace organization, motivation to achieve the maximum performance, tiring process and recreational activities. The actual statistical data is based on timing of the activities and ergonomic studies.

This work presents a methodology for identification of aerodynamic coefficients of longitudinal motion of an aircraft in the operational range of the attack angles, taking into account the nonlinearities and changes in the engine operation. A solution to this problem envisages development of methodological, algorithmic and software support for the process of determination of the characteristics of stability and controllability of the aircraft, using flight experiments data and the results of the mathematical and semi-natural simulation. The paper discusses the basic steps of the identification technique and examples of its use. In the test-flights more than 100 test modes were performed with the purpose to obtain materials for identification of the aerodynamic coefficients for longitudinal movement and for the aerodynamic coefficients of the lateral movement. In order to assess the correctness of functioning of the on-board systems for measuring and recording a special algorithm was applied, based on the relationship between the flight parameters defined by the equations of spatial motion of the aircraft. The results of testing and the methodology on the example of a modern maneuverable aircraft are considered. The obtained estimates of the aerodynamic coefficients of the longitudinal motion of the aircraft in comparison with the a-priory wind-tunnel aerodynamic characteristics are presented. The method allows us to obtain reliable estimates of the aerodynamic coefficients of an aircraft within the operating range of the flight conditions, which is proved by the results of the flight data processing. The identification results will make it possible to reveal inaccuracies in the a-priory wind-tunnel aerodynamic characteristics, make adjustments and improve the mathematical model of an aircraft in accordance with the flight test data. A distinctive feature of the technique is the focus on the improvement of the identification procedures and development of a user-friendly graphic interface, which can be achieved due to specially developed algorithms and software.

The authors present a method for detection of conflicts in airspace within look-ahead time of 20 minutes, based on analysis of the current flight plans. It combines both geometric and probabilistic approaches, and contains, respectively, geometric and probabilistic algorithms. The geometric conflict detection algorithm forms the basis of the method. It views an aircraft trajectory as a series of straight line segments between the route points. In addition, it handles the dynamic evolution of the trajectory uncertainty with increasing look-ahead time. This algorithm ensures minimization of the number of conflict misses due to estimation of the distance between almost entire areas of predicted aircraft positions. The algorithm for calculation of conflict probability forms a superstructure of the method. It estimates the probability level of an event, when the distance between the two conflict aircraft is less than the threshold value at a closest approach time. This algorithm produces a supplementary indicator of a situation criticality. Two algorithms of probabilistic kind were developed and tested. Their results differ only in case when the predicted minimal approach distance is approximately equal to the threshold value. The algorithm, which gives greater value to the probability level, is chosen. The method is fully analytical, so it does not need step-by-step simulation. The appropriate computer program is used as a part of the Air Traffic Control system in the airport of Minsk, Belarus, providing to the controllers a considerable amount of information on the predicted air situations.

Today, the problem of timely detection and accommodation to the arising faults in navigation sensors of autonomous underwater robots (AUR) is very topical. Analysis shows that the existing approaches and methods provide a qualitative solution to the accommodation problems of faults only in case of a slow speed motion of AUR. In this paper, a new synthesis method of high-quality continuous accommodation systems to faults a rising in the navigation sensors of AUR is proposed and investigated. This method consists of three main stages. At the first stage, the problem of detection and localization of faults based on the use of a robot's kinematic model and special data fusion from its sensors is solved. It ensures high quality diagnostics data, because the kinematic model connects all the motion parameters of AUR and variables measured by its navigation sensors. At the second stage, the problem of the faults' size identification is solved due to introduction of special feedback in each observer. At the third stage, the additional control signals for AUR guaranteeing expeditious parrying of the arising faults are formed. The advantage of the proposed method is simplicity of its realization and high precision of compensation of the revealed faults in the conditions of uncertainty and essential variability of the environmental parameters. The modeling results prove high efficiency of operation of the synthesized system of accommodation.