Time delay is a phenomenon often encountered in control system designs. Most typically, the delayed systems emerge in transport, communications, chemical processes and power systems. Control of such systems is a difficult problem even in the deterministic settings, not talking about the situations when the parameters of the system are either not completely defined, or they change their values in the process of functioning. In this paper, a new reference model of the adaptive control scheme is proposed for the plans with an input delay and unmeasured perturbations, including some new adaptive control algorithms in the class of systems with an auxiliary model and enhanced error. The synthesized algorithms guarantee stability of the closed control system. Achievement of the control target is ensured by the presence of a closed loop signal with a rich spectrum, otherwise a dissipation system. Application of this scheme allows a reduction of the number of the adjustable parameters of the adaptive controller down to the number of the unknown coefficients of the system. The proposed structure of the adaptive control contains only units with lumped delays, which considerably simplifies implementation of such systems in practice.

The topic of the article is a search engine for an automatic optimization of the nonlinear object of control with algorithm for search of the extremum of nonlinearity and storing of the extremum. The traditional methods of regulation realized on the basis of the theory of the linear and linearized systems cannot ensure the demanded quality of regulation of the technological parameters of many industrial facilities, which are inherently nonlinear. There is a need for solution to the traditional problems of control with the use of the new methods implemented in smart systems, in particular, the neural network methods. The aim of the work is to solve the problem of an approximate assessment of the transition processes with the use of a neural network of perseptronny type in coordinates, the exit time (z, t) of the control object, which gives a chance to construct an approximate assessment of the phase trajectory of the process in coordinates of the exit entrance (z, x) of the control object. For the solution of the problem of assessment of the dynamics of the exit of an object the neural network method is offered in the form of a three-layer network of perseptronny type with a function of activation of the sigmoidal type. Use of the sigmoidal function allows us to transfer from the binary exits of neurons to the analog ones. The unknown parameters of a network result from the solution of the nonlinear optimizing problem of a minimal total error. The signal of an error of the solution of a neural network is defined as a difference between the desirable and valid output signals in the discrete time points. Results of the computing experiment of calculation of the transition process of search for the extremum of nonlinearity by a neural network method show efficiency of the offered neural network method in comparison with the known numerical methods of the solution of the differential equations, differing in considerable simplicity and rather high precision due to the choice of the number of neurons in the hidden layer, and also considerable speed.

The topic of this article is the role of the robotic systems in the restorative medicine and specific features of designing of such systems. The authors note the priority of the domestic developments in the area of the restorative medicine and the growing interest to them in the world. The specific features of the design of robotic systems for the restorative medicine are connected, first of all, with the live biological human soft tissues, their variable viscous-elastic properties, non-invasive nature of the mechanical influence, and various tools. Presently the robotic systems appear, which encourages development of the service systems of the public health care. The theoretical value of the work consists in presentation of the robotic systems for the restorative medicine with three components of the ergotic system, of which two components - physician and patient - are not technical objects but live intelligent subsystems. In this work the technical requirements for the parameters and units of the robotic systems for the restorative medicine are described, including the working area, developed efforts, speeds, accuracy, control systems, interface and tools. It is necessary to take into account the problems of safety, economic efficiency, interaction of robots and human-patients. The authors provide examples of technical requirements to the development of the robotic systems for the restorative medicine. In conclusion, they summarize the specific features of the robotic systems for the restorative medicine.

The article describes a new class of manipulators, built on the basis of solid elements with a spherical surface. Their bending link is implemented by changing the lengths of the cables passing through 4 holes on the edges of the elements. The authors propose a method for a synthesis of a complete kinematic model of such manipulator's link. The main problems were with finding solutions to the fact that when a link is bent, there was a complex movement of the components' link: a turn of the coordinate system of the elements and their movement via the complicated path - epitrihoide. In the received kinematic model the movement of the manipulator was simulated (a direct problem of kinematics) and constructed on the basis of 1, 2, 3 and 4 links. A solution to the inverse kinematic task for a link manipulator based on a geometric approach was also obtained. The problems, which have to be taken into account when solving the direct and inverse dynamic tasks: 1) stretching of ropes of the flexural link and load changes; 2) non-linearity: transition from a static friction to the rolling friction at the points of contact of the elements at the beginning of the movement of elements. One possible solution is installation of 3-axis accelerometers and gyroscopes to link the elements for the study of the above-mentioned phenomena. A large number of matrix transformation multiplications require development of algorithms for fast calculation and relevant hardware architecture.

The topic of this paper is a real-time simulation of the dynamics of a system of articulated rigid bodies with restrictions on their relative motion. Restrictions are set in the form of inequalities for the relative angles of rotation (for the rotational joints) or relative displacement (for the prismatic joints) of links. Examples of such systems are robots and manipulators, mobile vehicles with trailers, hinged doors, etc. This problem can be presented as a system of linear algebraic equations with linear complements. As a solution for this system the authors propose the method of sequential impulses utilizing a temporal coherence property, which means that the state of a multi-body system (their coordinates) varies slightly for a small period of time. The semi-implicit Euler method is used as the difference scheme. Since the problem presented in the form of a system of linear equations with linear complements is solved relative to velocities, it is necessary to ensure achievement of constraints relative to the body coordinates (task of constraint stabilization). For such a stabilization the authors propose to use the method of split impulses, which ensures stability of the dynamics simulation for a multi-body system. In this paper the authors consider methods used both for the open and closed kinematic chains. The proposed methods and algorithms are implemented in the program modules in the form of dynamic libraries for Windows OS. Their approbation was carried out in the subsystem of dynamics simulation performing simulation of the robots containing joints with restrictions on the parameters of the relative motion. Studies have shown that the proposed methods and algorithms meet the requirements for the dynamics simulation subsystems of the simulators for control of complex dynamic processes, and virtual environment systems. Such technologies can also be used in virtual labs, simulation complexes, systems of augmented virtual environment and other applications.

The authors analysed the noise-induced problems with diagnostics of the sucker rod pumping units (SRPUs) related to the peculiarities of their field operation. The authors demonstrated that the existing diagnostic methods based on interpretation of the dynamometer cards built on the signals received from the force and stroke sensors did not allow to solve the diagnostic and control problems in real time. Therefore they proposed a technology for determination of the robust normalized correlation functions, which were used to form combinations of informative attributes corresponding to the possible emergency states of SR-PU. Identification of those states is duplicated by determination and formation of combinations, which correspond to the noise characteristics of the force signal and improve the reliability of the results. When the proposed technology is introduced in the oilfields with a large number of wells, the combinations of the relevant reference coefficients will be determined for each SPRU during their operation, as various kinds of faults occur. Thus, after a certain period of operation, the combinations of the reference coefficients for the corresponding fault types will be formed and saved in the identification units of the SRPU robust control systems at all wells. When the reference coefficients for all the possible SRPU fault types are formed and saved in the identification units, the system will be switched to the automated mode of identification and control. Simplicity of realization of the processing algorithms makes it possible to solve the problem of the force signal identification by means of inexpensive controllers in real-time mode. Application of the technology in more than 100 real objects demonstrated that the profitability of the oil wells increased significantly due to the energy savings and an increase of the overhaul period.

The paper suggests ways to determine the technological parameters of vacuum arc remelting. Usually, the remelting automated control systems measure only the quantities necessary for a direct control, which in certain cases cannot be used to estimate the reliably the technological parameters of melting. Maintaining of certain technological parameters during melting is a prerequisite for obtaining a quality ingot. These parameters include the melting rate. It cannot be measured directly and it is expected that, with certain values of the electrical power given to the furnace, it will be maintained within the technology described limits, which is not always a fact. The subject of this paper is the method for determination of the rate of melting of a consumable electrode, when, due to the design features of the vacuum arc furnace, it is not possible to measure the weight of the consumable electrode and the ingot. This problem can be solved by installation on the viewing window of the furnace of laser range finders, which in their turn help to determine the amount of the remelted electrode. Knowing the volume of the consumable electrode in the previous and current periods of time one can determine the rate of the going on remelting. Determination of the speed of measurement of the laser range finders is not the least task. The relevance of the data is very important. If measurements are done every four minutes, the system allows us to maintain the rate of melting at the desired level. Since the system of maintaining of the supply of electrical power to the furnace is reasonably stable and rapid heating of the electrode without increasing the power is not feasible, we can expect a stable speed of remelting without any significant deviations from the estimated value.

Synthesis gas, which includes a mixture of hydrogen and carbon monoxide, is an important intermediate component in the synthesis of the commodity petrochemicals such as dimethyl ether, methanol, motor oils and fuels. One of the most promising technologies for production of the synthesis gas is partial oxidation of a hydrocarbon fuel with a lack of oxidant, which is realized in a controlled high temperature reactor (HTR). The authors propose a method for production of the synthesis gas of a given composition, which ensures the desired ratio of the volume fractions of hydrogen and carbon monoxide, and the required power of HTR. These parameters are especially important for the use of the hydrocarbon fuels with a varying concentration of components in their chemical composition, which is typical for the associated gas in the oilfields (PNG). For example, in PNG the volumetric content of methane as a component with the largest hydrogen number may vary within a wide range from 0.4 up to 0.95. Control of the technological process is implemented by an associated regulation of the components, which are used in HTR, - mass flows of the hydrocarbon fuel and oxidizer. In the control algorithm the operational information about the current chemical composition of the fuel and the preliminary data of the thermodynamic calculations of a given pair of the fuel-oxidizer are used. A computational algorithm was developed intended for implementation of the process in real time. It ensures convergence of the calculation process of the control signals. The method is illustrated by an example of the calculation process of a partial oxidation by APG oxygen.

In this article the problem of designing of indication pictures in avionics with the use of SCADE integrated design environment is considered. The SCADE design environment includes such implemented tools as SCADE Suite, SCADE LifeCycle, SCADE System and SCADE Display with broad functional capabilities, which are to be used by the developers of the indication pictures for an automated code generation of the functional software, which ensures displaying of the navigation information on a liquid crystal panel of the onboard indication equipment. The authors propose a structural scheme of an automated workstation for the developers of the indication pictures. The workstation includes software components, technical and information support tools. The following results are offered: an algorithm for formation of a static indication frame with the use of SCADE Display and an algorithm for formation of a dynamic indication frame using SCADE Suite tool. The static indication frame is a picture with a set of "frozen" graphic primitives (lines, symbols, circles, etc.) placed within the field of a liquid-crystal display. The dynamic indication frame, i.e., the changing numeric values of the navigation parameters corresponding to the movement of the aircraft, displayed on a screen, is implemented by the tools of SCADE System software. In the SCADE System software components a user can have access to the virtual address space, in which it is necessary to specify the addresses of the physical i/o devices of the on-board indication equipment and also to set parameters of the communication protocol, which is supported by the subscribers within the avionic equipment. Specification of the addresses of i/o devices and parameters of protocols in SCADE Display and SCADE Suite components is necessary for establishment of a logical link between each displayed navigation parameter and its corresponding source within the onboard equipment, which generates the code of a physically measured value.

The authors of this paper demonstrate how, with the on-board multi-position information received from a satellite navigation system and the inertial information delivered from three dimension accelerometers with orthogonal axes of sensitivity, forming a movable coordinate trihedron, for the latter one the orientation and angular velocity of the rotation in projections on its own axis can be determined. The mathematical model of the inverse problem in the "state-measurement" form is presented as 1) a dynamic group of equations of functioning of the inertial navigation system (without gyroscopes), with the state vector, which includes the coordinates, specific impulses and angular velocities of the instrumental trihedron rotation, and 2) equations for measurement of the object's location coordinates, identified with the coordinates of trihedron tops in the projections on its axis. A dynamic pseudo inversion (solution) of the problem is realized by the neural network, the model of which is based on Kalman-type algorithm in its multi-model presentation, which allows a judgment about a fair competition between the models in the progress of the state vector evaluation. The concept of "nuclear" and "nuclear-free" setting mechanisms of the neural network synaptic coefficients is introduced. Hypothesizes about a possibility of broadcasting of the characteristics, used in the description of an artificial neural network, are introduced in presentations concerning organization and functioning of the populations of the biological ("live") neurons. The results of the computational experiments are presented.