The topic of the article is the class of the control systems with a bistable relay element and smooth nonlinear plant running in the forced vibrations mode. Methods were developed for obtaining the sensitivity functions of the periodic motion characteristics (periodic trajectory, algebraic criterion of stability by Lyapunov). These methods can be used for sensitivity investigation of the control systems with the symmetrical pulse wide modulation (PWM), which have widespread technical applications. Sensitivity functions were obtained based on the precision method of investigation of the periodic motion. This ensures validity of the sensitivity functions, which are received due to the developed methods. An example is presented, which illustrates investigation of the sensitivity functions of the periodic trajectory and algebraic criterion of stability. This article is the first work, the aim of which is development of the theory of sensitivity of the relay control systems running in the forced vibrations mode. Besides the solution to the problem, in fact, it contains an algorithm, which allows us to develop methods for obtaining the sensitivity functions of the periodic motion for the systems with non-linear plant of any order. Having obtained the sensitivity functions, we can relatively easily identify the deviations in the output periodic motion characteristics. This allows us to estimate the system's performance. The proposed methods allow us to perform system syntheses and system optimization by setting limits on the periodic motion sensitivity.

The paper presents the results of research and model tests of a modular synchronous inductor machine (MSIM). It demonstrates the design of the machine, implemented in a prototype based on the existing design of the modular switched reluctance machine (MSRM) [8]. It emphasizes a number of positive aspects of a practical implementation of this design and distinctive features of its mathematical description. An algorithm for calculation of the parameters of the electromagnetic module of the machine in Ansys Maxwell software package is presented, too. The paper also discloses a method for calculation of a back-EMF component caused by a change in the flux of the phase winding, consisted from the module's windings, due to rotation of the excitation flux associated with the rotor. On the basis of the calculation the results are presented in analytical and graphic forms, a mathematical description and a computer model of MSIM were developed, as well as a computer model of the electric drive on its basis in Matlab - Simulink software package, which confirmed the limit characteristics of the machine, specified in the design. The electric drive with the above machine is built on the principle of subordination control with the internal current loop, which employs relays in each phase, i.e. sliding mode, and the outer loop speed, which uses PI regulator.

Today most of the manned and telecontrolled underwater vehicles are equipped with multilink underwater manipulators, and the quality of performance of the underwater operations depends on the accuracy and speed of movements of such manipulators. However, an underwater manipulator, moving in the water environment, is subjected to significant force and torque influences. These influences are caused by the inertial and gravitational forces, and also forces determined by interaction of the working manipulator and viscous environment. The specified influences displace the underwater vehicle, operating in a hang mode, from its initial space position. Thus the accuracy of the manipulator's work is reduced. The above effects complicate the qualitative performance of most of the manipulation tasks. The known systems for automatic stabilization of the underwater vehicles in a hang mode near the operating objects allow us to compensate for the negative force and torque influences from the working manipulator. These influences are calculated in real time. The values of these dynamic influences are proportional to the viscous friction coefficients of each manipulator link at the arbitrary spatial movements of a manipulator in water. These coefficients can be determined experimentally and depend on a geometrical form of the links, specific features of their surface and also on the tilt angle of a link to the fluid flow. It is obvious that the accuracy of the underwater vehicle stabilization in a given space point directly depends on the accuracy of definition of the required coefficients. The implemented analysis of the existing approaches and methods shows that today the task of creation of a universal approach to the experimental definition of the viscous friction coefficients of each multilink underwater manipulator link still has to be solved. This paper describes an approach to solving of the assigned task, allowing us to experimentally determine the viscous friction coefficients with the help of an aerodynamic experiment. Herewith, a similarity of the underwater manipulator link and its model in accordance with Reynolds number is observed. The offered approach is based on the momentum-transfer method and is characterized by high accuracy, simplicity and convenience in realization of experiments. For realization of the experimental researches in an aerodynamic tunnel an experimental adjustment was developed. With the help of this adjustment the dependence of the viscous friction coefficients on the tilt angle of a link to the fluid flow was determined. Values of these coefficients are necessary for calculation of the force and torque influences on an underwater vehicle from a moving manipulator with the purpose of their subsequent compensation by means of the vehicle thrusters. For confirmation of the results of the aerodynamic experiment sea tests were done. Herewith, the values of the required coefficients received in the sea and aerodynamic experiments appeared very close.

In today's robotics, an increasing attention is devoted to Multi-Agent Robotic Systems (MARS), which allow us to accomplish a wide range of tasks with high efficiency due to distribution of the tasks among several agents. The present paper is concerned with the development of an educational research complex intended to improve the algorithms and methods of robot group control at the Chair of Management Problems of the Moscow State University of Computer Science, Radio Engineering and Electronics (MIREA). As a result of an analytical review of the possible approaches to the development of the educational research complex within the framework of the present project, it was suggested to use Lego Mindstorms NXT 2.0 kit in order to save time and financial resources. Despite the simplicity of the structure due to the scantiness of the Lego set of the basic elements, the developed robot, however, provides the minimum of the necessary functional possibilities for solving of different tasks to work out the methods and algorithms of the robot group control. Planning of the appropriate actions and behavior of the robots is based on the technology of the frame-based structures for providing models (scenarios) of the typical behavior and the subsequent selection of a particular model, depending on the situation. Determination of the agents' current location and their orientation is carried out by an external vision system based on the optical character recognition (optical glyphs) technology. For the wireless data exchange between the control centre and the agents, Bluetooth technology of data transmission is used. The planning and distribution of tasks by the control centre of the MARS is realized in the form of software written in C#. The man-machine interface developed within the present research has all the necessary modules allowing us to realize the problem statement and to efficiently control its implementation. As an application example, we consider the task of building block constructions. The construction blocks are represented by cubes of different colours to be installed in a given sequence, corresponding to the construction process. The results of the experiments fulfilled in order to test our hypotheses and construction principles of the MARS are presented.

In the current article, we discuss the systematic, methodological and psychological problems arising in the evolution process and global technogenic environments, and their agents' role. We present the scientific prerequisites of the human integration with the technogenic environment and explore the psychological problems of the technogenic improvement of a human personality, with a focus on the contradiction between "the complex world and simple consciousness", limited by a person's ability of adaptation to the complex environments and group activity in the technogenic environment. The organized character of the technogenic environment is associated with the creative qualities of man and society, which are a system consequence of the interaction between the social and psychobiological autopoietic systems, which implement the principle of a total autopoetic organization of the human-dimension systems. Appearance of robots and mechanistic modules solving local tasks in the technogenic environment results in the problem of coexistence of humans and autonomous engineering systems with artificial intelligence. This requires an understanding of the questions of interaction with of the self-organizing autopoietic systems, which differ from the classical physical interaction. The ergonomics and engineering disciplines face new challenges associated with the human factor in the development of complex technical environments and systems, including humans as actors in the artificial environment. At that, the classical disciplinary fields of ergonomics and engineering psychology transfer to the neoclassical ideas of self-organization and self-development of the complex systems and environments, which extends and complements their conceptual area. Integration of the humanities and engineering knowledge requires higher levels of the psychological education for the developers of the complex technical ergonomic systems and environments.

Current systems of the carrier-phase-based positioning require the use of differential methods, employing simultaneous measurements on a base station. The main problem, which hinders the absolute phase measurements, is insufficient mutual synchronisation of the satellite and receiver clocks. This insufficient synchronisation results in unknown parameters which are difficult to determine using the stand-alone equipment: the integer cycles number N, the phase at the transmitter's antenna j_s and the initial phase of the receiver's reference generator j_r^int. The new method proposed in this paper allows estimation of the two latter parameters with the aid of information from an inertial system. The main idea of the proposed principle is that INS and carrier-phase measurements have different error structures. The paper shows that a residual between the INS and carrier-phase measurements under certain conditions has a periodic nature, and the corresponding error source - bias on a satellite antenna - can be tracked and eliminated. The second error is the phase bias in the internal receiver generator, which can be estimated by Kalman filter. The method proposed to resolve the integer ambiguity needs a dual-frequency reception. Although this approach theoretically allows an absolute positioning, it is still desirable to use any type of a wide-area differential correction, because certain influences of the error sources cannot be sufficiently eliminated to take advantage of the carrier-phase measurements over the code measurements. The system was simulated using the Matlab/Simulink software package.

A complete mathematical support of the 3D finite beam element for modeling of the micromechanical inertial measurement sensors and their components has been developed. The mathematical support includes mass matrix, stiffness matrix, Coriolis matrix, and centrifugal matrix. The mathematical support takes full account of the gyroscopic effect and the theory of Timoshenko. Employing of the Variational principles of mechanics and Lagrange's equation makes the process of derivation of the mathematical support clear, accurate and well-founded. The developed software was verified by a numerical simulation of the influence of the gyroscopic effect on the dynamics of the simplest model of the vibrating gyro. The results obtained due to the numerical simulation by using the developed mathematical support were compared with the results obtained in ANSYS, well-known engineering simulation software. The difference between these results was less than 5 %. This difference can be explained by the dissimilarity of the elements used in ANSYS and in the developed software. This paper shows that the developed mathematical support can be used for development of special software, which ensures, in contrast to the universal proprietary closed-source software such as ANSYS, a transparent implementation of the algorithms, a complete control of the progress of computing and significantly lower cost. Thus, the developed mathematical support for the three-dimensional finite element based on the theory of Timoshenko can be used to solve a wide range of problems of statics and dynamics, including the gyroscopic effect, e.g. in the area of research and development of the microelectromechanical sensors of the inertial information.

The article presents a solution to the problem of determination of the air and ground velocities used in the technology of assessment of the air parameters' determination tools with the use of the satellite navigation systems when testing aircraft in unsteady flight conditions. The main factors of the speed calculation errors are presented; a metrological estimation of the suggested solution is calculated on the basis of the results of the analysis. In the flight testing methodology in aeronautics the questions of determination of the conventional true values of the air parameters play a significant role. The solutions to these questions evolved with the emergence of the satellite navigation systems and their usage in the flight tests. In recent years, with the use of the satellite navigation systems in Gromov Flight Research Institute the technology for assessment of the onboard air parameters' determination tools was developed and introduced into practice of the aircraft testing, which significantly improved the quality of the results of the flight tests. The article provides one particular solution to the problem of determination of the air and ground velocities used in the technology of assessment of the air parameters' determination tools with the use of the satellite navigation systems for testing aircraft in unsteady flight conditions. The main theses of the technology in general have already been presented in [2-4, 6-11]. The effectiveness of the suggested method was more than once demonstrated in the tests of the aircraft at high angles of attack. The presented results of the analysis explain the calculation algorithms and the factors of accuracy of the velocity determination, and justify the conditions of the method's efficiency. The results of the metrological assessment of the solution are important for development of the principles for assessment of the aircraft tests in unsteady flight conditions.

The article presents the problem of the sensor fault diagnosis in the unmanned underwater vehicle control systems described by means of the structure schemes including blocks with transfer functions and static nonlinearities. One of the most important components of the control system of the unmanned underwater vehicles is navigational sensors. The problem of a timely detection of faults in this group of sensors is very important. Faults in the sensors may cause incorrect execution of the task or even loss of a vehicle. The sensor fault detection and isolation in the unmanned underwater vehicles control system is based on the concept of an analytical redundancy. Analytical redundancy includes two or more ways to determine the values of the variables of the system, one of which uses a mathematical model, presented in an analytical form. One of the methods of the system diagnosis based on analytical redundancy is the observer-based approach. Diagnostic observers are based on a mathematical model of the diagnosed object. The decision is based on the analysis of the residuals generated as a result of mismatch between the outputs of the sensors and the outputs of the observers. In a healthy system the residuals are close to zero. When a fault occurs, the residuals become significantly different from zero. The problem of interest to us is development of a fault isolation observer-based procedure with an accuracy of a block of the initial system (if this is possible). Let us assume that only input and output signals are available for diagnosis. The reason for these restrictions is that a model of the initial system does not go through any nontrivial linear transformations. Therefore, this approach can be used in a nonlinear case.

The article deals with the problem of adaptive control of a single-axis vibratory gyroscope. In order to improve both the control quality of the vibratory gyroscope and the identifying properties of the adaption algorithm, an extension of the original system is proposed by adding additional integrators to the gyroscope inputs, i. e. enhancing of the astatism. On the other hand, smoothness of the electrostatic forces applied to the axes of a gyroscope is improved. Smooth control algorithms as well as algorithms of the sliding mode with a tuning surface for the gyroscope with integrator was designed by the speed bigradient method (SBGM). SBGM consists of three stages. At the first stage, an "ideal" virtual control for an output subsystem, which is the gyroscope, is designed. The "ideal" virtual control ensures achievement of the control goal for the output subsystem, assuming the object parameters are known. At the second stage, the unknown parameters are replaced with the tunable ones, and adaptation algorithm is designed. At the third stage, a deviation of the manifold, that is a difference between the input subsystem, which is an integrator of the output and virtual control, is selected. Control law ensuring the convergence of the system trajectories to the manifold is designed. The relevance of adding of the additional integrators to the inputs of the vibratory gyroscope; analysis of the robust properties of designed adaptive control algorithms with respect to the additive disturbances; comparative analysis of the convergence, accuracy, and presence of the identifying properties of the designed algorithms are presented. The theoretical results are proved by a computer simulation in MATLAB.