An important feature of modern scientific and technological revolution is the rapid growth of collecting and processing information in almost all areas of science and technology. This gives rise to a large number of difficult tasks (problems) for a variety of reasons that people are not able to solve on their own because of their huge information capacity and complexity. It should be noted that in recent years there has been a steady trend of increasing the role of computers in the task, which is associated with problems of processing and presentation of data not only in quantitative terms but also in qualitative form - in the form of relationships, text description, obtained in economics, medicine, biology etc. The creation and distribution of software for data processing, which would allow users-nonprogrammers, working in various fields of science and technology, to solve problems on the basis of a computer, is also extremely relevant. Improving computer element base occurs with great predominance increase the degree of integration in comparison with other parameters. Therefore, the primary means of increasing productivity is to increase computer equipment - the number of gates used in it. In this paper we study the problem of implementing any Boolean function in the class of formulas and - circuits of functional elements in standard and Zhegalkin bases. An efficient method for the synthesis of formulas and schemes on the basis of the recurrence relations (functional equations), followed by obtaining advance analytically upper estimates of various indicators of complexity (the number of letters, number subformulas; on the number of functional elements over the depth of the formula and the depth of the circuit), including and schemes for the minimum of difficulty. If necessary to clarify the upper bounds for the complexity, the computational algorithm is being proposed.

The method for synthesis of closed loop quasi-time-optimal high-order (n-order) control systems is developed for a wide class of objects with polynomial and rational nonlinearities. This method is based on the transition from the problem of time-optimal control to the corresponding problem of analytical design of an optimal controller for the considered object using the specifically given performance index. Well-known A. A. Krasovsky's power series method is modified to solve the latter problem, that allows to obtain the sequence of approximations to the optimal control with increasing accuracy. The proposed synthesis method has the following principal features: 1) the representation of the unit function in the time-optimal criterion by a positively defined polynomial or rational function, that ensures the smoothness of a Bellman function and applicability of the dynamic programming method to the solution of the time-optimal control problem with a significantly lower amount of computations (n times reduction for a n-th order object); 2) the control law is defined in the form of a rational expression of object coordinates, that significantly increases accuracy of optimal control approximation in comparison with A. A. Krasovsky's method under the same number of parameters; 3) the synthesis method has an iterative character and allows a relatively simple implementation; 4) the method is applicable for solution of both problems of time-optimal and energy-saving control design; 5) the obtained control is continuous, not relay one, which eliminates sliding and oscillatory modes that are undesirable for considered objects.

This paper discusses local communication issues in a group of homogeneous robots for the purpose of decentralizing group management. A short review is presented of existing research in this area, which is mainly devoted to solutions for individual problems in the field. The possibility is considered to program the messages robots exchange within a group as fuzzy (pseudo-analog). There are comparisons with the natural world, where the social behavior of animals is negotiated with non-distinct messages in a continuous pattern. Issues regarding the physical aspects of organizing communication channels are considered. Robots that are used in group robotics have limited sensor and computing functions, but they should nonetheless be able to orient themselves relevant to one another to coordinate their common actions. Accordingly, the idea is proposed to emulate signal transmissions using a discrete IR-channel. The paper defends the grounds for interpreting received messages based on their sequence and the reactions they produce. The results of computer experiments that model the problem of individualized minds in robots are presented. The results of the computer experiments show that the use of fuzzy messages make robot behavior more variable, and allows the group to function more stably while consuming less energy for movement. These results prove that the proposed method is indeed viable, and also that message comprehension and the reliability of communication channels increases when fuzzy (pseudo-analog) messages are used.

The work is devoted to development of a visual navigation method for an autonomous underwater robot (AUR) using stereo vision. The authors describe the basic principles of implementation of the visual odometry method in accordance with the already established concept of computing, the main stages of which are comparison of the images' features and calculation of the geometric transformation between the neighboring positions of AUR. Two possible modes of operation of a computer program are considered: an on-line mode - the program runs directly on the onboard computer when AUR is moving, and it processes the captured video stream as it becomes available; and a post-processing mode - the program runs on a stationary computer and processes the saved video stream of the whole trajectory. In the first case initially we solve the problem of calculation for each position of the trajectory with the highest possible precision of AUR localization on the current limited sequence of images, and then a problem of provision of real time mode in general. In the second case the task is to ensure a high-precision calculation of AUR localization and increase the speed of calculation through the optimal selection and calculation sequence of the key frames in a path, using the existing video on the entire trajectory. Post-processing is essentially a solution to the task of a full calibration of the sequence of the key frames, which is necessary for solving of the subsequent problem of 3D reconstruction of an underwater scene. A modification of the basic method is suggested. It consists in development and application of an adaptive technique for calculation of AUR trajectory aimed at solving the above problems. It guarantees the desired area of the overlap of the adjacent frames, takes into account the shape of the trajectory and the height of its passage over the sea-floor, driving the dynamic model of AUR, and takes into account the dependence of the number of the actual incoming frames during the movement of the vehicle. Three co-operating techniques realize adaptability: a) selection of the size of the next step, depending on the degree of the overlapping areas of visibility of the stereo camera for two adjacent positions; b) reduction of the step, if the number of the matching features is smaller than the predetermined threshold; and c) cutting off those parts of the image which are not related to the overlap zone of visibility. These techniques provide an optimal way for determination of the sequence of the key frames, in which calculation of the geometric transformation for the local movements is performed. Optimality means achievement of the highest possible accuracy of localization of computation of AUR with the greatest step length in order to ensure the desired overlapping of the adjacent visibility positions. Computation of the local transformation matrixes is carried out proceeding from the condition of the minimal divergences of the points of the two matching 3D clouds. Comparative results of the computational experiments on estimation of the effectiveness of the proposed adaptive method are presented and analyzed. Alternative versions of the individual stages of the general computational scheme are also analyzed. In general, the method can be a useful addition to the traditionally used sonar navigation systems, or a good alternative to them in the conditions of local maneuvering.

In his study of the dynamic response of a servo valve motor the author substantiated the conditions of transition to the coordinates of the rotor and provided a mathematical description of the valve motor as a Brushless Direct Current Motor (BLDC). The mathematical description of the valve drive (VD) in the rotor (d, q) system of coordinates makes it possible to establish conditions presenting VD as a structure, similar to a direct-current motor (DC-motor). The vector control systems can be implemented by means of converters of coordinates, mathematical models and multiple-loop systems of the subordinated regulation. The vector control systems of the valve actuator ensure its functioning in a wide range of speeds and are used in precision mechanisms. However, the mathematical model describing the system of the rotating coordinates defines increased requirements to the effective control system. Moreover, this principle assumes a withdrawal from a discrete character of switching and establishment of sine-wave voltage and currents in the motor winding. It is important to point out, that a mathematical model of the rotating coordinates does not allow an unequivocal description of the specified structural presentations to define the control valve drive as a reversed DC motor. Firstly, it is defined by the duality of the processes and presence of a commutator functioning as collector, and, secondly, by the rotor position sensor (RPS) functions of the coordinates converter. Therefore, an adequate estimation of the valve drive properties requires models and structures taking into account the discrete switching and nonlinear properties of the controlled object. A block diagram of the servo drive displays the switching processes and formation of the anticipatory switching angles. The research provided a foundation for a simplified block diagram of the valve motor working in BLDC mode and synthesis of the regulators of the double-loop servo system. The dynamic modes of the drive were tested using the bottom and top speeds of the control range in a system with software setters of the angle and speed. It was demonstrated that depending on the operating conditions BLDC possessed dual properties: of a synchronous machine and of a motor of direct current. The dynamic and static characteristics of the valve motor working in the mode of auto switching are prominent features of the designed-system making it comparable with the vector control systems of the synchronous machines with the field oriented control (FOC).

An engineering methodology is set forth that is aimed at estimation of maximum permissible values of kinematic errors of power transmissions in early stages of adjustable-speed drives design. This methodology is based on requirements for the adjustable-speed drives specified by the technical assignment on accuracy, smoothness and peak accelerations. This methodology enables developers of drives and power transmissions to find a trade-off decision concerning the requirements for power transmissions' parameters already during coordination of the technical assignment. At the same time possible implementation of these requirements mainly in terms of manufacturing accuracy and assembly is taken into account. In order to implement the proposed methodology it is sufficient to use the following data: a State Standard for gear kinematic errors; technical assignment requirements for drives design concerning accuracy, velocities and accelerations of controlled member motion; a desired frequency behavior of a designed system or its prototype by available analogs.

We consider the basic possibility of constructing an active vibration isolation system with extreme control system electro-dynamic actuator on the basis of information from the accelerometer and the force sensor. It is shown that the switching on of the actuator that produces force proportional to the acceleration of the inertial mass parallel passive vibration isolation system of equivalence of inertial motion transducers. The analysis of the effectiveness of such a system of vibration isolation is given and offered the option of building extreme regulator (using information from the force sensor), is offered which provides automatic adjustment of the minimum transmission of force to the body at an arbitrary frequency harmonic disturbance. Promoted analysis of vibration isolation system with extreme regulator with input action in the form of broadband noise and the line spectrum is performed. Simulation of system with extreme control program in MATLAB / Simulink is undertaken. The research has shown that the proposed active system with extreme vibration isolation controller increases the efficiency in a given frequency range both in the single-frequency harmonic action, and when exposed to the sum of broadband random noise and the line spectrum, and both dispersion forces transmitted to the body, and the amplitude of the line spectrum frequencies in comparison with the passive system reduces greatly.

Simulation results should have the required degree of accuracy and reliability, that is, a model should be investigated adequately in the real process. Model of a "wheel" class was used as a standalone model for testing of the control algorithms for ABS, as elements of the other, broader models, reproduced adequately the braking forces on the wheels of the car. Analysis of the works of the domestic and foreign researchers shows that currently many different versions of models for calculation of j_X - s diagrams are used. However, there are no recommendations concerning selection and use of particular models in the study of the braking process of the car wheels in various conditions. In this regard, the purpose of this study is analysis of the degree of conformity of the values of the coefficient of adhesion to the road wheels, calculated by various dependencies, the values obtained in experiments, and development of recommendations for determination of the optimal formula for calculation of the diagrams depending on the type and condition of a road. The article describes various versions of the dependency of the coefficient of tire to the road coefficient of the longitudinal slip. It also presents the results of the road experiments for different types and conditions of the road surface. The article presents an analysis of conformity of the values of the coefficient of friction of a tire for calculation of various dependencies, and development of recommendations concerning search for the optimal formula for calculation of j_X - s diagrams for various types and conditions of the road surface.

Modern aircraft industry focuses, among other things, on reduction of the production costs in accordance with the market demands. Cost reduction can be achieved due to design for manufacturability (DFM) process. DFM practices are aimed to develop products of the same quality, but more cost efficient. This process requires additional knowledge and sufficient experience in selection of the appropriate equipment and technologies for the parts' production. Given the complexity of a modern airplane design (3 million parts for Boeing 767), it's hard to develop the right technology for each part, and, as a consequence, the design engineers often utilize the patterns, which have not changed for decades. The problem is that common practice does not exploit fully the potential of the modern equipment. One of the reasons behind the low automation level in the DFM process is a poor formalization of the DFM process. The authors of this paper did some work for formalization of the DFM process, which resulted in development of an information model, a method of the DFM process and their implementation in DSS, "DFM analysis system". This paper proposes a method for transition from a 3D model to its ontological presentation and describes its usage in the aircraft design process. The problems of the design for manufacturability and design automation are also discussed. The proposed method is aimed to ease the process of the data exchange between important aircraft design phases, namely engineering and design control. The method is also intended to increase the speed of designing and 3D model customizability. The author's plug-in for Siemens NX is based on the method of transition from a 3D model to its ontological presentation and focuses on simplification of the work of the design engineers and technologists.

Topic of this article is the problem of processing of the images of the stationary land scenes for the purpose of detection of the straight lines. Straight lines are considered as one of the most typical and robust components of the geometrical content. Straight lines detection on an image can be used in machine vision systems for solving of a number of information processing problems and control of the autonomous robotic mobile objects, such as: elongated landmarks detection in navigation problems; merging of several images of an observed scene with different resolution characteristics. The detected straight lines can be used directly as typical characteristic features in the recognition algorithms and object selection algorithms. At the same time, the detected straight lines could be used to form a different geometrical content, such as points of intersection and convergence of the straight lines, etc. For solution of the task of the straight lines detection an algorithm was proposed based on the use of a directed filtration and modified Hough transform. The directed filtration allows us to get a set of the contour points, while preserving information about direction of the brightness gradient. The offered modification of the Hough transform uses the aprioristic information about the prevailing directions of the brightness gradients, and also a condition that one contour point belongs only to one of the detected straight lines. The reviewed examples show, that even in case of a poor quality of the initial image (low contrasts and high noise level) the offered algorithm allows us to select information about the extended objects in the form of the contour points set, belonging to the straight lines, which determine the scene geometry.