The object which mathematical model is the vector equation with the distributed delay on a state vector investigated. It is supposed, that parameters and order of mathematical model are unknown. On object not measured limited disturbance operated. The problem of tracing a reference signal is formulated. To provide qualitative tracking a reference signal, it is necessary to compensate influence of not measured disturbance on the output variable. For the decision of this problem, the method of an auxiliary contour is used. This method has well proved at designing sensible control for systems without delay. In this paper, this method was used for systems with the distributed delay. The problem robust control of objects with the distributed delay on a state vector was solved. It is suppose, that parameters and order of mathematical model of object are unknown, and output variable are accessible to measurement only. As target conditions accuracy of tracking of a reference signal is accepted. The algorithm of the control was received allowing compensating aprioristic uncertainty and it is essential to reduce influence not measured the bounded external limited disturbance to output. The equations of the closed system are singular the system of equations. In this paper is prove, that the received algorithm of control provides performance of target conditions. Numerical examples and results of computer simulation, which have shown efficiency of the receive algorithm of tracking.

For dimensioning of the regulators of the automatic control objects with the distributed parameters the methods are used, which take into account the final range of the spatial modes. In this case, for each mode the transfer function is approximated by the finite polynomials of the degree of n. As a rule, the transfer function of the first order and an aperiodic link with a delay are used. In this paper, the authors consider the systems, in which astatism is achieved due to a correction device included in parallel with the unchangeable part of the system. Here a methodology is presented for calculation of the system parameters at an approximation object of a regulation aperiodic link of the second order. This approximation allows us to use the methodology for calculation of a correction device, which forms a signal containing the first derivative of the input signal. The design procedure of the parameters is based on the requirement to obtain for each spatial mode an aperiodic transition process with the least possible time of regulation. It is demonstrated that introduction of a derivative in the law of the signal at the output of the correction device with increasing of the coefficient of derivative can appropriately increase the distribution coefficient of the amplifier unit, resulting in enhancing of the performance of the system during the transition process. In such a way the system's performance is limited only by the maximal permissible signal at the input object of regulation. By means of a mathematical adjustment the work confirms the possibility of obtaining high levels of the quality control when using the systems in question and the proposed method of calculation for the objects with the distributed parameters. It shows the curves of the transient processes' temperature control in a single distribution point object (steel plate), and two closely spaced points. It was demonstrated that the use of the considered systems and the distributed amplifier links ensured a virtually independent temperature control in the two areas of the object.

In this paper, well-known engineering solutions that are used in practice are analyzed in terms of utilizing polyimide in space microsystem devices. Possible applications are classified according to their functional roles. Advantages and disadvantages of using polyimide in modern engineering structures are discussed. Technological methods for forming polyimide layers are considered. The main aim of this study is to analyze and summarize the data about polyimide as a promising material for using in microsystem technologies for space applications. Polyimide possesses good mechanical and dielectric properties and has high coefficient of linear thermal expansion. In microsystem engineering, polyimide layers may find numerous applications. They can be used as dielectric coatings; hardening and protective coatings; thermal deformation layers; molded flexible films; separating layers with conductive interlayer buses; flexible joints and other components in micromechanics and micro-robotics; planarization layers; membranes and films; a supporting base for microelectronic components. Polyimide has high adaptability when used as functional layers in microsystem devices. Modern technologies for forming functional polyimide layers in microsystem engineering allow high-precision manufacturing of adhesion-strong design elements. Polyimide has high mechanical strength and is resistant to various destabilizing factors of space. These properties make polyimide prospective for using in space microrobotic devices. The use of polyimide in outer space is limited by the facts that this material is subject to etching in atomic oxygen in low near-earth orbits and that it is necessary to ensure stable adhesion of polyimide to structural materials of the devices.

The article presents a new method of a structural analysis of the mechanisms in the mechatronic devices and robots, and formulas for analytical determination of the structural and constructive redundancy mechanism. The structural redundancy mechanism includes excessive contour connection, turning it into a statically indefinable system of extra contour and mobility (the ability of the link to rotate around its longitudinal axis or several links around their common axis, without affecting the functionality of the mechanism). The contour excessive communication can lead to an increased friction in the kinematic pairs or deformation of the links in the assembly, while the extra mobility contours lead to unnecessary design complexity of a mechanism. The constructive redundancy mechanism includes unnecessary links (the links, which do not affect its functionality, but influence the quality of its operation) and metric connections (the links, which duplicate the restrictions on the relative motion of the links in the mechanism). The excessive units increase the cost of a mechanism, while the metric connection can lead to blocking in case of inaccuracies in the manufacture of the links. The article presents examples of a structural analysis of the mechanisms and ways of elimination of the identified redundant links, the extra mobility and extra links, and metric connections. The proposed method of the structural analysis of mechanisms, robotic and mechatronic devices enables one to define a number of redundant and metric relationships, the extra mobility and extra links of each closed contour, and the degrees of freedom of a mechanism and its mobility. Application of this method allows us to design mechanisms without the structural redundancy, which facilitates the assembly process, reduces friction and wear in the kinematics pairs, and improves functioning of the mechanisms. This ensures high quality of the mechanical parts of the mechatronic and robotic devices.

This paper presents a review of ergatic distributed data-processing system (EDDPS) based on network with Centralized computing and informational resources. According to application conditions, EDDPS is able to operate in several modes (regular, testing, training etc.) either with existing database (DB) or without it. There should be manual input to get the final result in the second option. Data processing in EDDPS is done by solving informational-computing task (ICT) including both standalone tasks and tasks consequently solved in technological handling data chain (THDC). Every ICT is a self-realized software product. Automated Workstations (AWS) are provided for data processing in EDDPS, functionally grouped ICTs are being solved on these workstations. The following requirements are imposed to the system: non-interrupted transition process between different modes and minimized data-processing time. EDDPS's efficiency may be ensured by the way of system control, i.e. provide with a capability to respond to control actions in a certain way, specific direction and timeframe. EDDPS control must ensure changing of the state in the shortest period of time to get the circumstances best for ICT solution; minimization data-processing time; steadiness to internal and external perturbations during the all system operation steps. Complex of technological and software resources, informational security and staff is the management object of EDDPS. It's covered by control loop which includes management subject (decision maker - DM) and management tools (technical, software and informational). Such approach enables to solve the time-minimizing problem for operation system both with data processing and with its state changing. EDDPS mode control is connected with adjustments of system parameters characterizing its functionality (e. g. Operating mode, used DB, AWS composition, ICT structure etc.) and must ensure the transformation from one steady state to another. Behavioral model reflecting all possible mode transformations may be used as management foundation. Data processing control is done in a current state in aim of time minimization of the data reduction to increase the speed of system functionality in total. Minimum of time may be achieved for the relevant system class by using the program monitoring function which can be presented by schedule of ICT decisions on chosen AWS. Presented two control modes are independent as their usability may be mistiming - as they are used on the different steps of the system operation. The basis of EDDPS control is the paradigm of several control loops usage each of which realizes method requisite for the exact step. Controlled functionality EDDPS with minimized data processing time is realized by software utilities and informational management support.

The problem of safety restrains spreading of man-robot co-working technologies. The paper investigates the applications in which staff works in robot work area. They include repairing, testing and adjustment procedures of technological equipment, manipulator and its programme of functioning. Particularity of these operations consists in frequent changing of operator activity points and the need to watch result of robot motions in close proximity to equipment, part or attachment fixed in manipulator jaws. Highlighted workspace method is one of the way to ensure the safety of worker. The method consists in restriction of robot movements in man working area. It can be realized by standard technical equipment such as mechanical enclosing structures, electronic access systems and light curtain devices. The investigation shows that they are not convenient in use because are not adapted for operational borderline changing. The comparison shows that systems which based on technical vision are better suited for such applications. They give more additional information to robot control system for flexibility selection of preprogrammed behavior when borderline intersection is detected. Highlighted workspace method includes two phases: marking of borderline between working areas and monitoring to prevent line intersection by robot or man. The means of borderline marking should support operative changing of borderline, simple teaching procedure of system technical vision and reliable detection in valid level of illumination. To satisfy above conditions special modules with blinking led lamps were developed. The paper describes procedure use of modules and gives results on detecting of their location in different brightness of backlighting.

The article is devoted to solving of the problem of identification of a complex dynamic plant with the distributed parameters - plasma in a tokamak magnetic field. This identification problem is solved not with the use of the advanced techniques of identification, such as subspace method or wavelets, but with application of the laws of physics and knowledge of the plasma as a controlled plant. Models of plasma are constructed from the magnetic measurements of the plasma by solving of the ill-posed problem in Hadamard's sense boundary value using the least squares method. Essentially, this is the problem of the plasma equilibrium distribution of the poloidal flux, toroidal current and of the plasma boundary reconstruction. Reconstruction (or static identification) is implemented on-line by means of the signals from the magnetic loops outside the plasma, as well as the signals from the Rogowski coils, which measure the plasma current and the currents creating the poloidal magnetic field. The plasma equilibrium is described by Grad-Shafranov equation with the unknown right-hand side (plasma current density). We approximate the plasma current density with the linear functions of the poloidal flux and iteratively solve the equation using Green's function method. Reconstructed equilibrium is used for computation of the effective inductance matrices of the system, which are applied for construction of the linear dynamic models of the tokamak plasma. The dynamic model equation is derived from the plasma force balance equation and the linearized Kirchhoff equations for plasma and tokamak coils. The constructed linear models may be used for synthesis of tokamak plasma position, current and shape control systems. The algorithms of plasma reconstruction and construction of the linear models were applied to the experimental data from spherical tokamak Globus-M (Ioffe Physical-Technical Institute of MS, St. Petersburg) in MATLAB and LabVIEW computing environments.

For spacecrafts with long operational life, the development of reserve ways for maintaining exact three-axis orientation, when there is no opportunity to use measurements of the full state vector, is a topical problem. In such cases, state observers are usually applied for asymptotic estimation (restoration) of unmeasured components of the state vector and subsequent use of the received estimations in the feedback path. In this article, we consider the problem of asymptotic estimation of the three angles of orientation, which are inaccessible to direct measurement, in the fine orientation mode in the orbital reference system by means of a state observer. Data from the gyroscopic angular velocity measuring device and from the sensor of a local vertical are used in the observer equations. Feedback coefficients for the observer, which provide attenuation of the estimation error, are obtained. Efficiency of the observer is validated by numerical simulation of the control system with the observer designed for a satellite with elastic elements. For the case of failure of the gyroscopic angular velocity measuring device, we also consider the problem of determination of angular velocity vector components on the basis of measurements of the angles of orientation obtained from high-precision star sensors. Here, the state observer is proposed to compute derivatives of the measured angles via polynomial approximation of measurements by using the method of least squares.

Development of the theory and practice of the automatic radar object recognition is based on the latest computer technologies, system analysis and processing. One of the modern trends in the field of the aerial targets recognition is related to the analysis of the radar range profiles (RP). The authors discuss the idea of presentation of the radar aerial targets as a set of scatter points of the radio waves, which depends on its structural features, as it is shown in presentation of RP as a superposition of the elementary scatters. The procedure of the radar object recognition includes two sequential tasks. The first task is to build the classification signatures of the objects using the radar data, which allows us to distinguish the objects, one from another. The second task is identification of the observed objects by gathering of the obtained signatures. The reliability of the recognition depends mainly on the choice of the classification signatures. The article shows that a solution for recognition of the aerial targets can be based on the analysis of the morphological, geometrical and wavelet characteristics of the range profiles. The methods for formation of the corresponding information features are discussed in this article. Construction of the morphological signatures is based on the analysis of the impulse components in the RP structure: the composition and the results, ranking by the amplitude. The geometrical information signatures of RP include such indicators as its depth, center of gravity and moments of the zero, first and higher orders. A possibility of application of a continuous wavelet transformation is presented in the analysis of the range profile features. The wavelet analysis allows us to detect the local features of the signals. It is a powerful alternative to Fourier analysis, and it ensures a more flexible technique for processing of the signals. The effectiveness of the wavelet analysis depends substantially on the selection of the basic wavelet. The article raises the question of the best choice of the basic wavelet. The solution is proposed upon the analysis of the Gram matrix characteristics, which are constructed from the wavelet coefficients of the aerial target RP. In the implemented studies, all the necessary empirical data of the RRP aircraft were obtained by using Backscattering Simulation, simulation programs of the RP aerial targets, developed by Y. D. Shirman and his staff.

Problem statement: The lifecycle of a large aerospace product consists of a very large number of interconnected activities, which are normally partitioned into several phases such as Design, Production, Operation and Decommissioning. Today, there is no central lifecycle management system. A new approach to the aerospace product lifecycle management based on concepts and principles of Complexity Science is described in this paper. Methods: A new lifecycle management system is suggested Product Lifecycle Management (PLM) Service has been designed as an adaptive network of computational services based on multi-agent technology with ontology. Results: A concept of PLM system that have a requisite granularity and requisite complexity in order to manage other complex system. Advantages of the suggested approach are shown based on the complex aerospace products example. Basic components of PLM Service architecture are specified and their interaction mechanism is described. A decision to use ontologies for conceptual knowledge description, required to manage the whole lifecycle and multi-agent approach for interconnected services network design where each server is dedicated to a particular lifecycle management function is justified. An architecture of an adaptive Aerospace PLM Service is developed. Developed models and methods of decisionmaking support in different system components allow to provide an appropriate reaction to the disruptive events on all aerospace products lifecycle phases. Practical value: The new solution to the existing problem of aerospace products lifecycle management with PLM Service provides distributed decision-making capable of revising the decision in real time whenever a disruptive event occurs, productivity improvement and costs reduction of aerospace product lifecycles.