A new mathematical model of the hardware-redundant technical system has been developed, containing the main functional and redundant units, for their plug-in instead of the failed main ones, in a conflict situation. In the proposed model, besides the restrictions associated with the replacement of the failed units, the backup only in the group, to which they relate, has further restrictions, reflecting the real working conditions and organizational and structural principles of the technical systems associated with the external backup units intended to replace the failed the main functional units in the corresponding group of the units in the process of a conflict. The aim of these restrictions is to ensure that the reasons to connect the redundant power in the relevant group are not less than certain constructive and technical features of the system, the number of the main units arranged in a row, failed in the process of a conflict in this group. The model also takes into account the reliability of the system of the final control over the technical system and connection of the redundant power instead of the failed one during a conflict. Due to its behavior involved in a conflict situation, the technical system is described by a system of differential equations with the variable in time coefficients, while the study of this system by analytical methods is not possible. Therefore, in this paper the authors propose a method of approximate calculation of the average lifetime of a technical system involved in a conflict, allowing numerical methods to determine the optimal structure parameters of the technical system, which ensures maximization of its average lifetime in the process of a conflict.

Necessary condition of increase of productivity of cranes of bridge type is reduction of residual pendular fluctuations of freight on a flexible rope suspension after its moving to а target final position. For clearing of residual fluctuations of freight it is offered to use the hydraulic drive. Improvement of a design is executed by means of two hydraulic cylinders located perpendicularly in the horizontal plane. The problem of clearing of residual fluctuations of freight on a flexible rope suspension in one of the vertical planes of three-dimensional space after a full stop of the bridge was formulated (or as version of the main cargo cart) the bridge crane. Spatial fluctuations of freight at small corners of deviations of a cargo rope from a gravitational vertical can be presented as superposition of fluctuations in two mutually perpendicular vertical planes. Therefore the developed active way of clearing can be applied also to spatial residual fluctuations of small amplitude. The active way of clearing of residual fluctuations of freight consists in synthesis by means of imitating model of the bridge crane with proportional-integral-differential the regulator of function of acceleration of movement of a point of a suspension along a horizontal axis. On the movement of a point of a suspension, i.e. hydraulic cylinder rod with the specified weight, restrictions in the form of characteristics of a hydraulic actuator are imposed: the maximum acceleration developed by a rod, the maximum gathered speed, and the maximum course of a rod. The hydraulic cylinder is influenced by the axial force of resistance. According to the offered scheme of communications, with use of blocks of a package of mathematical modeling of the mechanical SimMechanics Second Generation MATLAB systems, the model of mechanical system of the bridge crane with proportional-integral-differential regulation, allowing to study various modes of clearing of residual fluctuations of freight at a design stage of the bridge crane was developed. The developed way allows to provide reduction of time of residual pendular fluctuations of freight. As a result crane productivity increases.

An appearance of diagnostic systems of complex structure dynamic objects, based on "soft computing" is connected, primarily, with a relatively large number of possible developing faults (abnormalities) in these objects. The number of symptoms for diagnosis is often limited, and the field of values of these characteristics for different pathologies are intersecting. The claimed genus can include objects of different nature: technical, chemical, biological, etc. A very common situation for such objects is the lack of sufficient statistical samples of values of signs of pathology for the successful application of statistical methods for diagnosis. This work discusses the problems of structural construction and functional multi-level diagnosing systems based on fuzzy logic reasoning. While not subject to the restrictions on the dimensionality of the system (the number of diagnostically pathologies) and the possible number of signs used for diagnosis. As a tool, providing an acceptable and functional structure of the diagnosing systems and its individual levels, is used stochastic model of the diagnosed object. The model implements the generation of random values of features with preset mathematical expectation and standard deviation values for the respective pathologies of the diagnostic object. This article paper proposes a method of constructing a multi-level diagnosing system in a sequence of steps (actions) to build appropriate levels of diagnostics. First of all it is solving the fundamental question of the expediency of constructing a multi-level (hierarchical) diagnosing system.

SLAM is a modern technology of a simultaneous localization of a mobile robot in the environment of motion and mapping of the surrounding space. By using SLAM a robot determines its position (solves the problem of localization) in space and simultaneously builds a map of the environment. This is a major technology for approaching the problem of navigation of the mobile robots. Now certain algorithms are already available with the known solution for the problem of SLAM. SLAM algorithms are applied widely for control of the mobile devices moving on the roads or off roads, for control of the flying robots (autonomous robot planes, helicopters, dirigibles), and for control of the android walking robots. Of course, for each class of the mobile robots there are specific features of a concrete SLAM technology, but the main ideas remain the same. In the specified technology a robot orientates itself in relation to the known reference points, using the sensors providing information on the reference points. In the first SLAM algorithms video cameras and/or range finders were often used, and later satellite navigation sensors were used. The article presents a brief review of the popular effective solutions to the SLAM problem based on various sensor processing algorithms and using different hardware. Among them the basic SLAM methods, such as MonoSLAM, FastSLAM, VisualSLAM, INS-SLAM, and INS-GPS-SLAM are considered. Their description is presented in the same order as information about these methods appeared in literature, and in the specified row, so the subsequent methods are more improved, than the preceding ones. Now the above methods ensure a reliable navigation for the mobile robots, however, new methods appear, and research is going on, in particular, with the aim to increase the speed of the SLAM methods and develop new sensors providing information on the environment.

This article describes methods of solving problems of automatic navigation of robotized mobile devices inside of a building. A robotized mobile device has tracks and can move back and forth and turn right-hand and left-hand. Micro controller based on Arduino is responsible for receiving and processing of information taken from sensors. Analysis of the data occurs directly onboard of a robotized mobile device using a single-board computer Raspberry Pi or some kind of it. The article shows a method and an algorithm of a robotized mobile device to follow the path and then make a map of a particular building. While moving a robotized mobile device records in memory the data received from sensors. Then it processes the data and forms a map of the building. The relevance of this work is that the most common navigation systems using GPS (Global Positioning System) / GLONASS (GLObal NAvigation Satellite System) don't work in those conditions when a robotized mobile device is located in buildings, such as a room or a building hallway. A satellite signal is lost while going through cemental, metal or wooden constructions. The algorithms presented in the article are based on the properties of the standard deviation values of the distance to objects surrounding a robotized mobile device. The data were obtained through a set of range finders, which was installed onboard of a robotized mobile device, without using a complex and expensive scanning device. Developed algorithms have an advantage, they can work in a building without reference to GPS or GLONASS. The main features of the algorithm are simplicity, low price and accessibility of the used hardware.

The control system of mobile robot (functioning in buildings and structures), based on the methods of trajectories construction using a depth gauge sensor Kinect. The general approach of the work is based on the sequential execution of three phases: obstacle detection, mapping and construction barriers trajectories. Recognition guidelines robot is implemented using an SURF algorithm and FLANN library. Their combined use provides effective recognition obstacle in the near zone of the mobile robot to the required accuracy in real time. Mapping obstacles (concave shells) and the estimate of the distance to the border barriers is based on getting the so-called acceptable points. For this purpose, using the algorithm implemented Point-cloud detection of different types of obstacles in the close range of the robot. Synthesized a modified 3D-pointcloud algorithm which provides a solution to the problem of the robot move without colliding with obstacles. These algorithms can be applied to any stereo cameras and rangefinders that return colored frames and image depth, as described algorithms use data on the distance of objects from the sensor and are resistant to the visible spectrum of light (can operate in total darkness, without requiring a backlight). Built three-level robot control system in buildings and structures on the basis of a modified algorithm of 3D-pointcloud. The results of experiments confirming the effectiveness of the above approach.

In this work the authors propose a method for analyzing information about the mechanism of the manipulator's positions and use of the restricted area in the field to set permissions in the configuration space of the generalized coordinates. Permissions' configuration reflects a model of the environment and is used in a system, which autonomously generates a robot's movement in accordance with the job description. Features of the manipulator are associated with the execution of the tasks in advance and on the eve of implementation of a virtually simulated movement. If the desired job is virtually modeled, it is executed as a sequence of operations with the use of the force-torque control algorithm and sensitizing system. At the same time, virtual modeling avoids unjustified and unnecessary movement of the manipulator in the presence of a motor redundancy. An approximate method for setting the resolved configurations is used in the collection of the planes and surfaces of the second order, limiting this area. The developed mathematical model of the area made feasible the configurations based on the use of the sets of inequalities and the unit of R-functions. Analysis of the relative position of the manipulator's motion paths and the field configurations admitted in the space of the generalized coordinates, allows predicting deadlocks, in which an arm can move. The results of the computational experiments and studies prove a reduction of the calculation time of the generalized vector of velocity and the trajectory of the manipulator motion in the phase of analysis of the mechanism of virtual manipulator interaction with the known environment. The analytical dependencies can be used in the intelligent control systems for the robots operating autonomously in the presence of the forbidden zones.

The article studies the problem of three-axis reorientation of a rigid spacecraft. Three reaction wheels are employed to produce necessary torque in the axes of the spacecraft. External uncontrolled disturbances, that have no statistical description, are taken into consideration in the process of reorientation. Such a statement of the problem is characteristic for game theory. The controlling moments, applied to flywheels, are offered to be generated by means of a feedback inform of nonlinear functions of phase variables of a considered conflict-controlled system of differential equations, including dynamic Euler equations and kinematic equations in Rodrigues-Hamilton variables (in terms of the quaternion). As a result, the solution of the original nonlinear game problem is narrowed down to solving the elementary linear game problems. Since the exact solution of nonlinear game problems is very difficult, the proposed method seems to be effective. We stress the fact that the linearization used in n this case does not neglect nonlinear phenomena of the problem. Indeed, the converse passage from auxiliary control moments to initial ones, as well as the verification of constraints on control moments, requires the account of essentially nonlinear relations. The obtained control moments ensure the exact reorientation of the solid at a finite time. The reorientation being achieved by one spatial turn without causing additional constraints to the character of the resulting motion. The estimates of the accepted level of external disturbances, depending on the constraints on controlling moments and the initial location of the solid are found. These estimates are convenient at the first stage of a solution process, when the possibility is determined of using the proposed construction of control moments on order to ensure the required reorientation. If aforementioned estimates hold with a "reserve", then (at the second stage of the solution) a particular value of the guaranteed time of reorientation can be found by a special iteration algorithm.

Today due to the modern electronic countermeasures (ECM) progress for opening and interception of radio traffic channels, the group control task of unmanned aerial vehicles (UA V) in the radio silence mode is relevant as ever before. The aim of this work is to develop a UAV group control algorithm in radio silence. Group management refers to the optimization problem of actions of all group participants to achieve maximum group efficiency. In the case of lack of communication every UAV due to the onboard sensors identifies goals and other UA Vs in the detection area and operates according to its own optimum plan of target distribution, based on the available information. The optimally criterion considered as a function of two factors: the losses inflicted on the enemy when attacking the target, and the time spent to attack the target. Aviation blow to the group heterogeneous distributed ground targets is considered as subject. Fire resistance from the enemy in this work is not considered. Each target in the UAV detection area is given the value of the optimality criterion, based on the expert assessments. The search task for each UA V interpreted as goal attack virtual non-existent target, which has stochastic coordinates. For all targets and group members in the detection area, the UAV has a lot of plans of target distribution and acts in accordance with the preferred option. To estimate the effectiveness of the algorithm the simulation of shock operations in Matlab was performed for a UA V group that has been operating in the radio silence mode, and for a UAV group united by a common channel for the information exchange. The comparison of the simulation results showed the feasibility of applying the proposed algorithm.

The aim of the research is to study the dependence of the ascensional rate of electric multicopter from the height. Ascent rate is calculated for the operation of electric drive with 100 % of the throttle. The following facts are considered: brushless electric motors, which functioning does not depend on the air density and height, are used; fixed geometry rotors are used; the weight of the aircraft during the flight remains unchanged; the battery voltage decreases as its charge runs down; except for the time of start, the inertial forces do not play a significant role in a vertical flight. Rate of climb on the ground and hovering ceiling are determined. The dependence of the multicopter vertical velocity on the altitude was discovered. The calculation takes into account thrust-weight ratio, electric motor characteristics and drag force. Dependence is defined as a parametric function with advance ratio as a parameter. The formula of the hovering ceiling is proposed. Approximated aerodynamic characteristics of propellers used in multicopters are provided. The dependence of the rate of climb of the aerodynamic characteristics of the propeller is examined. A method of adaptation of the results for different propellers is proposed. The calculation of the rate of climb on the ground requires a numerical solution of the equation with advance ratio as the unknown. Solution results for several parameters values are presented as a table. These data can be used for calculation of climb as an interpolation of table values. The method of calculation of the rate of climb and hovering ceiling with changing supply voltage is proposed. Instead of increasing the dimension of the problem, it’s proposed to perform the calculation of the thrust-weight coefficients and inflexibility of the engine characteristics for altered supply voltage. Examples of calculation per the method proposed are provided for a quadcopter built by the author.