The topic of the article is the problem of control of the motion of a flexible single-link manipulator from one state of rest into another in a given time. Having a number of advantages in comparison with the absolutely rigid parts of the manipulators, the flexible manipulators are more difficult in control because of a higher order of the system and non minimun phase dynamics, which exist between the tip position and the input torque applied at the joint of the actuator. During the synthesis of the control system various approaches are used: 1) formation of the necessary input signals; 2) synthesis of a regulator with the use of the inverse dynamics; 3) the algorithms, which ensure reduction of the level of the resonant frequencies of the flexible manipulator due to regulation of the coupling torque of a link at the base of the beam 4) H_¥ control. In the control loop not less than two sensors and one or two regulators related to the high order were established. The given work proposes to generate the input signal of a special kind with a low-frequency spectrum, ensuring practical absence of vibrations of the tip, smoothness and accuracy of the link motion in all the range of the payloads at the tip. Furthermore, a simple regulator of the first order with a signal of a feedback only on the angle hub of the actuator is synthesized. The offered control algorithm was tested on a concrete example for the flexible single-link manipulator with the following characteristics: length - 1m; width - 0,0055 m; height - 0,05 m; material - aluminum; range of the angular turns - [9, 180] degrees; range of the mass payloads - [0, 0,5] kg; time of motion - [1,8, 3] seconds; overshoot - not more than 10 %. Analysis of the frequency and dynamic characteristics of the flexible manipulator was carried out. Then in the mathematical model of the manipulator the first two flexible forms were left. The input for the manipulator was the hub torque. The results of modeling for various angle turns and payloads of the tip confirm the efficiency of the offered control algorithm.

A new approach to the synthesis of technological operations is based on the sequential combinations of the knowledge action, which are implemented by the robotic complex. Synthesis of the executive actions on processing and assembly of a product it is the sequence methods processing for achievement of the required attributes determined by the drawing of a product. The flexibility of the process for preparation of a robotic complex is achieved by selection of the best solutions, which meet the requirements of the current production situation. A new method of knowledge representation is based on XML schema for creation of the knowledge elements for the technological objects and actions. Creation of a knowledge base allows us to save the tested variants of the technological processes after their modeling in CAD/CAM systems and to improve their performance. Formation of i - operation by chaining the executive actions, is composed of the elements of knowledge of EKi, EKk, EKn, EKm, and is based on the data of the 3D model of the product and its attributes. The option of formation of the next operation is determined by the state of the current production situation. Condition of synthesis of the executive actions it is carried out due to influence of attributes of the drawing of a product and visualization 3D - models, also due to the following attributes: the maximal amount of the allowance; grade of the processed material; grade of the tool material; accuracy class of a machine; and necessity to use a number of simultaneously controllable axes of movement of a tool. Serial combinations of the working and auxiliary passages will make possible a synthesis of the control of the program of work of the robot technology complexes (RTG). The pro-posed approach to the structural synthesis of the technological process can significantly reduce the preparation time, generation and adjustment of the control programs for RTC.

Mathematical models of the industrial robots' control systems allow us to calibrate the instruments fixed on the installation of the robot flange. Calibration procedures are carried out when a new industrial robot tool is introduced. Instrument calibration is performed in two stages. The first phase is determination of the tool center point (TCP - Tool Center Point). The second stage includes the act of determination of the orientation of the Cartesian coordinate system, connected with the tool, which is placed at TCP. This article is devoted to the study of the second phase of the final calibration of the instrument. The mathematical models, which describe the transformation of the coordinates for the tool control system, are created automatically, when the instrument calibration procedures begins before introduction of a new instrument into operation. The mathematical models are stored in the permanent memory of the controller in the tool library. This paper introduces a mathematical model for calibration of the tool orientation of the industrial robots, the most common matching methods in practice of operation of the industrial robots. The obtained mathematical model can be used in the control systems of the industrial robots. The resulting mathematical model performs mapping of the TOOL coordinate system in relation to the WORLD coordinate system. The TOOL coordinate system is associated with the tool. The center of the TOOL coordinate system coincides with TCP. The coordinate system of the WORLD is connected with the stationary base of an industrial robot. The BASE coordinate system is connected with the manipulation object. In addition, the position of the BASE coordinate system must be calibrated.

Principles of organization of the operative functional control for a complex multivariable system were proposed with retention of its operation process in the control circuits. For the use of the real values of the system in the control checks and for an operative formation of the system templates a high-speed system model was constructed for operation in the time scale of the system processes. The model combines the empiric, statistical, algorithmic and heuristic devices for imaging of the system parameters and links between them. Implementation of the proposed model presupposes establishment of the specialized components of the system for its intelligent control with the use of the processors. The model construction is based on performance of the preliminary empiric studies and use of the results of the technological regression analysis of the system in organization of the operative control based on the fuzzy logic instrument and fuzzy conclusions. The input, output and internal parameters of the studied system were conferred, the status of the linguistic variables, and possible intervals of the real values of the input system variables were set in an expert way, as well as the functions of their belonging. This makes it possible for every set of the input parameters to operatively build the functions of their belonging of the effective output and internal variables to the required fuzzy sets with the aid of the beta coefficients, fuzzy arithmetic operations and maximal generalization. The use of the fuzzy production rule, provision of conclusions (summaries) at the current values of the input parameters ensures forecasting of a possible location of the input and output variables of the system in the fuzzy sets, which correspond to the preliminarily allocated intervals of the values. Being so, a range of the operative effective output and internal parameters is formed in the controlled multivariable system. The use of the offered model of the operative functional control ensures a collation of the forecasted and real values of the effective parameters of the complex multivariable system and assessment of their non-contradiction.

The topic of the article is construction and study of the closed mathematical model of a dual-propeller horizontal axis wind turbine (HAWT). One propeller is rigidly connected to the carrier of a differential planetary gear (DPG), the other propeller is rigidly joined to the external gear of the DPG, the rotor of the generator is rigidly joined to the sun gear. The generator is connected to a local electric circuit. The external resistance in the circuit is a varied parameter of the model. The aerodynamic forces acting upon the propellers are modeled using a quasi-steady approach. The electromagnetic torque acting upon the rotor of the generator is supposed to be a linear function of the angular speed of this rotor. Equations of the steady motions of a HAWT are derived. The optimal value of a gear ratio is calculated depending on the aerodynamic characteristics of the propellers. The external resistance, for which the mechanical power of the turbine is close to its maximum, is found. The operating modes for this external resistance and their domains of attraction are described. A possibility of acceleration of one propeller by means of the other propeller is discussed. The control strategy, which transfers the system to the program operating mode, is constructed. Two types of control are used: variation of the external resistance in the local circuit of the generator and application of a brake to one of the rings of the DPG.

Rolling production is one of the most energy-consuming sectors of the metallurgical industry. The most powerful plants are the rolling mills producing rough rolling of the steel casts. They are based on the technology of the reverse rolling. It requires variation of the roll mill parameters. Such a variation may also be due to replacement of the worn out rolls. So, the controllers with constant parameters usage results in the deterioration of the transient quality for the rolling mill main drive. An adaptive control system can be developed to solve the problem. A brief analysis of the linear controller tuners is presented in this research and a neural tuner is proposed to solve the problem. It combines an artificial neural network and a rule base. It does not require identification of the plant model or use of the test signals. In this paper the authors consider a control system for the main DC electric drive of a two-roll reversing rolling mill. A structure for the neural network is selected and the rule base is described. It defines the moments, when a controller should be adjusted (training of the neural network) as well as an appropriate learning rate. Experiments for application of the neural tuner were conducted using the rolling mill DC electric drive model, as well as a physical model of this drive. An analysis of the experimental results shows, that the neural tuner adjusts the speed of the controller effectively. The purpose of the further research is to apply the neural tuner to compensate for the disturbances acting on the rolling mill and caused by the steel cast engagement.

Quality estimation of the received images is one of the most important operations of image processing in technical vision. This operation allows us to take decisions about a possibility of the image processing and choose the procedures for this processing. A preliminary image quality estimate makes it possible to reduce significantly the computing resources for solving of the problems of objects detection, recognition and selection. This article focuses on estimation of sensitivity of the non-reference metrics (represented in Part1) to various factors: noises, smoothing and different object compositions. Furthermore, this article focuses on the correlation relationships between the metrics. The main task of this article is simplification of the procedure of a real time image quality estimation and improvement of its effectiveness by removing the related metrics and selecting the most adequate and efficient metrics. Sets of images were created for solving of this task. Those sets contained images with different kinds of scenes and object compositions. Images were received at different times of a day and under different weather conditions. Besides the received images were distorted by different kinds of noises and smoothing. Sensitivity estimation was measured by the method of analysis of variance and Kruskal- Wallis test. The correlation analysis of the relationships between the metrics was done by means of Pearson correlation coefficient and Spearman's rank correlation coefficient. The analysis of the sensitivity estimation results for the presented set of metrics revealed that it was appropriate to use a limited number of metrics. Further results of the correlation analysis revealed that there was a strong linear relationship for a number of metrics. Thus, the obtained results made it possible to select the most sensitive metric with the least computational costs for a preliminary estimation of the quality image in the vision systems.

The work is devoted to the problem of development of backup strapdown attitude control system (BSACS) based on micro-mechanical sensors. A block diagram is proposed for constructing a system based on micromechanical accelerometers and gyros whose complex processing of signals is realized by means of a Kalman filter operating in steady state. Dependencies of the filter parameters on the accuracy of the sensors used are shown. The design relationships are given, which allow us to calculate the filter parameters by the technical characteristics of the sensors used. The work presents a study of the inertial measurement module, based on micromechanical gyroscopes MMG-APTRON (Central Research and Development Institute Electropribor Corporate Group JSC), ADXRS-642 (Analog Devices Co.) and compensation accelerometers АТ1104 (ANPP Temp-Avia JSC). There presented the design of the measurement module for the construction of a backup strapdown attitude control system, which may be applied both on unmanned aerial vehicles and as a backup system on piloted aircrafts. The results of tests of the developed system based on FSUE "GosNiIi AS" are given, which showed that BSACS provides pitch and pitch angles with an error of no more than 2 degrees with a straight flight and no more than 3 when maneuvering. The influence of the misalignment of the BSACS axes and the mobile object on the accuracy of the development of angular parameters is shown. A method for algorithmically accounting for axial misalignment is proposed, which makes it possible to reduce the requirements for the accuracy of alignment of the axes. The reasons for the increase in the BSACS error during maneuvering are shown. A method for increasing the accuracy of a system based on an analysis of the modes of motion of an aircraft is proposed. The results of modeling the method of increasing the accuracy are given, which show that the error of BSACS during maneuvering, in some cases, can be reduced by more than 3 times.

The article deals with the problems of the flight test data analysis concerning the flights at higher then critical angles of attack in order to improve the mathematical model of an aircraft's motion. The paper presents a technique for validation and correction of the on-board measurements for this type of motion. Regarding the use of the vector control during such maneuvers, the article considers the mathematical model of the forces and torques generated by the thrust vectoring. Examples of the data processing of the modern maneuverable aircraft's flight tests are presented to confirm the efficiency of the proposed models and methods. The validation of the on-board measurements, above all, the aerometric measurements, is based on the equations of the aircraft spatial motion. It is assumed that the correct values of the motion parameters must satisfy the system of the nonlinear differential equations known from the flight dynamics. This approach has already proved its efficiency in the analysis of the flight data in the operational range of the angles of attack. The signals obtained through the simulation are used to correct the measurements in case of errors. The article presents examples of detection and correction of errors in the measurement channels for a true airspeed and angle of attack. This paper also proposes two versions of the model capable of calculation the projections of the forces and torques on the aircraft principal axes. The first version is derived from the evident geometrical considerations, the second one is based on Rodrigues' vector rotation formula known in the theoretical mechanics. A numerical comparison confirmed correctness of both obtained models. These models were also verified by processing of the flight tests data.

This paper presents the most important principles and features of construction and operation of the interuniversity scientific and educational network. This network is created for training of engineers in the field of automation, robotics and mechatronic systems. There were four main components of the distance education realized in the network. 1. Lectures in special disciplines were delivered by the leading professors, special educational materials in the form of electronic resources (in several languages) were used for the lectures. These electronic resources contained many demonstration examples illustrating implementation of the studied theoretical material in practice. 2. The laboratory classes in these disciplines were done with a remote use of the laboratory facilities available to all the network participants. 3. The remote education in the project design is based on the results already received during implementation of real scientific and commercial projects (including for industrial application). These projects were realized during the Russian federal target programs and grants (Russian Scientific Foundation and Russian Foundation for Basic Research). 4. Various production practices related to the laboratory and industrial equipment available in the Universities, which participated in the network, were provided. Also the paper contains certain features of the software and hardware implementation for the remote work with the laboratory and industrial equipment in the network. Several examples are presented of the laboratory work and project design done by the students remotely participating in the network.