Extreme control objects are distinguished by insufficiency of information on their outputs. In order to obtain information during the control process a special search should be organized in the form of the multiple trial steps, with consideration of the non-monotonous (extreme) form of the static characteristic. An example of this is any heating object, an aircraft, which due to fuel burning out and weight loss has to limit its cruising speed in order to increase its flight range, an optimal dampening task of a second-order tracking system, etc. The article considers the robust control for a nondetermined object with an extreme static characteristic by means of an extreme control system with an extremum storing mechanism, and stabilization systems based on the adaptive fuzzy controllers, and with the use of an object with a pronounced minimum of its static characteristic. The thermal object, operating in the conditions of uncertainty, requires development of a nonlinear approximation circuit (adaptive fuzzy controller), containing a fuzzificatior, a linear artificial neuron with an algorithmic feedback, and functions activation unit. Fuzzificator term set contains four linear terms arranged within the interval of 0-1. Deviation of a temperature from its optimal value is used as a linguistic variable. The membership degrees of the activated membership functions are multiplied with the synapses of the feedback-driven neuron. Correction of the synapses is implemented with the help of the adaptation algorithm, which gives its adaptive properties to the temperature controller in relation to the external disturbances (for example, variable calorific value). The regulatory action by means of the functions activation unit controls operation of the air or fuel regulatory mechanism. Application of the developed adaptive fuzzy temperature controllers allows us to ensure maintaining of an exact temperature of a verbal object within the range of 3 % of the given value.

One of the widespread approaches to the issues of control in the group robotics is application of the social behavior models in the groups of robots. In this paper the author proposes to use this approach to fulfill the tasks of foraging. As a role model a Formicidae ant is proposed. This task is considered as a combination of three stages: finding food, returning to the ant hill and repeating the way to the place where food was found. It was proven that in order to come back home and repeatedly walk the way the Formicidae ants were navigated predominantly by the visual means using vector navigation (path integration) and landmark-guidance mechanisms. The basis of the proposed method is formed by the principles of memorizing the way by the visual landmarks and fuzzy control. The model of describing the way is introduced to the robot, which can define colors of the landmarks and approximately sense the direction to the landmark in respect to itself. A pattern for formation of a succinct way description was created, with the help of which the scout robot memorizes the way to the "food". certain regulations were developed, which let the follower robot transfer from the description of the route to the actions of its reproduction and in many ways copy an ant's behavior. The actions are presented as elementary behavioral procedures, and each behavioral procedure is realized as a finite state automata. The results of the simulation modeling, which was conducted with the help of the framework of ROS based modeling system, are presented. Experiments were conducted in polygons with barriers and without them, with regular and irregular placing of the landmarks. As a quality criterion for the proposed method the author offers to consider a successful passing of the route by the follower robot, and this indicator in different series of experiments varies from 92 up to 98 %. The proposed method does not require robot's great computation capacity and advanced sensory abilities. The developed method can also be applied to the tasks of reconnaissance and patrolling.

The article is devoted to examination of the method for formation of a panoramic image in conjunction with formation of detailed fragments of space objects for the vision systems of the mobile robots. As is known, navigation of the mobile robots often should take into account three coordinates in conjunction with a detailed analysis of the individual objects. It is a common assumption that a vision system operates with a certain set of specific objects, which must be prepared or in some way marked and allocated. The dynamic objects also should be taken into account in the field review. It is proposed that the formation of three-dimensional images of the space objects should be done by combining the stereoscopy methods and highlighting the structural aspect. In preparation of the materials for publication a system was considered which combines vision with a panoramic optoelectronic system, which implements the method of the structural illumination and stereovision, at the same time.

The authors demonstrate that in order to increase the oil production at a late stage of operation of oilfields, a timely identification of the technical state of the sucker rod pumping unit (SRPU) is required. They point out that emergence of a fault in SRPU is accompanied by a random additive noise, which is superimposed on the signal, coming from the force transducer. It was established experimentally that by calculation of the characteristics of the noise, inextricable from a noisy signal, it was possible to identify the initial period of origin and determine the degrees of fault development in SRPU. It was discovered that the noise probability density function could be used as an indicator for determination of the degree of such SRPU faults as plunger sticking, discharge valve leakage (PVL) and discharge pipes leakage, suction valve leakage (SVL), pump pipes leakage, and slackening leading to sucker rod breakage. The authors developed algorithms for calculation of the noise probability density function, its maximum and the coordinates of the inflection points, and proposed algorithms for identifying the degree of SRPU fault by means of the noise probability density function, and the relevant analysis was carried out. A bank was established, comprising a bank of the graphic images and a databank of the discrete values of the noise probability density function corresponding to various degrees of faults.

A center-pivot irrigation system is widely used all over the world. Its main drawback is its applicability only to the round fields. In order to avoid this limitation a possibility of changing the mutual arrangement of the sections of the center-pivot irrigation machine was proposed. So, the sections of the machine must be able to rotate one around the other. In order to achieve such a feature, the traditional wheeled vehicles must be replaced with the walking machines. The walking machines based on the rotary-orthogonal movers (for example, Orthonog walking robot developed in Volgograd State Technical University) have almost perfect maneuverability. This allows a machine to take the form of an arbitrary curved line. The optimality criterion was introduced, which was a minimal work of the drive motors during movement of the machine. The system of rigid sprinkling sections was replaced with a continuous curve, wherein each subsequent point was not closer to the center than the previous one. The optimal configuration of a sprinkler in a field plane was found by using the methods of calculus of variations. The resulting equation was solved by the numerical method. An analysis of the results was done in order to find the maximal range of the length change. The results are valid for the steady driving mode in the sector of constant radius. The proposed model can be improved by introduction of another optimality criterion and taking into account the errors arising from the replacement of a discrete system with a continuous curve. Thus, a possibility of the use of a center-pivot sprinkler for the fields of non-circular shape is substantiated.

The article presents a new method of the structural analysis of the mechanisms using graphs, which allows us to determine the number of the excess and metric relationships, extra mobility and extra links, occurring in the circuits of the mechanisms. It shows implementation of this method in the form of a computer program for an automated structural analysis by computer mechanisms. The program was developed in the integrated environment of Microsoft Visual Studio, 2015. The program language was Visual C#. The graphical interface was built using the library component Net Framework 4. The authors'program for searching of the contours' mechanism applied to the graph algorithm is based on the search of "the depth". According to the formulas proposed by the authors, for each contour the program finds the number of the redundant ties, extra mobility, extra links, and metric connections. The calculation results of the program present the number of the circuits of the mechanism, their composition, the number of the redundant links or redundant mobility of the contours, the number of extra units and metric relations, as well as the number of the degrees of freedom of the mechanism and its mobility. The article presents an analysis of the mechanism of the mechatronic device with the developed program. Application of this method of analysis of the mechanisms ensures a rational construction of the mechanisms leading to reduction of friction and wear in the kinematics pairs, and improvement of the conditions of their functioning and the quality of operation of the mechanisms.

Solutions to the wave equation and structural-parametric models of piezoactuators at a longitudinal piezoeffect were obtained. Effects of the geometric and physical parameters of the piezoactuators and external load on its static and dynamic characteristics were determined. The parametric structural schemes for piezoactuators for nano- and micrometric movements at a longitudinal pie-zoeffect were obtained. The transfer functions were determined. The parametric structural schemes and the transfer functions of the piezoactuators were obtained for calculation of the automatic control systems for nano- and micrometric movements with piezoac-tuators at a longitudinal piezoeffect. The static and dynamic characteristics of the piezoactuators were determined. Application of the piezoactuators solves the problems of precise matching in microelectronics and nanotechnology, compensation for the temperature and gravitational deformations, atmospheric turbulence by a wave front correction. By solving the wave equation with allowance for the corresponding equations of the piezoelectric effect, the boundary conditions on the loaded working surfaces of a piezoactuator, the strains along the coordinate axes, it is possible to construct a structural parametric model of a piezoactuator. The transfer functions and the parametric structural schemes of the piezoelectric actuator were obtained from the equations describing the corresponding structural parametric models of the piezoactuators for nano- and micrometric movements at a longitudinal piezoeffect.

The present conditions of economic crisis essentially limit the opportunities for the military industry, and the country's industrial potential. The resources allocated for production of the military equipment have been cut. The test specimens of the military equipment are provided in single units. There are no agreed-upon methods for testing of the military equipment by single units. In our case the accuracy rating may be expressed as a percentage of the indication or as a percentage of the full-scale value. The accuracy rating is given as the limit, which the errors will not exceed. The theory is based on the facts, the reliability of which was verified more than once. The given conditions are characterized by a limited number of the experimental test specimens, amount of the power-generating fuel, lubricants, oil, energy, accumulated energy, wear and depreciation charges, and so on. All this to a great extent limits the number and volume of tests of every specimen of military equipment. Evaluation of the engineering and fighting efficiency, maintenance and service properties, statistical acceptance quality control are put into practice by every test-specimen. Processing and treatment of the evaluation results demand application of special instruments. Let us choose such an instrument as the method of a small sample. The use of this method makes it possible to obtain evaluations of the power density function. Experimental data are represented by the following distributions: distribution of the fighting efficiency, distribution of maintenance and service properties. Evaluation of the distribution used under these conditions receive a numerical value (quantity) of the fighting efficiency and operating quality of the test-specimen of the military equipment.

The topic of the paper is the problem of marine traffic control. A model of a relative motion of two vessels is considered. Marine traffic control is an exceptionally large scientific and technical challenge. In practice, such control is implemented by the onshore vessel traffic systems (VTSs), i.e., by specialized companies, whose main task is to prevent dangerous situations, such as ship collisions. Estimation of the parameters of the path of the motion of each vessel (coordinates, velocity, etc.) and their extrapolation are the methodological basis for recognition of the dangerously close approach of vessels. If the vessels are identified to be approaching each other dangerously, the traffic control system generates an alarm and recommendations to modify their motion paths. The control decision, which ensures the traffic safety, depends on a number of factors: the velocity of the vessels, the distance between them, their size, maneuverability, and the characteristics of their paths. The prediction of the shipping traffic always has an element of uncertainty, which requires a formalization of the verbal concept of a "dangerous situation" with the identification of different danger levels such as "very dangerous," "dangerous," and "safe." The danger levels are determined on the basis of the experience and navigation practice. This approach allows the ship driver and the coastal VTS operator to control their actions: to make different types of decisions in the situations with different danger levels and, thereby, to reduce the degree of uncertainty in making specific decisions. This paper is devoted to the study of a collision avoidance system for ships, which makes it possible to detect dangerous situations and estimate the danger level by a continuous value using the ideas of the fuzzy logic systems. The paper introduces a new approach to displaying information on targets. The proposed display visualizes three types of information: targets' motion parameters (typical for target tracking), combinations of the own course and speed, of colliding with those targets (typical for Collision Threat Parameters Area display by Mitrofanov and Degree, Lefevre model) and combinations of the own course and speed, which in this case are not compliant with the fuzzy logic risk assessment systems (based on the ships' motion parameters). A superposition of the last two types of data enables a navigator to quickly choose a collision avoidance maneuver, which would be sufficient. Additionally, the displayed data may be filtered on the basis of the remaining Time To Collision (TTC), so that the navigators can concentrate on the direct threats. The paper includes a description of the proposed visualization technique, as well as examples of the visualized data for some encounter situations in Nakhodka Bay.

The prob/em of the opt/ma/ turn in the sense of minimum of energy /oss of a spacecraft as a rigid body with one axis of symmetry is considered in the quaternion statement. For s/mp/ify/ng prob/em (concerning dynamic Eu/er equations), we change the var/ab/es reducing the or/g/na/ opt/ma/ turn prob/em of ax/a//y symmetric spacecraft to the prob/em of opt/ma/ turn of the rigid body with spherica/ mass distribution inc/uding one new sca/ar equation. Using the Pontryagin maximum princip/e, a new ana/ytica/ so/ution of this prob/em in the c/ass of conica/ motions is obtained. Algorithm of the optima/ turn of a spacecraft is given. An exp/icit expression for the constant in magnitude optima/ angu/ar ve/ocity vector of a spacecraft is found. The motion trajectory of a spacecraft is regu/ar precession. The conditions for the initia/ and termina/ va/ues of a spacecraft angu/ar ve/ocity vector are formu/ated, which make it possib/e to so/ve the prob/em ana/ytica//y in the c/ass of conica/ motions. The initia/ and the termina/ vectors of spacecraft angu/ar ve/ocity must be on the conica/ surface generated by arbitrary given constant conditions of the prob/em. The numerica/ examp/e is presented. The examp/e contain reorientation of the Space Shutt/e in the c/ass of conica/ motions.