The authors present a review of the works on the theory of kinematic control of the rotational (angular) motion of a rigid body and spatial motion of a free rigid body, which is a composition of the rotational and translational (trajectory) movements of a rigid body. The theory is based on the use of the quaternion and biquaternion kinematic models of the rigid body motion. They also provide a review of the papers devoted to the problems of construction of the optimal laws of change of the angular momentum of a dynamically symmetric rigid body and rigid body with an arbitrary mass distribution, which ensures its optimal translation from an arbitrary initial angular position to the desired final angular position. These tasks occupy an intermediate position between the kinematic and dynamic problems of control of the rotational rigid body motion and play an important role in the theory of control of orientation of the spacecraft using the rotating flywheels. The theory of kinematic motion control has various topical applications in the space flight mechanics, inertial navigation, and mechanics of robotics.

During the movement of the horizon mobile robots over different complex ferromagnetic and non-ferromagnetic surfaces, like walls, ceilings or slopes of various angles, their contacts with the surfaces can be realized by the attaching devices, which ensure an aerodynamic attachment force due to creation of vacuum. In industrial robotics such devices are designed for grasping objects with manipulators on the assembly lines. In the mobile robotics such devices are suitable for creation of an attachment force for the robots. The control system provides an aerodynamic attachment force due to control of the pressure level inside the vacuum area. This ensures adaptation for the mobile robots moving over the surfaces with different quality parameters. This paper describes creation of vacuum with a centrifugal pump and a turbine. It also presents an attachment device based on a centrifugal pump or a turbine, which can create an aerodynamic attachment force for movement of a mobile robot over the sloped surfaces. The air pressure inside the turbine depends on the shape of the blades, the air density and the circumferential speed of the blades. The air pressure created by the centrifugal pump or the turbine is proportional to the blades' rotary speed squared. The dependence of the air pressure on the air flow is obtained. This ensures calculation of the attachment force for the control system of a mobile robot. Simultaneous solving of the equations presented in this paper for the air pressure and the air flow provides an opportunity to obtain the operating modes for different types of the vacuum devices based on a centrifugal pump or a turbine. A possibility of the aerodynamic attachment force control by varying of the gap between the mobile robot and the surface is analyzed. Various parameters of air, such as density, average velocity and flow rate, are discussed. Creation of vacuum inside the vacuum area is considered. The experimental results concerning the pressure control, the attachment force and vacuum creation are presented.

The article presents organization of a knowledge base required for implementation of the intelligent control of the movement of an android robot hand with account of the positions of the exclusion zones. The proposed structure of the knowledge base characterizes the previous experience of the synthesis of the hand movements by the velocity vector with account of the known obstacles, and sets the properties intrinsic to them. The knowledge base consists of four components. The first one specifies the images, which represent a projection of the contours of the working areas of the mechanism, taking into account the exclusion zones. The second one stores configurations with the maximal values of the parameters, which define the solid angle, used to calculate the most optimal initial set position with respect to an object of manipulation. The third one cmoanxtains configurations of the movement, from which a deadlock situation results. The fourth one sets the maximal values of kimax parameters. The fourth component of the knowledge is necessary to reduce the time of calculation of the vector of the generalized velocities, when the calculated configuration crosses the exclusion zone. The algorithm of the virtual motion control of a robot android organized on the knowledge base allows us to implement the methods for evaluation of the current situation and make respectively one or another logical choice. The results of the computational experiments show a reduction of time for calculation of the test tasks associated with setting and removal of the manipulation objects on the shelves and racks with the use of the developed knowledge base.

The authors consider the problems of interaction of operators and robots, learning and telecontrol of the groups of different-function (heterogenic) robots. The learning-by-showing method is used ensuring recognition of the natural movement's shape of a human operator. The preliminary learning of the gesture and "signal" pose recognition of both human and android robot is based on (teaching) learning-by-showing method. The Model of Movements Shape (MMS) is based on М. Minsky theory of the frame knowledge representation proposed for memorizing of the semantic-topology frames system of the typical shapes of the working movements such as the typical scenario of a robot's behavior. Some typical objects {B} of MMS are: simple robot movements, fragments of a complex shape of the robot movement trajectories or sequences (cyclogrammes) of the working robot operations (fragments of scenarios of a robot behavior). Semantic features of {B} are determined as frame with name, parameters' fields, attributes of relations, application methods, etc. For organizing of the frame hierarchy structure, the connecting cross links within the frame structure are implemented during the learning, such as: "Parent attributes" A p, "Inheritance attributes" Ac, "Neighbor attributes" AN, "Method attributes" Am and other types of links. The number of the elementary objects {B} (working movements or sequences of the robots' operations) memorized at MMS will be significantly increased with enlarging of the volume of the robot tasks, but the mass of this objects will be considerably less than the area of the robot behavior scenarios (missions) in a real dynamical environment. The experimental research done with a virtual game modeling and real android football robots of NAO teams proved that the proposed learning-by-showing method and the telecontrol methods based on MMS Knowledge Base can be effective for the autonomous robot team telecontrol and correction of the robots' behavior in a real time mode. The based on IPv4 protocol programmable telecommunication of human-operator with a robot team can implement a real-time monitoring of the informative status of the robot telecommunication net for an adaptive control of the human-robot message parameters and/or a route track for the data transmission chain to each robot. The proposed methods of learning-by-showing and telecontrol using MMS Knowledge Base are expected to be used for assistant robots and anthropomorphic service robots, including for the medical or telemedicine purposes.

This article presents a hardware-software implementation of a 3-axial milling machine with CNC and autonomous system of cooling of the cutting tool, and describes the electronic and mechanical components of this system. They include control boards of Arduino Mega and Arduino Uno, a control board for SH Ramps stepping motors, control boards for MP4988 stepping motors, stepping bipolar motors, fixture, conical and radial bearings, bonding wires and power supply units, and also the milling head (the engraver or a mini-drill) with a set of mills. Calculation of the number of pulses, necessary for rotation of the bipolar engine to the necessary degree, and also calculation of the relocation of a nut of support on a ladder are shown for one whole revolution. Electric circuits for connection of the components of the machine and the autonomous cooling system are also provided, as well as a program code for control of the relocation of the bipolar stepping motor and a formula of the tension transfer from the temperature sensors in Celsius degrees. For increasing the productivity of the machine the method of cooling of a cutting tool by means of Peltier element is offered. Cooling is carried out due to the temperature control in the cutting zone by a thermal sensor. Currents of the bipolar stepping motor are measured in operation during the starts, reverse action, constant turns and stops.

Traditionally, the problem of the satellite control, its reorientation from one angular position into another, is solved, as a rule, with the use of Pontryagin maximum principle. An example of its application is the algorithm for the control reorientation of the Resurs-P satellite equipped with the inertial effectors (control momentum gyros). On the whole, the algorithm implements the programmed rotations around the Euler axis. The whole interval of the given turn consists of three phases, including "speedup", motion at a constant angular velocity and "slowdown". "Speedup" and "slowdown"phases, in their turn, are also divided into three sub-phases. At the first of them the motion goes on with acceleration, increasing linearly in the absolute terms, at the second sub-phase the acceleration is constant, and at the third one, it decreases (in absolute terms) down to zero. Solution to a two-point boundary problem is a precondition for building of the optimal program for control of a satellite 's angular motion in its reorientation. In order to eliminate the necessity for solving of the two-point boundary problem and to build a closed system for the satellite motion control in its reorientation in a feedback form, the present article poses and solves the task of synthesis of a discrete system, which is linear (both in state and control) and based on the power-efficient algorithm for control by the noisy measurements, developed by the author. According to the algorithm, the spur minimum of the covariance control matrix at each step was chosen as the system's quality index. The author introduced an auxiliary dynamic system and set its parameters. The optimal closed-loop control law was chosen in a linear form - control at the current step was defined as an algebraic sum of the control at the previous step and the weighted difference of the state vectors of the specified and auxiliary systems at the current step. The measurable state vector of the set system was fully observable and comprised random measurement errors, such as a centered discrete white noise. The reorientation time was not explicitly defined. There were no limitations for the control parameters. The power-efficient control algorithm proved to be quite constructive, since the specified quality index of the system was, at the same time, a positive definite Lyapunov function, which added a condition of the asymptotic stability to the whole system. The author developed a discrete model of the undisturbed angular motion of the Resurs-P spacecraft equipped with three pairs of the control momentum gyros and mathematically modeled the power-efficient control algorithm for the spacecraft reorientation. The results of modeling confirmed the efficiency of the proposed algorithm. For simplicity reasons, the angular position of the satellite is defined by the angles of rotation around the body axes, and not by the quaternions.

An analysis of the accuracy and reliability of the proposed analytical solution for the lunar lander terminal guidance problem was carried out. The analytical solution for 3D terminal guidance problem was obtained for a constant acceleration trajectory and thrust vector orientation programs, which are essentially linear with time. In order to achieve 6 terminal conditions (position and velocity terminal vector components) 6 guidance law parameters were used: time-to-go, braking deceleration, initial pitch angle and pitch rate, initial yaw angle and yaw rate. The simulation results of the lunar lander terminal guidance using the proposed analytical solution were presented. The analysis of the proposed terminal guidance scheme and some similar schemes were carried out by mathematical modeling of the landing maneuver from a certain initial state to the desired spot near the lunar surface. By varying the initial position and the velocity parameters, when the terminal point was fixed, the statistic characteristics of the terminal guidance solution errors in the terminal position and velocity were estimated. An analysis of the simulation results validates the basic performance of the proposed terminal guidance scheme for the lunar pinpoint landing. Estimates of the terminal guidance accuracy for the proposed scheme exceed the corresponding estimates for the alternative considered schemes. The next phase of this research will be intended for studying the influence of variations in the initial prelanding orbit parameters (obliquity, ascending node longitude, argument of periapsis, periapsis height, apoapsis height) on the terminal guidance accuracy.

Safety and efficiency of operation of complex high-cost means of transportation are impossible without thorough training of operators. Major attention in the process of training of the operators is devoted to the trainer-machine and methods of evaluation of the reached results of training. The author proposes a methodology for evaluation of the quality of man-operator training for operation of the complex high-cost means of transportation, aircraft, for example. In the process of realization of operators' training the trainer-machines are used for receiving signals from the filter of the second order. The filter meets the standard of a generator of a white noise. Use of a standard generator of the white noise gives a possibility to obtain valuable conclusions. The experiment of the trainer-machine was an immediate success - the results were surprising. A spectrum of the signals were received, which by the frequency and amplitude, as it was found out, were near the spectrum of the signals typical for the real conditions of a high-mobile flight of an aircraft. Evaluation of the reached results of training on the trainer-machine demonstrated the quality of stabilization and direction-control of an aircraft as far as four rather difficult problems are concerned. Those problems relate to the dynamics of an aircraft. They are described by the systems of a differentiation equation, which is the program maintenance of the trainer-machine. An operator solves the problems of the longitudinal and transversal or diametrical direction of a flight. The mathematical algorithm for stabilization and direction of an aircraft envisages that the machine time of the operator's reaction is equal to 2 s. It is the time accepted for the standard, based on the results of a big number of experiments and thorough research. Evaluation of the reached results of training of a man-operator is based on the established facts and it ensures the minimal value of the ratio of the root-mean-square deviations of the parameters of a turbulent airflow and errors of stabilization and control of a man-operator on pitch and roll of a plane (aircraft).

The traditional air data systems are based on the aerodynamic and aerometric method employing the fixed for the incoming air flow vane sensors of aerodynamic angles, receivers of the air pressures and braking temperatures, which worsen the aerodynamics, cause errors, depending on the parameters of the flight and environment, and reduce reliability of the system in real operating conditions. Ideology of construction, the algorithms of information processing of the air data system of the aircraft with the fixed included receiver of flow are based on the fixed ion-label sensor of aerodynamic angle and true airspeed, which realizes the kinematic measurement method with the accuracy of measurement not depending on the state of the environment. For the simultaneous measurements of all the air signals of the aircraft the onboard receiving electrodes of the ion-label sensor set the vent for collection of the static pressure of the incoming air flow. A functional diagram of the air data system with fixed included receiver of the flow and algorithms for calculation of the altitude-speed flight parameters of the aircraft is presented. The methodology and estimation of the errors of the system measuring channels, which meet the modern requirements and determine prospects for application of the system on the aircraft of various classes and purposes, are also presented.