The article is devoted to one approach to optimal filtration. We consider a Wiener filter scheme. The proposed statement has two differences from the classical one. The first difference is that the input influences (useful signal and interference) are limited to the maximum absolute values, and not variances. The second difference is that the quality criterion is also the maximum absolute value, and not the variance of the error. Thus, the quadratic criterion in Wiener’s formulation is replaced by a criterion in the form of the l∞-norm (Chebyshev-norm). Therefore, the proposed problem is called the l∞optimal filtering problem. An original way of selecting input filters for signals for this task is proposed. The method allows creating sets of signals with complex limitations of the absolute values of the signals and their derivatives. The calculation of the quality criterion reduces to Bulgakov's problem of the accumulation of perturbations. For a system with discrete time, the quality criterion is written in the form of a sum of an infinite series. Convergence conditions of the series are obtained. If the conditions of convergence are satisfied, an infinite series with any desired accuracy can be replaced by its partial sum. In this case, a quality criterion is obtained in the form of the l1-norm of the impulse response of the filter. It is proposed to numerically search for the impulse response of an optimal filter by the method of subgradient descent. An example of searching for a l∞-optimal filter is considered. The result is compared with classic bandpass filters. The possibility of reducing the phase delay of the filter in the passband is shown.

The problem of fault diagnosis in technical systems described by nonlinear dynamic models based on non-parametric method is considered. The feature of this method for linear systems is that knowledge of the system parameter values is not required for purpose of diagnosis; it is sufficient to know only the dimensions of input, state, and output vectors of the system. Thus, this method provides active robustness which is concentrated on the stage of residual generation to make the residual insensitive to uncertainties and, simultaneously, sensitive to faults. The objective of the present paper is to extend the known non-parametric method to nonlinear discrete-time systems with non-smooth nonlinearities. A solution is based on so-called logic-dynamic approach using only linear methods to solve the problem for nonlinear systems. To isolate faults, special canonical form of the models which of them is invariant with respect to some fault and sensitive to other ones is used. The redundancy relations based on these models are obtained. The feature of the suggested solution is that to check the redundancy relations, it is necessary to find a kernel of some matrix of functionals which is constructed on-line by processing the system inputs and outputs measured over a finite time window, i.e. without knowledge of all system parameter values. To decrease computational complexity, it is suggested to calculate time window based on the structure of matrices describing each model. For decision making, matrix of syndromes is used. Theoretical results are demonstrated by illustrative and practical examples.

The analysis of ways of regulation of tension is provided in article. The way of obtaining adjustable alternating voltage is shown. The device — the electronic converter, realizing such way means of the pulse equipment, allowing to reach essential reduction of mass-dimensional indicators of power supply units of various devices thanks to elimination of mechanical knots is described. The electronic converter on properties is close to the electric adjustable transformer, but to a galvanic outcome of windings, the entrance tension having a possibility of work in the wide range of frequencies with preservation of a form. The function chart of the electronic converter and an order of his work are submitted. Implementation of the schematic diagram is possible on the basis of a way of modulation of output tension high-frequency impulses with the changing porosity means of pulse electronics. Implementation of the schematic diagram is possible on the basis of a way of modulation of output tension high-frequency impulses with the changing porosity means of pulse electronics. Formulas for calculation of harmonious components of a number of Fourier at any representation are given by the modulated curve sequence of impulses and also calculation for various values of porosity is carried out. During the researches schedules of the first five harmonicas and a constant component and also a curve of addition of these harmonicas which form at the porosity equal to two, validates calculations are received. Are also presented an adjusting curve of average value of tension of the two-half-period single-phase rectifier depending on porosity of impulses and bending around amplitudes of harmonicas, initial phases of harmonicas, depending on their number. Elimination of high-frequency components demands installation of the corresponding filters. The modulation frequency is higher — the elimination of the harmonicas making a range at the converter exit is easier. Reduction of a phase corner with increase of harmonicas to the tenth, and then — again increase and recession up to the thirtieth harmonica is noted. Zero levels of initial phases are observed at the maximum values of amplitudes. The developed device belongs to converters of alternating voltage in variable the AC—AC, however similar transformation can be used in devices for obtaining alternating voltage from constant DC—AC and others in electroand radio engineering.

The closed mathematical model of the Magnus-effect-based horizontal axis wind turbine is constructed. The central shaft of the turbine is directed along the wind flow. Several Savonius rotors are mounted in cylindrical joints at the central shaft. Axis of these joints are orthogonal to the wind flow direction. Self-sustained rotation of Savonius rotors induces the Magnus force that sustains the rotation of the central shaft. The rotor of an electric generator is attached to the central shaft. The generator is connected to a local electric circuit. The quasi-steady approach is used to describe the aerodynamic action upon the system. Corresponding aerodynamic coefficients are approximated basing on experimental data. The electromechanical torque acting upon the rotor of the generator is supposed to be linear with respect to the angular speed of the rotor. The coefficient of the electromechanical torque depends on the external resistance in the circuit of the generator. The payload coefficient is introduced as a function of the wind speed and the external resistance in the circuit of the generator. The bifurcation diagram is constructed that describes the mechanical power of the wind turbine depending on the payload coefficient. The maximum power is estimated. The corresponding value of the payload coefficient is calculated.

At present, manipulative mobile robots (MR) are actively used in work in hard-to-reach or dangerous places for human beings. However, in the process of their individual work, situations may arise where their vision systems (VS) do not allow to observe the work objects fully or partially. In this case, auxiliary compact and highly maneuverable MR, also equipped with VS, can additionally be used. But the use of auxiliary MR inevitably leads to the appearance of errors in determining the positions of objects of work in the coordinate system of the main manipulative MR. Therefore, there is a need to create new approaches and methods for the coordinated control of several MRs and accurate determination of their relative positions for performing specified manipulation operations in a fully automatic mode.
The paper considers the method and algorithm for automatic execution of manipulation operations in the process of joint work of two MRs. The first of them (the main one) is equipped with a manipulator and VS, and the second one (auxiliary and more maneuverable) — only VS. The proposed control system allows to accurately perform manipulation operations with various objects in extreme conditions, even if the object of work is out of sight of the VS of the first robot. In this case, the spatial positions and orientations of the objects of work are determined and (if necessary) are corrected using the VS of the auxiliary robot and transmitted through the communication channels to the control system of the main robot, already being attached to its coordinate system. The developed system allows to determine and then compensate using VS not only the errors in determining the coordinates of work objects, but also the errors in the operation of the navigation systems of both MRs by performing trial (test) movements of the manipulator’s working tool. The results of mathematical modeling fully confirmed the operability and effectiveness of the proposed approach to the joint operation of two MRs in the automatic mode.

The problem of emergency braking security is solved by using different means of robot stopping. They include soft deceleration as well as emergency stopping with shutdown of manipulator drivers and brakes activating. This mode is used in all cases of equipment fault detection or while alarm bottom is pressed on control panel. During braking phase the manipulator motion is uncontrollable what can lead to great deviations from program trajectory. The problem of emergency breaking is complicated enough because appropriate solution should take into account that some robot sensors and drivers are invalid. The paper describes device which can be connected to robot control system. It consists of controller and individual electronic schemes that are able to turn off power supply of each degree of freedom regardless from other one. This feature allows to design braking trajectory by turning off drivers in specific sequence and calculated delays. Connection the device to control system needs insignificant changing in hardware architecture of robot control system. Mathematical solution of deviation minimization problem for braking trajectory from program one is presented. It bases on suggestion that braking forces are constant in all braking interval. If this condition take place then solution can be became as mathematical formulas which includes the temporary velocities in manipulator joints, braking acceleration and response time of brakes.
Theoretical evaluations show that in common case deviations can be reduced in a few times. Experiments on robot-manipulator confirm these conclusions. The small deviations between braking and program trajectories exclude collisions of manipulator with the objects in robot workspace.

Currently, the task of improving the robot grippers and their force control algorithms is urgent, thanks to the development of such areas of robotics as medical and rehabilitation robotics, prosthetics, collaborative robotics and other areas where there is the task of limiting or minimizing the loads acting on the object of manipulation. The force control in the electrically driven dexterous gripper is ultimately provided by the current control. Therefore, the purpose of this article is to analyze the operation of various current regulators in the context of their application in dexterous gripper and manipulators with a force control. The article considers the following current controllers: proportional-integral, adaptive, hysteretic and hysteretic with adjusting loop. Among these controllers, the hysteresis controller with adjusting loop is promising for the force control gripper and manipulator, since it provides switching frequency stabilization and current ripples reduction in a motor driver while maintaining fast response and sufficient robustness. For the hysteresis current controller with adjusting loop, reduced and linearized mathematical models of the adjusting loop are proposed. Moreover, based on the linearized model, methodic is constructed for the adjusting loop synthesis, which assumes the using of the classical control theory. Based on the synthesized current controllers, the analysis of the two-fingered gripper control system carried out, taking into account such factors as the force control accuracy, switching frequency stability and current ripples in the motor driver. Comparison results of current controllers can be used for the rational choice of a current controller providing force control, and the proposed synthesis methodic of the current controller with adjusting loop can to provide the controller generation with given control quality parameters.

The prevailing issues regarding the three-dimensional (3-D) reconstruction of the industrial-urban environment and navigation model can be solved by using the method of selecting linear objects (straight lines and planes) in cloud points. The analysis of the three-dimensional version of the Hough method for selecting planar objects from a cloud of points has been done. A high-speed algorithm which is a development of the Hough method, based on a two-stage transformation of the initial data, taking into account their linear structuring into a three-dimensional parameter space has been proposed. The linear structuring of the input data generated by 3D laser sensors allows efficient selection of planar objects: first to find subsets of points belonging to line segments in the scanning planes, and then to find subsets of line segments belonging to one flat object. Comparative estimates of the computation volumes for the three-dimensional version of the Hough method and the proposed two-stage algorithm are obtained. Estimates give a quadratic and linear dependence on the same parameter, respectively, which provides for real 3D images increased performance in the second case by two orders of magnitude. The effectiveness of the proposed algorithm is confirmed by the results of the operation of the corresponding software and hardware in real environmental conditions. The obtained results of theoretical and experimental studies allow us to conclude that the created algorithm and software-hardware tools provide a transition in real time (in the rate of motion of control objects) from large volumes of initial visual ranging information to semantic information and navigation models. Formed models in an explicit and compact form contain geometric data about the external environment and navigation data about the sensor (control object). The possibility of forming semantic information and navigation models is based on data obtained from on-board sensors and on-board calculators in real time which allows for the present time to solve ongoing tasks for autonomous traffic control of AGV and UAV in the industrial-urban environment and buildings.