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  • Control device for surface transportation of marine robotic system in fog and rain conditions

    The article substantiates the necessity to address the effects of fog and rain when designing mobile robotic platforms and to define the fog numerical indicators and conditions of its occurrence. The common braking system structure and the working principle of brake disk drying through periodic rubbing of brake pads and disks are brought. The electrical diagram of brake control system with microcontroller and the fog and rain sensors and reliability analysis of this device are given. In a proposed control device operation algorithm the conditions of fog occurrence and the sensor parameters are considered. The algorithm is required to create a software system for mobile robotic platform.

    Keywords: mobile robotic platform, fog, braking system, microcontroller, sensors, control system, software system

  • Development of a parametrical model of the ion current signal for driving engines of moving objects

    The article presents the results of approximating of ion current signal of the most appropriate parametrical models in Matlab software. It is shown that in spite of the high accuracy of approximation, parametrical model Gaussian, which chosen early in Matlab, have significant drawbacks. In order to eliminate the identified deficiencies authors was developed parametric model in which the discrete Fourier transform was used to approximate of the ion current signal.

    Keywords: ion current, the internal combustion engine, a parametric model, a discrete Fourier transform, the Gaussian model, the approximation of a signal

  • Development And Research of Path Planning Subsystem for Underwater Vehicle Control System

    This paper provides solution for the task of plane movement of the underwater vehicle using hierarchical control system. Searching A*-algorithm is used for creation of the path plan. Vehicle moves along the stated path under control of position-path regulator on the base of square form. Vehicle, used in this paper features torpedo-like form, two cruise engines and maneuvering device.

    Keywords: mathematical model, underwater vehicle, planning, position-path control, A*-algorithm

  • Research of devices of registration of ionic current in the combustion chamber

    In article the comparative analysis of various versions of circuitry solutions of realization of devices of registration of ionic current, is made, theoretical justification of almost known advantages and shortcomings of the considered devices. In article are given the experimental data obtained at registration of a signal of ionic current by various devices. Is made processing of oscillograms and shown qualitative advantage of the device of registration of ionic current with the stabilized boost converter for the solution of problems of registration of a signal of ionic current with increased requirements to quality of a signal.

    Keywords: internal combustion engine, signal of ionic current, energy, spark discharge, device of registration

  • Development of Autonomous Underwater Vehicle Simulator

    Testing and debugging of real equipment is a time consuming task. In particular, in the case of marine robots, it is necessary each time to carry out the transportation and deployment of a robot on the water. Experiments with not yet fully functional prototype of marine robot equipped with expensive hardware is in the meantime very risky. Therefore, the use of simulators is affordable way to accelerate the development of robotic systems from the viewpoint of labor effort and cost of experiments. This paper presents a simulator specifically designed for autonomous unmanned underwater vehicles.

    Keywords: modeling, underwater vehicle, autonomous vehiclem simulator, robots

  • Software complex of detection and diagnosis of hardware failures in robotic marine mobile vehicles

    The paper considers the use of ground station operator’s software that provides the diagnosis of automatic control system of marine vehicles, based on the monitoring of the functional state of the system elements with depth to the type of failure. Also considers the use of neural networks for solving the problems of monitoring, control and state diagnostics of the actuators and sensors. Describes the principles applying of active fault tolerance and flexible functionality recovery of marine mobile vehicle’s control system

    Keywords: Modeling, control systems, diagnostics, fault tolerance, neural networks, AUV