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
The purpose and objectives of this work is to develop methods for planning the trajectory of moving objects. Achieving the goals and objectives achieved by the development of the motion planner mobile autonomous robot based on fuzzy logic . With the software package Matlab simulation results obtained fuzzy scheduler works in an environment with unknown location of obstacles.
Keywords: mobile robot, vehicle, planner, fuzzy logic, behavior, coordination, algorithm
The purpose and objectives of this work is to develop methods for the design of hybrid systems manage badly formalized technical objects related to unmanned aerial vehicles such as helicopters, namely quadrocopters. The result of the article is to provide analytical information on the existing structures of hybrid controllers, the understanding of the characteristics of their design, practical use. The results differ from the more unique orientation with respect to the management of quadrocopters based on a hybrid approach.
Keywords: quadrotor; control; uncertainty; decision making; fuzzy logic; neural networks; hybrid control
The purpose and objectives of this work is to develop methods of planning the path of the mobile autonomous robots operating in environments with unknown location of obstacles. The result of the article is vague planner travel path of autonomous mobile robots for three-dimensional space (3D environments). The results differ from known analogues structure proposed planner, consisting of two interconnected parts, designed for use in horizontal and vertical planes, context-sensitive coordination method "simple" behavior of the mobile robot, a set of rules governing the method of prevention "jam" in the obstacles.
Keywords: Quad copter, management, uncertainty, decision making, fuzzy logic
the paper considers the comparison of natural modes for the first and second transverse oscillation modes obtained by numerical simulation and finite element package of analytical calculation of the core model with an elastic element based on the application of the Euler-Bernoulli hypothesis. The analysis compared waveforms for different values of the defect shows their satisfactory agreement.
Keywords: rod design, vibrations, defect, finite element modeling, analytical modeling, waveform
This paper outlines the implementation of computer model of second-order visual mechanisms that are specific to spatial contrast modulations, and represents the results of testing the model. Computer simulation is based on "Filter-Rectify-Filter" model with some important additions. The inhibitory parts of receptive field of simulated mechanism are non-selective to orientation and spatial frequency of texture elements. Texture modulated by orientation or spatial frequency does not reduce flank inhibition and does not activate the mechanism. Unmodulated texture also does not cause activation of the filter because the flanking inhibition will be equal to or exceed the excitation. However, increasing the contrast in the center and reduction it on the flanks leads to the activation of the second order mechanism.
Keywords: Second order visual mechanisms, image filtering, texture, spatial modulation, computer simulation