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  • Architecture and model of an agricultural wireless sensor network

    The paper describes the composition of a wireless sensor network for agricultural purposes, including a sensor node, an actuator node and a coordinator node. Based on the IEEE 802.15.4 standard, a hybrid network architecture with node synchronization via a time slot mechanism is proposed. The WSN model is proposed, which includes the forming functions of nodes, which makes it possible to abandon the matrix of energy characteristics and describe the elements of the network in a simplified form.

    Keywords: wireless sensor network, sensor node, coordinator node, network structure, wireless node architecture, wireless network parameters, network model

  • Hybrid method of dynamic packet routing in a wireless sensor network

    The paper proposes a hybrid method of packet routing in a wireless sensor network based on a genetic algorithm that allows you to build a routing table taking into account restrictions on the maximum number of transmissions through each node of the network and, as a result, increase its energy efficiency. The results of experimental studies on BSS with a random configuration of nodes in space are presented and it is shown that the congestion of data packet relay nodes is reduced by 30-40% with an increase in the total length of routes by 10%.

    Keywords: wireless sensor network, sensor node, coordinator node, network structure, packet routing, energy efficiency of a wireless network, network model

  • 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

  • Intelligent motion control of autonomous vehicles based on behavioral approach

    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

  • Analysis of application aspects of regulators in quadrotor automatic control

    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

  • Development of the method of planning the path of the mobile autonomous robot in a three dimensional environment based on fuzzy logic

    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

  • Comparison of finite element modeling and analytical approach results for oscillating rod structure with crack

    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

  • Computer simulation of visual grouping mechanisms selective to spatial modulations of contrast

    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