Precise Control of Dynamic Object by Combining of the Advantages of Different Sensors

Precise control of dynamic objects with negative feedback loop is widely used in science and industry [1-3]. Control accuracy depends on properties of the regulator, as well as on the accuracy of the sensor of the output value. Often the choice of the best sensor is impossible, because the different sensors may have different, and none of them is the best over the whole frequency range. In this paper, the research work is carried out in the base of the mathematical simulation and some theory. The modeling proof of the method effectiveness is carried out on specific examples. The sensors together with the object give the task with single input and two outputs (SITO)

Characteristic Barriers to the Implementation of the Roadmap for Augmented Reality Technology Development Program

The paper discusses the characteristic barriers for the development of a detailed map of the Program for the Development of Virtual and Augmented Reality (VR/AR) Technologies. The team of authors took part in the development of an alternative version of such a roadmap, since the main executor was another consortium of experts. An alternative point of view is always useful, in particular also because so far, the specified roadmap has not gone beyond the stage of discussion, it is theoretically possible to make amendments and additions to it. At the same time, even in case of its approval, a five-year term has been released for its implementation. During this period of time, possible adjustments to plans, opening of unrecorded technological barriers with which to fight. Therefore, this paper may be useful for those who are planning the development of these technologies, and for those who will work on these plans. The article contains the results of an in-depth analysis of the situation and forecasts on this basis, made during the expert consultation process of the main developers of the roadmap (some of the authors were among the authors of the final roadmap to be submitted for approval by the Government of the Russian Federation)

Development of Deflection Angle Stabilizing System for Balancing Robot

This paper performs determination of a mathematical model of the balancing robot, its linearization and algorithm for calculation of stabilization of the deflection angle from the vertical modal method. This algorithm also makes determination of the angle of deviation from the use of either alpha-beta filter and the angle of rotation of the wheels by means of encoders

Identification and Control of Object with Time-Delay Link

The importance of control for objects with timedelay links is very high; the rising number of control theory publications proves this case. However, the theoretical results are often very far from practical results. We can assume that the most common reason for this is fundamental simplification of the model in the system identification process. This paper presents the example of a plant from [1] to test the model’s validity and its feasibility in the case of the control design with negative feedback loop. The paper resolves the stated problem by means of mathematical modeling (simulation) in program package VisSim

Numerical Optimization of PID-Regulator for Object with Distributed Parameters

The control of dynamic objects is very important for technologies and technical sciences. The difficulty of the control depends on the complexity of object mathematical model. Objects with distributed parameters are most difficult for control with feedback loop. The mathematical model of such object is much more complicated. There are two method of calculating regulator. The first method is analytical calculation of the coefficients. It can be used only for relatively simple object. The second method is numerical optimization. It can be used even with complex object. But object with distributed parameters has such complex model that in this case the use of the method of numerical optimization is a difficult problem. Only approximate model of such object can be used for the optimization with the help of the simulation program. Newest results in numerical optimization are based on some specific cost functions. Various composite cost functions are effective tools for regulator calculation. But even these tools are not sufficient. The paper researches possibilities of the use of approximate mathematical model of objects with distributed parameters and various cost functions, including new ideas, for the calculation of the regulator for system with such object. With all known methods, it was impossible to reduce the overshooting less than 22%. The proposed new cost function allows reducing of the overshoot to a value of about 11%, which is be preferred for many applications. The proposed method adds an arsenal of techniques of control of complex dynamic objects

Critical Technologies in the Cluster of Virtual and Augmented Reality

Technologies of creating new products in the field of virtual reality have not only been widely developed, but have already reached the payback stage - primarily in the areas of computer games and simulators for drivers and operators of complex technology, including spacecraft, airplanes, helicopters, cars, etc. As a rule, when discussing these technologies, they add socalled technologies of augmented reality to them. This is logical, but the problem is that, for example, with government funding for the development of these two technologies in a single cluster of programs, there is a danger that all actual projects will be directed to commercialization in the field of virtual reality, whereas this is not so important, since may develop in ways of selffinancing. In this case, there is already a tendency to replace the enlarged concept only with its simplest component, i.e. The term “virtual reality” is used as a synonym for “virtual and augmented reality”, which is completely erroneous. This article aims to distinguish between these terms. To this end, a list of critical subtechnologies has been developed, which is divided into two subsections, one of which relates only to augmented reality technologies. The article may be useful in refining the state support program designed to develop this critical end-to-end digital technology

Prospects for the Use of Wireless Reading of Prosthetic Control Signals and Methods for Generating Commands

In order to develop effective low-cost prosthetic limbs for people with disabilities, it is proposed to implement wireless communication of sensors used to pick up control commands and prostheses. In this case, the sensors can easily be placed anywhere in the patient's body, which expands the choice of effects on the prostheses. This concept is based on the decision to abandon the built-in biosensors in order to reduce the cost of prostheses, reduce the pain of their use and expand the range of prosthetic coverage, including segments of the population with incomes below average. The paper substantiates the use of low-power mobile phone network and the use of neural networks to create individual prosthetic control algorithms. The results of the first experiments in this area are given

Prospects for the Use of Wireless Reading of Prosthetic Control Signals and Methods for Generating Commands

In order to develop effective low-cost prosthetic limbs for people with disabilities, it is proposed to implement wireless communication of sensors used to pick up control commands and prostheses. In this case, the sensors can easily be placed anywhere in the patient's body, which expands the choice of effects on the prostheses. This concept is based on the decision to abandon the built-in biosensors in order to reduce the cost of prostheses, reduce the pain of their use and expand the range of prosthetic coverage, including segments of the population with incomes below average. The paper substantiates the use of low-power mobile phone network and the use of neural networks to create individual prosthetic control algorithms. The results of the first experiments in this area are given

Analysis of Barriers to the Development of Industrial Internet of Things Technology and Ways to Overcome Them

The development of the digital economy requires the compilation of a roadmap for the development of all the end-to-end technologies included in the cluster of technologies that need to be developed to a new level. At the first stage, anticipating decisions on state financing of this cluster, a list of critical end-to-end technologies is compiled. The second step is the preparation of roadmaps for each of the selected critical technologies. As a rule, many experts are involved in drawing up roadmaps, including foreign experts. As a rule, the team of such experts is headed by an organization that has received instructions to develop a roadmap on a competitive basis. Of course, not all the wishes of all experts are taken into account by such an organization; therefore, there may be alternative opinions and alternative roadmaps, or additions to the developed roadmaps. If the roadmap developed by the governing organization is approved, alternative documents are only of perhaps scientific interest. If the roadmap developed by the core team of experts is not approved due to its insufficient completeness, the decision seems to be postponed, and the specified roadmap should be corrected by adding information from alternative documents, which, of course, should be done taking into account the opinion of all experts in the field. Since the approved roadmap for the "Industrial Internet of Things" direction does not yet exist, the authors consider it useful to present their position on this issue

On the Expediency and Possibilities of Approximating a Pure Delay Link

When solving problems of controlling an object with delay, it is often necessary to approximate a pure delay link with a minimum phase link in order to ensure the possibility of using analytical methods for regulator design. There are many approximation methods based on the Taylor series expansion, as well as modified methods. The most famous one is the Padé approximation method. The known approximation methods have significant drawbacks, which this paper reveals. However, there are other methods of forming other types of filters that can serve as a better approximation in determining the delay relationship, although they are not used for these purposes. In particular, methods of forming the desired differential equation of a locked-loop system of a given order by the method of numerical optimization are known. In this case, the locked-loop system behaves like a filter of the corresponding order, the numerator of which is equal to one, and the specified polynomial is in the denominator. Modeling has shown that such a filter is an effective alternative approximation of the delay link and can be used for the same purposes for which it was supposed to use the Padé approximation. The polynomial coefficients in the literature were calculated only up to the 12th order. The higher the polynomial order is, the more accurate the approximation is