Optimal stabilization of the movement of an unmanned aerial vehicle with parametric uncertainty

This article proposes a modal approach to the synthesis of robust systems for optimal stabilization of the program flight path of a UAV under conditions of uncertainty of its state parameters. The synthesis of a modal robust controller is implemented using the principle of guaranteed dynamics, which allows ensuring not only stability, but also the required quality of control

Modeling And Optimization Of A Multiphase Sequential Technological Process

This paper solves two problems of optimizing the operation of a multiphase sequential process (STP): innovative equipment upgrades to increase productivity and determining the optimal number of similar equipment at each phase of the production process

Synergetic synthesis of optimal control laws for nonlinear dynamic objects

The nonlinearity of a fairly large class of real technical objects is a significant obstacle in the development of control systems for them. In particular, the synthesis of optimal control laws for nonlinear dynamic objects is a very complex task, which often cannot be solved in an analytical form. This article discusses a synergetic approach to solving problems of synthesizing optimal control systems for one class of nonlinear objects. The synergetic synthesis of optimal stabilizing control laws for one class of nonlinear dynamic objects proposed in the article is based on the joint use of the well-known AKOR method and a specially designed synergetic functional. Synergetic synthesis of optimal stabilizing control laws based on the AKOR method and a specially designed synergetic functional that meets the conditions formulated in the article allows, on the one hand, to ensure asymptotic stability and, on the other hand, to ensure the specified dynamic properties of transient processes for one class of nonlinear dynamic systems. The practical implementation of this approach is demonstrated using the example of the synergetic synthesis of the law of optimal stabilization given in the article. Ref. 1

Fuzzy algorithm for situational control of urban transport traffic

The problem of operational dispatching control of urban transport is considered on the example of fixed-route taxis. The analysis of passenger traffic is carried out on the mathematical apparatus of the theory of queuing systems, within which a graph of states is constructed and ratios are obtained to evaluate the main indicators of the quality of minibus taxis. Due to the presence of information uncertainty in the work of urban transport, an algorithm of fuzzy situational management is proposed, which is the basis of intellectual DSS. For an optimal transition from the current situation to a situation that meets the new operating conditions, in the sense of the selected criterion, it is proposed to use the dynamic programming method

Anthropomorphic walking robot: Design and simulation

The current stage of development of robotic systems is characterized by the use of anthropomorphic robot designs, the functions of which are as close as possible to human capabilities. This trend is explained by the need to give robots universal capabilities when performing various technological operations. The article proposes a fundamentally new design of a walking robot and describes a model of its functioning. This design allows the robot to move in an angular coordinate system, which is typical for humans. The main motivation for creating such a robot is to reduce the number of drives for the kinematic chain of the walking mechanism. The article presents the results of mathematical modeling and recommendations for the design of anthropomorphic walking mechanisms. The engineering formulas and diagrams presented in the article for calculating force loads make it possible to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The economic effect is achieved by reducing the number of electric motors for the robot's leg joints and, consequently, by reducing the total cost of the walking robot

Recognition of handwritten numbers based on convolutional neural networks

This article deals with the problem of practical implementation of handwritten digit recognition based on convolutional neural networks (CNN). The CNN architecture is presented and analyzed, for which it is recommended to use cross entropy as a loss function during training, and the Softmax function as an activation function of the last CNN layer. It is also recommended to use the well-known error back propagation algorithm to implement the CNN learning algorithm. To do this, the article presents the main relations for errors at each layer

Infological Model Development Of Innovative Software Product

An infological model of the process of managing the creation of a subject-oriented software product proposed, on which the development of an innovative software product interpreted as an information object that changes in content and structure in the process of its creation. When there are innovations in the subject area in the infological model, it is possible to change the control actions in acceptable values in accordance with changes in the current and final requirements for the subject area of the innovative software product. The procedure for making innovative decisions, which implemented, using an intelligent decision support system and is a cyclical process of human-computer interaction

Automation Of Making Innovative Decisions In Development Of City Infrastructure

An automated method for evaluating expert questionnaires proposed, in which the questionnaire considered as a linguo-numerical model of the city infrastructure object under study, which makes it possible to present it in a form convenient for automated processing in decision support systems (DSS) based on the proposed procedures

Stabilization of positioning points in the control system of industrial robots-manipulators

To stabilize the position of the grip of the manipulator at the working point of positioning, a modal procedure for optimal adjustment of the parameters of the proportional and differential parts of the multidimensional PID controller based on the original method of uncertain coefficients is proposed. To eliminate the static error, it is suggested to use the Davison method of adjusting the integral part of the PID controller. The proposed approach is universal and can be used to stabilize the modes of operation of other technical objects and technological processes

Translation Lookaside Buffer on the 65-nm STG DICE Hardened Elements

This paper presents the design of hardened translation lookaside buffer based on Spaced Transistor Groups (STG) DICE cells in 65-nm bulk CMOS technology. The resistance to impacts of single nuclear particles is achieved by spacing transistors in two groups together with transistors of the output combinational logic. The elements contain two spaced identical groups of transistors. Charge collection from particle tracks by only transistors of just one of the two groups doesn’t lead to the cell upset. The proposed logical element of matching based on the STG DICE cell for a content-addressable memory was simulated using TCAD tool. The results show the resistance to impacts of single nuclear particles with linear energy transfer (LET) values up to 70 MeV×cm2/mg. Short-term noise pulses in combinational logic of the element can be observed in the range of LET values from 20 to 70 MeV×cm2/mg