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• DEVELOPMENT OF A FUNCTIONAL DIAGNOSTIC SYSTEM FOR THRUSTERS OF UNDERWATER VEHICLES

  A.V. Zuev, A.N. Zhirabok

  2020-07-10

  Abstract ▼

  The aim of the study is to increase the efficiency of operation of underwater vehicles (UVs) by using systems of functional diagnosis of their thrusters, by providing detection, localization and identification of minor faults. To solve this problem, the article proposes a new method containing two main stages. At the first stage, a bank of diagnostic observers is built to detect and localize emerging faults. At the same time, each observer is constructed according to a special procedure in such a way to be sensitive to different set of possible faults. At the second stage, additional ob-servers working in the sliding mode are synthesized to accurately estimate the fault values. At the same time, in contrast to existing solutions, it is proposed to use a reduced (having a smaller di-mension) model of the original system when constructing these sliding mode observers. This makes it possible to reduce the complexity of the obtained observers in comparison with the known methods, where full-order observers are built. The results of the research showed the efficiency and high quality of all synthesized observers. In all the considered cases, it was possible to detect the occurrence of typical faults, as well as to ensure the identification of their values. Highly reliable UV control systems can be created on the basis of the considered method.

• PERFORMANCE OF THE ELBRUS-8SV MICROPROCESSOR FOR TECHNICAL VISION TASKS UNDER POWER CONSTRAINTS

  N.A. Bocharov, A.G. Zuev, О. А. Slavin

  2021-04-04

  Abstract ▼

  Research in the field of creating specialized computing systems for robots is conducted in
  many world scientific centers, including our country. The development of capabilities of sensor
  systems, global navigation systems, growth of computing power and improvement of algorithms
  allow creating onboard computing systems with broad intellectual capabilities. An important, butunsolved problem remains the equipping of such computing systems with domestically produced
  microprocessors. The emergence of domestic computing systems and software of the new generation,
  such as microprocessor "Elbrus-8SV" and OS “Elbrus” opens up new opportunities for developers
  of robotic complexes. The peak performance of "Elbrus-8SV" microprocessor is more
  than 0.25 TFLOPS of double precision, which allows solving computationally complex tasks, such
  as technical vision tasks, on the microprocessor. Another important requirement of onboard computing
  technology, in addition to computational power, is low power consumption. As a rule, on
  general-purpose microprocessors, high performance is impossible with low power consumption,
  and specialized processors, such as vector or neuroprocessors, are used to solve computationally
  complex technical vision tasks. To reduce the power consumption of general-purpose microprocessors,
  there are special methods, among which the authors considered: switching off the physical
  cores, reducing the clock frequency, switching off the pipeline, switching off synchronous pulses
  in the idle state. The authors reviewed typical technical vision tasks solved by onboard computing
  systems. An experiment was conducted to estimate power consumption and execution time of
  vision algorithms when the clock frequency is reduced and the microprocessor cores are switched
  off. The experiments showed the possibility to decrease the power consumption of the Elbrus-8SV
  microprocessor cores by 36-46% with an increase in the program execution time. Based on the
  results of the experiment, conclusions were made about the applicability of the Elbrus-8SV microprocessor
  for creating advanced onboard computing systems with the ability to operate both in
  high performance mode and with reduced power consumption. The results obtained by the authors
  indicate the prospects of import substitution in the field of robotics.

• IDENTIFICATION OF FAULTS IN DRIVES BASED ON OPTIMAL CONTROL METHODS

  А.А. Kabanov, V.А. Kramar, А.V. Zuev, V. F. Filaretov, А.N. Zhirabok

  192-204

  2025-08-04

  Abstract ▼

  The paper exams the problem of identifying faults in the drives of robotic systems, the dy-namics model of which is described by linear differential equations. It is proposed to search for a solution to the fault identification problem based on the solution of an auxiliary optimal control problem for a dynamical system in which the role of an unknown vector function describing emerging faults is performed by some auxiliary control, which should provide a minimum for the residual functional. Based on the solution of the auxiliary optimal control problem, a fault diag-nostic observer is proposed. In this case, the fault itself is found through the solution of the corre-sponding algebraic Riccati equation and the differential equation for the auxiliary variable. Un-like popular approaches to solving the problem of fault identification based on observers operat-ing in a sliding mode, the proposed method allows us to expand the class of systems for which the identification problem can be solved. It is known that the methods of sliding mode observers de-sign impose certain restrictions on the systems under consideration. The proposed approach based on optimal control can also give results for systems with nonlinear dynamics. In this case, methods of approximate solution of optimal control problems based on the representation of the system in linear form with state-dependent coefficients (the so-called State-dependent Riccati Equation, SDRE) are likely to be effective. The improvement of the proposed method in this direction will be the subject of further research. The stated theory is shown on the example of fault identification in a DC drive. Different cases are considered for a system with complete observations (the entire state vector is known) and with incomplete observations. It was shown during the simulation that the quality of faults identification can be improved by selecting the appropriate values of the pen-alty matrices in the residual functional, while it is possible to achieve good diagnostics separately through various channels of faults occurrence. The paper presents recommendations on the choice of penalty matrices. The simulation results confirmed the operability of the diagnostic observers synthesized using the proposed method

• DIGITAL PLATFORM FOR THE CREATION OF DISTRIBUTED CONTROL AND NAVIGATION SYSTEMS FOR UNDERWATER VEHICLES

  V.F. Filaretov, D.A. Yukhimets, A.V. Zuev, A.S. Gubankov, D.D. Minaev

  2021-04-04

  Abstract ▼

  The paper proposes the architecture of a digital platform for the implementation of distributed
  control and navigation systems of underwater vehicles (UV), that perform technological operations
  in an uncertain environment. The proposed digital platform is designed to automate the
  following activities: monitoring the state of underwater infrastructure objects (communication
  lines, pipelines, mining equipment, etc.), cartographic and geodesic works, determining the parameters
  and boundaries of physical fields, zones of distribution of chemical compounds (pollution
  zones) and bioresources, protection of underwater and surface infrastructure objects (underwater
  mariculture farms, borders of water reserves, etc.), tracking moving objects, searching for objects
  of a given type (biological, man-made, etc.), performing underwater technological operations
  (welding, cutting, cleaning, etc.). For this platform, a command system has been developed that
  provides flexible assignment of various types and purposes of UV missions. There are five types of
  digital platform messages: mission order management commands, mission load management
  commands, information messages, mission and group control commands. The concept of building
  distributed control systems of the UV is proposed, which ensures the compatibility of existing onboard
  UV systems with the proposed solution based on the combined hydroacoustic systems of
  global hydroacoustic navigation developed in PAO "Dalpribor" (Vladivostok). These control systems
  consist of two main parts. The first part is the initial on-board information and control system
  of the UV, which ensures its movement to a given point in space at a given speed, receiving
  data from on-board sensors, as well as controlling the operation of on-board equipment. The second
  part – the high level control system, provides the possibility of interaction of the control system
  through an acoustic communication channel with the global hydro-acoustic navigation system
  and the operator's automated workplace. Simulation of the data transfer in CoppeliaSim between
  the operator and the UV within the proposed digital platform have shown that reliable mission
  loading and receiving information about the state of the UV is provided at different speeds and
  under different operating conditions of the acoustic communication channel.