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• A METHOD OF CONTROLLING A MOBILE ROBOT USING NATURAL LANGUAGE SEMANTICS

  D.S. Kobzar , V.D. Matveev , Y.D. Lapkin , R.R. Bogdanov , А. S. Izyumov

  2026-04-29

  Abstract ▼

  A large number of different interfaces can be used to control robots, from traditional remotes to augmented reality technologies. However, all such interfaces have a number of limitations, which are particularly acute in service robotics. They are associated with long-term training of a human operator, non-intuitive control for humans, and the need for full human involvement. On the other hand, a new direction has emerged today, related to large language models that are capable of processing natural language and then translating it into robot control commands. There are a number of works demonstrating the possibility of using language models in tasks of planning robot actions. Based on the analysis of existing work, a new method of controlling a mobile robot is proposed, combining the advantages of other methods. The method allows you to plan scenarios for the robot, receiving a natural language mission, the robot's TOP, and information from its sensors. The article also describes the sequence of configuring the system using a large language model to solve this problem. Three variants of instructions for the neural network are presented, which gradually improve the achievability of the generated scenarios. After that, various missions are described, which are set as part of experimental studies - a total of 100 missions were tested, divided into 4 levels of difficulty in equal proportions. The complexity of the missions ranged from describing objects in the robot's field of view to interacting with complex missions involving synonyms of objects and implicitly defined goals. At the end of the work, the results of the evaluation of the algorithm and three variants of the instruction are presented. The conclusion can be considered that the use of language models to assign scenarios to robots is possible, including with a sufficiently high achievement. The model with the most advanced instruction reached 91% of correctly formed scenarios, which suggests the applicability of the developed method for controlling a mobile robot in natural language

• ATTENUATOR WITH DIGITAL CONTROL BASED ON THE M44752 MODULE

  J.M. Bogdanov , A. N. Zikiy , A.I. Pustovalov

  2021-08-11

  Abstract ▼

  Attenuators are often used in radio receivers to expand the dynamic range of input signals,
  as well as to control the output power of radio transmitters. Recently, attenuators are used in
  transceiver modules of active antenna arrays. Attenuators differ in operating frequency range,
  base of elements, control method, operating power. An urgent task is the creation and research of
  new microcircuits of attenuators with digital control of domestic production. The purpose of this
  work is an experimental research of the main parameters and characteristics of a digital attenuator
  of the decimeter wave range. The object of the study is an attenuator of the M44752 type installed
  on the test board. It is manufactured by JSC "SPE "Istok" named after A.I. Shokin". The
  results of the experimental research are given in the operating frequency range from 0.1 to 2 GHz.
  There are a switching circuit, a photo of a model and six amplitude-frequency characteristics for
  different control codes. The following electrical parameters have been achieved: – operating frequency
  range is from 0.1 to 2 GHz; – attenuation range is from 1 to 50 dB; – permissible inputpower is not more than 23 dBm; – the number of control bits is 6; – switching time is not more
  than 50 ns;– VSWR of input and output is not more than 2. The obtained results of the study of the
  M44752 module can be used in ultra-wideband transceiver communication equipment for various
  purposes, navigation and radiolocation. The relevance of the research is confirmed by two current
  trends – microminiaturization of electronic equipment and import substitution.

• ANALYSIS OF THE RELATIVE PLACEMENT OF THE SENSITIVE MASSES OF ACCELEROMETERS IN ALGORITHMS FOR STRAPDOWN INERTIAL NAVIGATION SYSTEMS

  А.Е. Morozov, N.D. Bogdanov

  2024-04-16

  Abstract ▼

  The present study introduces a method for algorithmic compensation of the displacement of
  the centers of sensitive elements of accelerometers within a high-precision inertial navigation
  system. Previous considerations omitted this compensation due to the potential for minimizing its
  impact through structural features—specifically, the close proximity of accelerometers to each
  other. With the upgrading of components in the inertial sensors, the influence of size-effect errors
  could become significant compared to gyroscopes and accelerometers errors. This study aims to
  analyze the impact of these errors on solving navigation tasks under the precision conditions of
  modern inertial sensors. The compensation scheme is elaborated in detail: compensation to an arbitrary center of the inertial measurement unit is separately discussed, considering the spreading
  effect of the accelerometer triad, and to the center of rotation of the vehicle, accounting for the
  installation location on the operational object. Additionally, designs of accelerometer placements
  on platforms of high-precision and compact inertial navigation system sensor blocks are analyzed.
  By conducting a series of rotations on an inclinable turntable, the spreading of accelerometers is
  calculated using the least squares method concerning the intersection point of the rotation axes of
  the stand used. An estimation of the discrepancy of the calculated spreading coefficients of sensitive
  elements from their nominal values is obtained. Through calibration rotations, the reduction
  of all parasitic phenomena in the accelerometer signal due to centripetal and tangential accelerations
  is achieved. The influence of parasitic accelerometer signals during the roll of the product on
  coordinate computation is analytically derived, revealing the dependency of the studied error on
  the product's operational time under constant rolling conditions. Real tests on the inclinable turntable
  were conducted for verification, and the obtained results of compensation effectiveness are
  presented. The compensation results from flight tests on a two-seat vertical takeoff and landing
  helicopter are provided. The flight test calculations were conducted through physical modeling
  based on recorded data with the synchronization of the employed sensors considered. Compensation
  in the mode of aligning the accelerometer triad to an arbitrary point and aligning accelerometers
  to the center of the vehicle's rotation is separately discussed