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• HARDWARE AND SOFTWARE IMPLEMENTATION OF A REMOTELY OPERATED UNMANNED UNDERWATER VEHICLE OF THE MICRO-CLASS

  О.V. Shindor, P.А. Kokunin, А. А. Egorchev, L.N. Safina, Y. S. Murin

  2025-01-30

  Abstract ▼

  In modern underwater robotics, the tasks of control, increasing autonomy, increasing the functions
  performed and the possibility of import substitution are relevant. The paper considers an example of building a
  remotely controlled unmanned underwater vehicle (RCUV) of the micro class, the main purpose of which is to
  use for educational purposes, in particular for involving schoolchildren in engineering and programming, students
  in programming microcontrollers, practical study of control systems, digital image processing using wavelet
  transform. The article presents the basic principles and features of the design, hardware, algorithmic and
  software implementation of a robotic designer based on a RCUV of the micro class. The justification for the
  application of the design solution for using the RCUV for educational purposes is given, the principles of algorithmic
  movement of the underwater unit are considered. Based on the two-dimensional wavelet transform for
  processing underwater images, an algorithm was developed and verified. The wavelet transform is a modern
  and effective tool for identifying local features of signals and image processing. The use of two-dimensional
  wavelet decomposition, which is the process of decomposing a signal into high-frequency and low-frequency
  components, allows us to form four matrices of wavelet coefficients containing approximating ones with lowfrequency
  components and detailing coefficients (high-frequency) of three types: carrying information about the
  vertical, horizontal and diagonal parameters of the analyzed image. In the process of image processing after
  applying the wavelet transform, the approximation coefficients are changed to increase the image contrast, then
  the RGB components are determined based on the approximation matrix of the wavelet coefficients based on
  grayscale and the average and maximum values are calculated for each of the components. Then the color rendering
  coefficient and improvement coefficients are calculated, on the basis of which a modified matrix of wavelet
  coefficients is formed and the inverse transform is applied. As a result of applying the algorithm to test images,
  the possibility of color correction was demonstrated, in particular, the reduction of the influence of green and
  blue components by 8.6%. The results obtained can be used in the construction of image recognition systems in
  the underwater environment and the design of autonomous unmanned underwater vehicles.

• METHODS FOR OBTAINING INFORMATION FOR BIOMEDICAL MONITORING OF HEART RATE USING BUILT-IN SMARTPHONE SENSORS

  М. R. Sharipov, А.F. Fahrutdinov, P.А. Kokunin

  2023-10-23

  Abstract ▼

  Non-invasive monitoring is a promising direction in medicine for determining biometric indicators.
  The purpose of the study is to review modern non-invasive methods for determining such
  biometric indicators as heart rate. The problems of existing solutions related to calculation formulas,
  as well as those related to testing are shown. Nowadays, a smartphone is an integral part of
  any person's life. With the help of these devices, users can perform almost any activity from the
  comfort of their homes, such as shopping, watching movies and entertainment, making their lives
  much easier, more convenient and efficient. In addition, today's smartphones have extensive telecommunication
  capabilities, allowing groups of people to communicate frequently in real time.
  With the COVID-19 pandemic, the need for health monitoring has become relevant, as well as the
  need to constantly monitor the biomedical indicators of employees who are on the job. One of the
  most important indicators is the heart rate, the analysis of this indicator allows to characterize the
  performance of the most important cardiovascular system. This review discusses techniques for
  monitoring heart rate based on methods that can be utilized on smartphones, using sensors that all
  modern smartphones are equipped with. The basic approach that can be applied in smartphones to
  detect heart rate is to use a light source and a light-sensitive device that receives light passing
  through capillaries, most commonly the finger of the person whose heart rate is being measured.
  The difference between the approaches lies in the hardware - what light source is used and what is
  used as a receiver of reflected light. As a light source can be used LED, in smartphones it is powerful
  LEDs, which are used in the photoflash, as a receiver or photodiode or video camera. In
  terms of processing the received signal there are several approaches in this review they are considered.

• ALGORITHM FOR DETECTING FINE MOTOR DEFECTS BASED ON INFORMATION FROM SMARTPHONE SENSORS

  А.А. Egorchev, D.E., D.М. Pashin, А.F. Fahrutdinov, P.А. Kokunin

  2023-10-23

  Abstract ▼

  Digitalization is the leading trend of modern humanity. It allows you to solve many everyday
  tasks with the help of devices with specialized algorithms, facilitating everyday life, as well as
  solving a number of tasks for which qualified specialists were needed yesterday. One of these tasks
  is the independent preliminary diagnosis of patients in medicine. The ability to perform such diagnostics
  allows you to reduce the time to identify problems with various diseases, in particular neurological
  disorders, including cases such as a defect of fine motor skills, this allows you to reduce
  the burden on medical specialists. It is worth noting that time plays a crucial role in the process of
  providing medical care, and the timely provision of medical care can save a person's life. Thus,
  the development of a solution that allows independent preliminary diagnosis of fine motor defects
  by using technical tools that almost everyone has is an urgent task today. The aim of the work is to
  expand the methods for diagnosing the presence of defects in fine motor skills. To achieve this
  goal, the tasks were set to study the available solutions on the topic and develop a specialized algorithm intended for use in smartphones as part of a biomedical monitoring system. The article
  presents an algorithm for determining the defects of fine motor skills of a person according to the
  kinematic sensors of a smartphone – a three-axis accelerometer. The presented solution is based
  on the analysis of the deviation angles obtained from the smartphone accelerometer when the
  patient performs the assigned task (exercise). The task requires the patient to take a starting position
  for three seconds and then hold the smartphone at arm's length for 10 seconds, during which
  the readings of the three-axis accelerometer are measured. The test results of the solution showed
  the accuracy of the solution at the level of 0.05 of the alpha error and 0.09 of the beta error. The
  results obtained indicate the possibility of using the solution for preliminary self-diagnosis and
  can be used as an element of the diagnostic module in large biomedical monitoring systems.