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• NON-CONTACT FLUXGATE POSITION SENSOR FOR MONITORING THE STATE OF THE VALVE

  S.А. Matyunin, R.А. Zhigalov, А.А. Igolkin

  204-217

  2025-08-04

  Abstract ▼

  The aim of the study is to develop a non-contact fluxgate position sensor to control the open / closed state of the valve. There are many examples of the use in modern technology of elements or devices that interact with a magnetic field. One of the most urgent tasks is to use the influence of the magnetic field as a means of control or as a component of the control environment. The use of magneto-optical sensors for monitoring the functioning of technical objects is due to their non-contact measurement method, the ability to measure not only magnetic, but also various other physical quantities, the relative simplicity, reliability and low cost of the design of the sensitive element, flexibility in use, operation in low-temperature and high-temperature environments. One of the sensors of this type is a fluxgate magnetic field converter. Valves of various pneumohydraulic systems are an example of the object of introduction of a fluxgate sensor. The essence of the task is to create a non-contact limit switch of the valve spool, signaling the closed or open state of the valve and transmitting this information to the control system. It is pro-posed to divide this task into stages and their sequential implementation. First, a search and anal-ysis of existing solutions that implement the position sensor using the fluxgate control method is carried out to improve the design being developed. Next, the initial design of the sensitive element of the fluxgate transducer is developed, according to the initial design, a geometric 3D model of the sensitive element is created, and the proposed material of the constituent elements of the sen-sor is selected. With the help of numerical methods of computer simulation, the operation of the sensor is simulated and its output characteristic is determined under various operating modes. According to the design characteristics, the optimal design and configuration of the sensor's sens-ing element is selected and calculated. As a result of the simulation, assembly and working draw-ings of the sensor are developed. The proposed method for solving the problem is characterized by the complexity of studying nonlinear magnetic systems and their modeling. The results of this study can be recommended for the development of magneto-optical sensors of this or another type and for the study of materials with nonlinear magnetic properties.

• STOCHASTIC DYNAMIC MODEL OF UNDERWATER WIRELESS SENSOR NETWORK BASED ON LOUVAIN CLUSTERING ALGORITHM

  А.М. Maevsky , V.А. Ryzhov , Т. А. Fedorova , I. V. Kozhemyakin , N.М. Burov

  62-81

  2025-07-24

  Abstract ▼

  Underwater wireless sensor networks (UWSNs) play an important role in monitoring ocean processes, underwater navigation, environmental control and security. However, underwater environment features such as high signal attenuation, limited energy resources and changing network topology create significant challenges in organizing efficient data transmission. To optimize network operation and extend its service life, a clustering method is used to group nodes, reduce the load on communication channels and improve energy efficiency. However, in the event of network node failure, static clustering becomes ineffective, which requires the implementation of dynamic reclustering. The procedure of redistributing node roles and rebuilding the network topology allows maintaining communication stability and minimizing data losses, taking into account the energy balance of the entire network as a whole. This paper examines modern approaches to clustering and reclustering in UWSNs taking into account the energy balance, node failure probability and interference in the transmission medium. The development of adaptive UWSN control methods is an urgent task aimed at increasing the reliability, energy efficiency and durability of underwater communication networks. The article presents a stochastic cross-level model for dynamic three-dimensional PBSNs of arbitrary topology. The model uses a new clustering/reclustering technique based on the Louvain algorithm, a routing protocol built on the Dijkstra method, and a time-domain management (TDMA) method. The proposed PBSN operating model is the basis for the developed simulation complex, which allows assessing the efficiency and reliability of the network, taking into account the loss of connectivity and vulnerabilities for PBSNs of various scales and purposes. As part of the research, a parametric analysis of systematic calculations of the PBSN functional characteristics was performed. The results of the analysis showed that the proposed simulation model provides an increase in the autonomous network operation time and a decrease in the number of lost messages compared to the models of other authors

• DESIGN AND SIMULATING GENERAL APPROACHES OF AN ARTICULATED WHEELED-LEGGED CHASSIS OF THE LUNAR ROVER

  А.V. Vasiliev , I.V. Shardyko , Y.А. Zhukov

  2026-04-29

  Abstract ▼

  The paper considers the problem of constructing a chassis for a research lunar rover with ultra-high traversability over uncertain terrain with soft soil. Direct remote and supervisory control of modern complex robotic systems in non-deterministic environment places an increased workload on the operator, especially in the case of high-traversability mobile platforms with a large number of degrees of freedom (DoF) requiring coordinated control. In this regard, the problem of automating the movement of such a multi-DoF chassis as well as automating the motion planning depending on situation based on sensor feedback becomes relevant. This article proposes a concept for a multi-degree chassis for a research lunar rover, including a design and layout scheme of the chassis and a method for its application, i.e., motion algorithms on various types of rough terrain. A methodology for control algorithms design is proposed, and a brief description of the developed algorithms and the simulation models of the chassis for its preliminary testing is provided. The final outcome of this work is expected to be a number of experimentally obtained characteristics of the laboratory chassis model and the verification of the developed computer models and control algorithms of the multi-DOF chassis. Completing these tasks will provide scientific and technical groundwork for the motion control of wheeled- legged systems and improve the quality of lunar rovers' modeling and design. The results obtained at this stage allow us to move on to the manufacturing an experimental prototype and conducting physical experiments on this prototype to test the developed algorithms and simulation models. Experimental verification of the multi-DoF chassis control algorithms and their design methodology will improve the level of autonomy of future mobile robots designed to operate in extreme off-planet conditions