In this paper, we consider the main problems associated with the need to integrate various robotic components into a single system while increasing the complexity of the navigation algo-rithms of mobile robots. The work aims to present a hierarchical modular architecture for reconfigurable mobile robots as a solution to the problems posed. In this architecture, a mobile robot is considered as a combination of modules, which in turn consist of simpler blocks - submodules. Each submodule includes a low-power microcontroller and is responsible only for the basic func-tions. A set of submodules forms a module - a transport platform, a robot leg, a manipulator, etc. Besides, one of the main objectives of the project is to provide a framework based on this architec-ture for rapid prototyping of robots from unified modules. The article describes the manufactured prototypes of the modules, briefly discusses the protocol of intermodular interaction of submodules connected by a CAN bus. The results of experiments on testing the protocol are presented and their analysis is given. The efficiency of the proposed solution limitations and a short plan of fur-ther actions for the implementation of the project are shown.
Y. V. Danilchenko , V.I. Danilchenko, V. M. Kureichik
2020-11-22
Abstract ▼
An automated approach to the structural-parametric synthesis of a stepped directional coupler on connected lines based on a genetic algorithm (GA) is described, which makes it possible to create an algorithmic environment in the field of genetic search for solving NP complete problems, in particular, the structural-parametric synthesis of a stepped directional coupler on connected lines. The purpose of this work is to find ways of structural-parametric synthesis of a stepped directional coupler on coupled lines based on the bionspiration theory. The scientific novelty lies in the development of a modified genetic algorithm for automated structural-parametric synthesis ofa stepped directional coupler on connected lines. The problem statement in this work is as follows: to optimize the synthesis of passive and active microwave circuits by using a modified GA. A fundamental difference from the known approaches in the use of new modified genetic structures in automated structural-parametric synthesis, in addition, a new method for calculating a stepped directional coupler on connected lines based on a modified GA is righteous in the work. Thus, the problem of creating methods, algorithms and software for automated structural synthesis of microwave modules is currently of particular relevance. Its solution will improve the quality characteristics of the designed devices, reduce design time and costs, and reduce the requirements for developer qualifications.
Band-pass filters are an integral part of any radio equipment. They determine the selectivity of the receiver for all channels of reception. The aim of this work is to modelling two microstrip filters of the centimeter wave range. The object of study in this work are two microstrip filters at a frequency of 5.75 GHz and 4.6 GHz. Such filters can be used in the converter of the centimeter wave range as a signal and heterodyne filters. Two filters were simulated in the Microwave Office environment. The results are presented in the form of models of two filters and four amplitude-frequency characteristics. Given are the geometric dimensions of the filters, sufficient for their manufacture on material RT5870 of Rogers company. Filters have a bandwidth of 200 MHz and a loss in bandwidth of not more than 3 dB. Losses in the stop band for the signal filter were at least 45 dB, and at least 35 dB for the heterodyne filter, which is a very good result for a two-pole filter. Acceptable electrical parameters, small dimensions and moderate cost of manufacturing filters allows them to be widely used in professional and amateur radio equipment. To improve the manufacturability of manufacturing, a material with a low dielectric constant was selected. At the same time, gaps and tolerances on theaccuracy of their manufacture are acceptable. The design of the filters allows them to be easily integrated with other components of the converter: a low-noise amplifier, a mixer, an intermediate frequency amplifier, an amplifier in the local oscillator path.
