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• MEASUREMENT MODELS OF ON-BOARD MAGNETOGRADIENT SYSTEMS

  B. V. Pavlov, D. А. Goldin, Е. А. Tretyakova

  2025-04-27

  Abstract ▼

  The purpose of this study is to develop an improved model of a magnetically gradient measuring
  system, which plays a key role in solving the problem of simultaneous estimation of the parameters of the
  Earth's magnetic field (carrier) and the parameters of the anomalous magnetic field. The relevance of the
  study is due to the need to optimize the process of differential magnetometry. Differential magnetometry
  allows you to extract useful information from a magnetic field without the need for time-consuming and
  lengthy detailed mapping of the area. This is achieved by estimating the parameters of the magnetic field
  gradient, which significantly increases the information content and efficiency of determining the location
  of sources of magnetic anomalies. However, measurements of physical fields are significantly affected by
  various disturbances that may occur due to equipment and design errors, as well as due to their magnetic
  properties. These interferences distort the measurement results and reduce the accuracy of determining
  the magnetic field parameters. In this regard, the development of a model that takes into account the effects
  of interference and compensates for their effects is an extremely important task. The proposed model
  of a magnetically gradient measuring system will take into account the effects of interference and compensate
  for their effects, which will significantly improve the accuracy of estimating magnetic field parameters.
  In addition, the model will help solve the problem of jointly estimating the parameters of the carrier
  field and the constants included in the measurement model. This will increase the efficiency of differential
  magnetometry and make it more applicable in various fields. In particular, the improved magnetically
  gradient measuring system will be useful in geophysical mapping, mineral prospecting, environmental monitoring, as well as in specific combat conditions. For example, in geophysical mapping, it will allow
  you to more accurately determine the boundaries of various geological structures, which is important for
  the search for minerals. In the conditions of clearing the liberated territories of hidden objects left by the
  enemy, such as mines or underground structures, the system will help to identify them quickly and accurately,
  which will significantly increase the safety of military personnel and civilians. Thus, the development
  of an improved model of a magnetically gradient measuring system has a wide range of potential
  applications and is an important step in the development of differential magnetometry technologies

• TECHNICAL AND ECONOMIC EFFICIENCY OF APPLICATION OF ROBOTIC COMPLEX OF MULTI-MODE FIRE EXTINGUISHING IN EMERGENCIES

  Е.V. Pavlov, V.I. Ershov, А.Y. Barannik, А.V. Lagutina

  2023-06-07

  Abstract ▼

  The aim of the study is to evaluate the technical and economic efficiency of a robotic complex designed
  to eliminate man-made emergencies associated with the need to eliminate fires. These emergencies
  can occur, first of all, in radiation and chemical accidents, as well as in accidents at fire and explosion
  hazardous facilities. The elimination of such emergencies, as a rule, is associated with an increased risk
  for firefighters and rescuers and requires the use of heavy equipment. It is proposed to develop and use a
  robotic complex for multi-mode fire extinguishing (RTK-PM) in the following composition; six specialized
  robotic means with the possibility of crew and remote control, including: barriers (RTS-RZ), fire (RTS-P),
  high-rise (RTS-VS), sleeve (RTS-RK), pumping (RTS-NS) and gas stations (RTS-ZV); mobile control
  point; supply machines. At the same time, the actual problem is the development of approaches to assessing the technical and economic efficiency of robotic tools and complexes used to eliminate emergency
  situations. A technique for conducting such studies is proposed on the basis of a two-level quantitativequalitative
  comparative assessment in terms of technical and economic efficiency of the task. To assess
  the technical efficiency, it is proposed to consider the deployment time, the time to extinguish the fire, the
  time to complete the task, the amount of fire extinguishing agents as the main indicators. As criteria for
  technical efficiency, it is proposed to evaluate the coefficient of efficiency of the task, the coefficient of
  deployment mobility; coefficient of fire extinguishing efficiency; the degree of efficiency of RTC
  robotization. Qualitative comparison consists in identifying the types of work available to one of the compared
  complexes and inaccessible to another. The evaluation of the economic efficiency of the RTK is
  carried out by the value of the annual economic effect from the production and use of a unit of the complex.
  Like the assessment of technical efficiency, the assessment under consideration is also comparative -
  it shows an advantage (or disadvantage) over the replaced (basic) complex. Also presented are the results
  of applying this technique when calculating the effectiveness of a promising robotic complex for multimode
  fire extinguishing, which show that the use of one robotic complex for multi-mode fire extinguishing
  will provide an economic effect in the amount of 1.39 million rubles. in year.

• SUBSTANTIATION OF TECHNICAL REQUIREMENTS FOR ROBOTIC COMPLEX OF MULTI-MODE FIRE EXTINGUISHING

  А.Y. Barannik, А.V. Lagutina, Е.V. Pavlov, V.I. Ershov

  2023-04-10

  Abstract ▼

  The purpose of the study is to substantiate the technical requirements for a robotic complex
  designed to eliminate man-made emergencies associated with the need to eliminate fires. These
  emergencies can occur, first of all, in radiation and chemical accidents, as well as in accidents at
  fire and explosion hazardous facilities. The elimination of such emergencies, as a rule, is associated
  with an increased risk for firefighters and rescuers and requires the use of heavy equipment.
  The article proposes a campaign that involves considering two possible options for using the complex:
  when extinguishing a fire over an area in the modes of a single cycle with a transportable
  supply of water and when extinguishing fires in a long-term fire extinguishing mode. At the same
  time, it is proposed to consider the areal fire extinguishing rate and water consumption as the main indicators for assessing the effectiveness of the complex. Under the areal rate of fire extinguishing,
  it is proposed to understand as the ratio of the fire extinguishing area to the time. Water
  consumption during fire extinguishing is a single value for all links in a serial chain, in the form of
  which a scheme for supplying water to a fire source can be represented. For the first option, the
  amount of water flow is sequentially calculated, which depends on the pressure that is created in
  front of the water shaft. This indicator primarily depends on such factors as the water pressure
  generated by the pump, the pressure loss in the hose line, the excess or decrease of the water barrel
  in relation to the pump. According to the results of calculations for each link, the obtained
  indicators are summarized. For the second option, the capabilities of the robotic complex for longterm
  fire extinguishing involve the use of an existing reservoir of natural or artificial origin as a
  source of fire extinguishing agent. At the same time, the number of factors affecting the areal rate
  of fire extinguishing and water consumption increases significantly. To simplify the calculations, a
  nomogram has been developed that allows you to calculate not only the above indicators, but also
  determine the predicted values of the time required to extinguish the fire. The data obtained as a
  result of the above calculations make it possible to finally realize the main task of the studies under
  consideration, that is assessment of the capabilities of a promising complex of a robotic complex
  for extinguishing fires at radiation-, chemical- and explosive objects. This problem is proposed
  to be solved by forming the technical forms of the RTK, which can be created to solve fires
  at the above objects, and then by a comparative assessment of their qualities.