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• ORGANIZATION OF MOBILE ROBOTS NAVIGATION BASED ON COGNITIVE MAPPING

  А.М. Korsakov , V. V. Ivanova

  2026-04-29

  Abstract ▼

  The article addresses the relevant task of ensuring the autonomy of mobile robots in complex conditions, where the use of traditional navigation methods based on global coordinate systems and satellite data is impossible or ineffective. To solve this problem, an approach based on cognitive (interpretive) navigation is proposed, where semantic understanding of the environment plays the central role. The key feature of the method is the construction of a cognitive map – a semantically oriented graph whose vertices correspond to landmark objects (or groups of homogeneous landmarks), and whose edges correspond to fixed sets of information-motor actions (elementary conditioned behavioral patterns). Thus, the robot's route while moving along the cognitive map is reduced to a fixed set of information-motor actions. The map construction process is carried out automatically based on a pre-obtained semantically segmented image of the terrain, which allows the mobile robot to acquire a priori information about the relative positions and shapes of the landmarks. To formalize the navigation process and manage the robot's behavior based on the cognitive map, the authors propose a specially developed formal language, LRNB (Language of Robot Navigation Behavior). This language allows the decomposition of complex missions into elementary information-motor actions, the specification of their completion conditions, and the description of interaction scenarios with dynamic and static objects. The work details the principles of building a cognitive map, the syntax of the LRNB language, and the mechanism for forming a route as a sequence of commands. The practical part includes the results of verifying the approach in a simulation environment using a specially developed emulator, as well as preliminary field tests on a laboratory tracked mobile robot, which confirmed the fundamental feasibility of the proposed approach. The obtained results indicate the potential of the method for application in critically important scenarios, such as disaster zones, areas of electronic warfare, and other environments with a high degree of uncertainty. Further work plans are proposed, related to bringing experimental conditions closer to the real-world conditions of potential operation.

• LOGIC RESYNTHESIS METHODS FOR LAYOUT DESIGN OF MICROELECTRONIC CIRCUITS

  N. O. Vasilyev , P.I. Frolova , G.A. Ivanova , A. N. Schelokov

  2020-11-22

  Abstract ▼

  As the size of electronic components decreases, the number of design rules increases. To reduce
  design rules checking runtime for 22 nm and below technologies, regular structures are used
  in the lower layers of the layout. When designing circuits based on a regular template, it becomes
  possible to combine the logical and layout design stages. This task is also relevant for designing
  circuits on FPGAs. This paper discusses a method for structural optimization of logic circuits at
  the stage of layout design. The method is adapted for use in the design route of circuits with regular
  structures in the lower layers of the layout, as well as for resynthesis of technology mappings
  on FPGAs. When working with circuits with regular structures, logical synthesis is used in the
  basis of elements for which compact layout templates are built. This approach simplifies the layout
  design stage, and also leads to an additional reduction in the area of the designed device. Optimization
  of logic circuits for FPGAs is carried out using a simulated annealing algorithm that performs
  logic operations on a special graph model that takes into account the features of the FPGA.
  Taking into account the features of various technologies in the proposed method allows achieving
  good results in terms of such parameters as the area occupied by the circuit.

• LOGICAL RESYNTHESIS OF COMBINATIONAL CIRCUITS FOR RELIABILITY INCREASE

  N. O. Vasilyev , M.A. Zapletina , G. A. Ivanova , A.N. Schelokov

  2020-11-22

  Abstract ▼

  The external influences are necessary to take into account for microelectronic devices operating
  in space. In these conditions, the operation of the device is hampered by the negative
  effect of radiation on the electronic components of the circuit. Exposure of heavy charged part icles
  leads to single faults of logic elements due to which the operation of a whole device can be
  violated. In this regard, the designed spacecraft electronic circuits must meet increased r equirements
  for the fault tolerance of integrated circuits (ICs). The decrease of technological
  design standards for ICs makes the problem of fault tolerance to be relevant for civilian microelectronic
  products, also. The solution to this problem is usually carried out by methods of
  hardware protection, which include methods of error-correcting coding, methods of redundancy,
  as well as methods of logical protection. The paper considers the methods for assessing the
  IC tolerance to single faults in logic elements, as well as the main methods of circuits failure
  protection. The paper proposes a resynthesis technique for logical combinational circuits, using
  logical constraints derived from the resolution method to assess the IC resistance to single faults.During resynthesis, it is proposed to use the methods of logical protection of vulnerable parts of
  the circuit. This does not cause a perceptible increase in the area occupied by the device unlike in
  methods of redundancy and error-correcting coding.

• ORGANIZING THE EXECUTION OF A MOBILE ROBOT OPERATION SCENARIO USING A NEUROMORPHIC TASK MANAGEMENT MECHANISM

  А. М. Korsakov, V.V. Ivanova, А.А. Demcheva, V. D. Matveev, Е. Y. Smirnova

  2025-04-27

  Abstract ▼

  The paper presents the results of a study of the possibility of forming and executing a mobile robot
  operation scenario using neuromorphic information and control elements (logical elements "AND", "OR"
  and "NOT"; neuromorphic extrapolator; neuromorphic emergency detector; neuromorphic conditioned
  reflex formation mechanism). A brief description of these information and control elements is given. In
  this case, the segmented spike model of the CSNM neuron with the possibility of structural learning acts as a basic element. The trained CSNM model is capable of solving the binary classification problem, which
  implies the possibility of using it as a separate information control element – a state detector. It is proposed
  to organize the execution of the mobile robot operation scenario on the basis of universal
  neuromorphic modules using the specified neuromorphic information and control elements. The proposed
  task management mechanism boils down to the following. Universal neuromorphic modules used as switch
  blocks are prioritized. The detection of a particular situation is performed by means of a universal
  neuromorphic module, the priority of which is higher, which leads to the inhibition of all universal
  neuromorphic modules, the priority of which is lower than this one. By adding or removing universal
  neuromorphic modules, as well as changing their priority, we get the desired behavior of a mobile robot.
  The paper presents the results of a study of the proposed mechanism for organizing a robot operation
  scenario on both a computer model and a real robot. A special emulator was developed for computer
  modeling, which made it possible to comprehensively investigate the proposed solution. Moving towards
  the target in a room with partitions was chosen as a test task. The experimental results have shown the
  fundamental applicability of the proposed mechanism for forming and executing a robot operation scenario.
  The paper highlights the main disadvantages of the current implementation: the possibility of situations
  leading to looping of a set of actions performed by a mobile robot, as well as the need for manual coordination
  of the main parameters of the scene and the mobile robot (metric characteristics of the specified
  size of the scene zones, angular and linear velocity of the mobile robot, etc.). The ways to eliminate these
  disadvantages are proposed. The conclusion is made about the prospects of using the segmented spike
  model of a neuron and networks based on it for the tasks of controlling mobile robots