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• MANDATORY ROLE-CENTRIC ATTRIBUTE-BASED ACCESS CONTROL MODEL FOR LARGE-SCALE INFORMATION SYSTEMS

  D. О. Larin , R.I. Zaharchenko , S.А. Dichenko

  2026-02-27

  Abstract ▼

  In the context of the rapid development of national-scale information systems and their evolution into digital ecosystems, new requirements are imposed on the process of ensuring the security of the information processed within them. These requirements include enhancing information availability in user access management while maintaining the required level of confidentiality, and making access decisions to resources based on multiple factors. To meet these requirements, numerous compositional access control models based on roles and attributes have been proposed previously, which have resolved several pressing issues while maintaining administrative convenience and providing flexibility and scalability without role explosion. However, known models still have a significant limitation – the impossibility of their use in information systems where high-sensitivity data is processed. The aim of the study is to develop, within the framework of the subject-object approach methodology in information security theory, a new mandatory role-centric attribute-based access control (MRABAC) model, as well as its formal description using the mathematical apparatus of automata theory. The use of the model will enable dynamic prevention of unauthorized information flows from high-confidentiality objects to low-confidentiality objects during the restriction of the permission set assigned to a role, through the implementation of mandatory access control via a separate attribute-based policy, while preserving the ability to provide users with fine-grained access based on contextual attributes. The application of the model may be particularly useful in large-scale information systems where information of various confidentiality levels is processed simultaneously, and, due to operational characteristics, attribute-based access control is necessary

• THE MATHEMATICAL PROBLEM OF OPTIMAL CONTROL OF THE STRING

  G. V. Kupovykh, A. G. Klovo , I. A. Lyapunova

  2020-11-22

  Abstract ▼

  It is generally accepted that optimal control problems or system design problems determine
  for a given object or system of control objects a law or a certain control sequence of actions that
  provide a maximum or minimum of a given set of system quality criteria. In this case, the speed
  problem can be considered, i.e. the problem of bringing the system to a given state in the shortest
  time. We also study the problems of minimizing a given functional for a fixed time of system management.
  Optimal control is closely related to the choice of the most rational modes for managing
  complex objects. A lot of works has been devoted to the problem of control, in addition, wellknown
  mathematical schools are currently engaged in such research. In problems with concentrated
  parameters, the systems under study are described by ordinary differential equations or
  their systems. In this case, the Pontryagin maximum principle plays an important role in this
  study. For partial differential equations, we talk about systems with distributed parameters. In thispaper, we investigate the possibility of synthesizing optimal control of a single system with distributed
  parameters. A model of string oscillation under the influence of control functions under
  boundary conditions is considered. The role of the choice of the functional to be minimized in creating
  opportunities for the synthesis of optimal control. In this case, the control action is searched
  for at each point of the time interval, which leads to the possibility of constructing it explicitly.
  The conditions for the existence of optimal control everywhere in the corresponding functional
  spaces are formulated. In a specific statement of the problem, everywhere optimal control is explicitly
  constructed.

• SYNERGETIC SYNTHESIS OF SLIDING MODE CONTROL FOR VEHICLE’S ACTIVE SUSPENSION SYSTEM

  A.S. Sinitsyn

  2020-07-20

  Abstract ▼

  This article discusses the problem of designing vehicle’s active suspension systems in which
  the actuator is not ideal and is a subject to the influence of hysteresis and dead zone. The main
  goal of this work is to synthesize a control system that reduces the influence of hysteresis and deadzone on the efficiency of the adaptive suspension system. System parameters like hysteresis require
  significant efforts to identify them and, moreover, can vary widely over the life cycle of the system.
  Thus, it is very difficult to take into account hysteresis in the synthesis of the control system, as
  well as the construction of observers. The solution to this problem is use of sliding control systems,
  which to a certain extent are robust to parametric and structural changes in the control object.
  Existing approaches to the synthesis of sliding control systems are based on a linear or linearized
  model of the control object. Thus, the effectiveness of such systems can vary significantly when the
  regulator operates as part of a real, non-linear control object. The proposed sliding mode control
  allows to reducing sensitivity of the system to disturbances due to imperfect actuator, and also
  takes into account the nonlinear structure of the control object. The efficiency of a closed system is
  investigated on a dynamic model built in Simulink package. The proposed controller is compared
  with an adaptive synergetic regulator. Road of class C (according to ISO 8608 classification) was
  selected as a disturbance. To investigate the effectiveness of the proposed control system, the following
  parameters are evaluated: weighted acceleration of the sprung mass; relative motion of
  suspension and tire reaction force. The RMS and maximum values are calculated for each parameter.
  The results of numerical simulations allow to conclude that the use of sliding control
  systems can improve the following adaptive suspension performance indicators: reduce the maximum
  value of the weighted acceleration of the sprung mass by more than two times and reduce the
  maximum load on the tire by more than 20 %.

• RESEARCH OF AN INTELLIGENT ADAPTIVE CONTROL ALGORITHM BASED ON THE REINFORCEMENT LEARNING METHOD

  А. N. Karapeev, Е.Y. Kosenko, М. Y. Medvedev, V. K. Pshikhopov

  2025-04-27

  Abstract ▼

  An algorithm for adaptive control of a DC motor based on the use of machine learning technology
  with reinforcement is proposed and investigated. An overview and brief analysis of the state of affairs in
  the field of intelligent motor control systems is given. A mathematical model of the DC motor is presented,
  and a structural scheme for training an intellectual agent is presented. An intelligent adaptive motor speed
  control system is proposed. The DC motor is represented as a black box with the limited input and output.
  The control system is based on a zero-order Q-learning algorithm. It is assumed that the output of the
  intelligent agent is a control applied to the motor input. The intelligent system uses a tabular approximation
  of the value of each of the control action. In this article, we study the effect of the discreteness of the
  representation of state, the set of control effects used, the applied rewards, and the parameters of the
  learning algorithm on the control error. The sensitivity of the control system to the parameters of the motor
  and an unmeasured moment is investigated. Based on the results of the study, a modified algorithm is
  proposed, which assumes the measurement or evaluation of the current of the motor stator. The control
  algorithm provides robustness to parameters and external disturbance. Additionally, the approximation of
  the control value function using polynomials and using a neural network are investigated

• HYBRID METHOD FOR SOLVING THE MULTI-AGENT TRAVELING SALESMAN PROBLEM

  V.А. Kostyukov, F.А. Houssein

  2025-04-27

  Abstract ▼

  In this research work, the problem of task allocation in a multi-agent system is considered, where
  each agent is a robot, and each task is represented by a position, which should be visited by one agent.
  This problem is very similar to the multi-agent traveling salesman problem, which, unlike the famous traveling
  salesman problem, involves several traveling salesmen who visit a given number of cities exactly
  once and return to the starting position with minimal travel costs. Therefore, the multi-agent traveling
  salesman problem is analyzed as a representative of the task allocation problem. The multi-traveling
  salesman problem is important for the field of route optimization and task allocation between several
  agents. It includes two different, but interrelated subproblems: distribute cities among agents and determine
  the order in which each agent visits cities. In the literature, there are 3 concepts for solving this
  problem with respect to solving its two constituent subproblems: the optimization concept, where both
  subproblems are solved simultaneously; The Cluster-First, Route-Second concept is where the question of
  which tasks to assign to which salesman is first decided, and then the question of the order in which each
  salesman solves his tasks is decided; The Route-First, Cluster-Second concept is where the question of the
  order in which tasks should be visited is first decided, and then this cycle is divided between agents without
  changing the order of visits in order to answer the question of which tasks each agent takes on. This
  paper proposes a hybrid approach to solving the multiple traveling salesman problem (mTSP), which
  combines the ideas of two well-known concepts: "First clustering, then routing" and "First routing, then
  clustering" in order to obtain their positive aspects and get rid of their weaknesses. To evaluate the effectiveness
  of the developed method, a comparative study was conducted using the classical method for solving
  the multi-traveling salesman problem. The results were evaluated based on three key criteria: the
  computational time to obtain a solution to the multi-travelling salesman problem, the total length of the
  routes travelled by the salesmen, and the maximum route length among them. The analysis of the experimental
  data showed that when using the proposed method, the maximum path length among the routes
  travelled by the agents (load imbalance) is reduced by an average of 26%.

• SYNERGETIC SYNTHESIS OF CONTROL LAW FOR UAV IN THE PRESENCE OF WIND DISTURBANCES WITH INPUT CONSTRAINTS

  G.E. Veselov, Ingabire Aline

  2020-07-20

  Abstract ▼

  This paper discusses the application of synergetic control theory (SCT) methods to the problem of
  control system synthesis for fixed-wing unmanned aerial vehicle (UAV) in the presence of wind disturbances.
  The main purpose of this study is to develop a synergetic method for the synthesis of nonlinear
  control systems for fixed-wing UAVs, which guarantee the asymptotic stability of the closed-loop systems
  when moving along a given trajectory, stability and adaptability with significant nonlinearity of
  mathematical models for controlling fixed-wing UAVs in the presence of wind disturbances. Furthermore,
  an important task in the synthesis of control systems for various objects, including UAV, is to take
  into account constraints on the state variables of the control object, which can be determined by both the
  energy efficiency requirements and safety systems, as well as other constraints and requirements imposed
  on these coordinates. This article proposes a procedure for the synthesis of nonlinear vector control
  systems for fixed-wing UAV by applying SCT approaches that provide invariance to external unmeasured
  disturbances, fulfillment of specified technological control objectives, asymptotic stability of
  the closed-loop system, and also take into account the introduced constraints on the UAV internal coordinates.
  The procedure suggested in this article for the synergetic synthesis of nonlinear vector control
  systems of fixed-wing UAV ensures the effective use of this type of UAV in solving various tasks, including
  the operation of such UAV as elements of a group of autonomous objects that solve a given group
  technological task. The effectiveness of the proposed approach to the synergetic synthesis of control
  strategies is confirmed by the results of computer modeling of the synthesized nonlinear vector control
  system of fixed-wing UAV. The proposed synergetic method of control system synthesis for fixed-wing
  UAV can be applied for the development of advanced flight simulation and navigation complexes that
  simulate the UAV behavior in the presence of wind disturbances and serve as a basis for improving the
  flight performance of the fixed-wing UAV.

• APPLICATION OF SOFT SITUATIONAL-COGNITIVE MODELS FOR INTELLIGENT CONTROL OF COMPLEX SYSTEMS AND PROCESSES

  S. А. Fedulova

  244-254

  2026-07-07

  Abstract ▼

  Currently, it is in demand to design methods and technologies for intelligent control of complex systems and processes that take into account situational awareness of problems, various control strategies and scenarios for achieving target situations in conditions of uncertainty. Models and methods based on fuzzy situational and fuzzy cognitive approaches take into account the specifics of situational awareness when controlling such systems and processes. The limitations of fuzzy situational models in controlling complex systems and processes under conditions of uncertainty are: the difficulty of accounting for the mutual influence of situational features due to the ambiguity of transitions from one fuzzy situation to another; the difficulty of assessing the simultaneous impact of several control decisions on various interdependent situational features; insufficient consideration of the time factor and duration of the impact of situational decisions on situational features; the difficulty of modeling scenario dynamics taking into account various strategies. Due to this, the best sequence of control decisions is formed, depending on the chosen strategy, and the time of their application is justified. The paper discusses the application of a new proposed variety of Soft Situational-Cognitive Models for intelligent control of turbocharger air installations. The results of the comparative assessment make it possible to substantiate the improvement of the quality of intelligent control and the efficiency of turbocharger air installations in conditions of uncertainty using the proposed model for various control strategies and scenarios for achieving target situations.

• APPLICATION OF BLUETOOTH LOW ENERGY TECHNOLOGY TO CONTROL THE MOVEMENT OF PEOPLE INDOOR

  Y.А. Zargaryan, V.I. Koshensky, К. О. Kirsanov, М. S. Presnyakov

  103-118

  2025-07-31

  Abstract ▼

  Tracking the location of a person in a big country, a big city, and even an area has long
  been a reality. Thanks to satellites, it became possible to know exactly where a person is. However,
  such technologies are more intended for positioning in open areas, and their signal is not able
  to overcome large reinforced concrete structures, as well as walls and ceilings in a building.
  This article proposes a solution to this problem, considers the system for controlling the movement
  of people in the premises. Such a system not only determines the position where a person is located,
  with an accuracy of half a meter, but also creates a database that displays the date, time and
  place of a person’s discovery, as well as his identification, indicating who exactly was discovered.
  The system described in this article is very easy to understand and has a low cost. It works with
  the ESP32 microcontroller and is based on Bluetooth Low Energy wireless data transfer technology.
  The ESP32 microcontroller acts as a signal scanner with the RSSI parameter. The received
  data, namely RSSI and a unique identifier, which is aimed at determining the identity of a person,
  are sent to the ThingSpeak server, where the distance to the source, which is the smartphone, is
  calculated, determining its location and recording movement. This uses methods to improve accuracy,
  such as the Fingerprint algorithm. In the entire room at the installation stage of the system,
  "fingerprints" are collected within the controlled area, reference RSSI values are determined at
  such control points, and it is on their basis that a person's location is determined. Also, this material
  discusses the solution of the problem of identifying and controlling the approach of people to
  a protected object and the organization of a system for collecting and storing statistics on visiting
  a controlled object.
  
  

• ATTENUATOR WITH DIGITAL CONTROL BASED ON THE M44752 MODULE

  J.M. Bogdanov , A. N. Zikiy , A.I. Pustovalov

  2021-08-11

  Abstract ▼

  Attenuators are often used in radio receivers to expand the dynamic range of input signals,
  as well as to control the output power of radio transmitters. Recently, attenuators are used in
  transceiver modules of active antenna arrays. Attenuators differ in operating frequency range,
  base of elements, control method, operating power. An urgent task is the creation and research of
  new microcircuits of attenuators with digital control of domestic production. The purpose of this
  work is an experimental research of the main parameters and characteristics of a digital attenuator
  of the decimeter wave range. The object of the study is an attenuator of the M44752 type installed
  on the test board. It is manufactured by JSC "SPE "Istok" named after A.I. Shokin". The
  results of the experimental research are given in the operating frequency range from 0.1 to 2 GHz.
  There are a switching circuit, a photo of a model and six amplitude-frequency characteristics for
  different control codes. The following electrical parameters have been achieved: – operating frequency
  range is from 0.1 to 2 GHz; – attenuation range is from 1 to 50 dB; – permissible inputpower is not more than 23 dBm; – the number of control bits is 6; – switching time is not more
  than 50 ns;– VSWR of input and output is not more than 2. The obtained results of the study of the
  M44752 module can be used in ultra-wideband transceiver communication equipment for various
  purposes, navigation and radiolocation. The relevance of the research is confirmed by two current
  trends – microminiaturization of electronic equipment and import substitution.

• CONTROL SYSTEM DESIGN AND AUTONOMY FOR TWO-WHEELED MOBILE ROBOT

  А. А. Tkachenko, D.D. Devyatkin

  2022-04-21

  Abstract ▼

  Model Predictive Control is an advanced process control method that used while meeting a
  set of constraints. From an engineering point of view, the MPC method of designing control systems
  is attractive, because is relatively simple in design, including for solving complex production
  problems. This method is similar to the classical synthesis of a control system based on a linearquadratic
  controller (LQR). The key difference between MPC and LQR is that predictive control
  solves the optimization problem within a sliding time horizon, while the linear quadratic method
  used to solve the same problem over a fixed time window. The paper considers a method for constructing
  two-wheeled mobile robot control system using Model Predictive Control. The process of
  building a mathematical model of the mechanical system of the robot is given, as well as the linearization
  of the resulting model is performed. The basic principles of constructing a control system
  based on MPC for linear systems without external disturbances, as well as using an observer to
  assess the state of the model under the influence of additive white Gaussian noises, are presented.
  A variant of the synthesis of a control system with imposed restrictions on the input signal is considered.
  Also presented is a method for determining the position of a two-wheeled robot in space
  using a vision system, which is based on the use of a neural network. The architecture of the used
  model is given, as well as a stereo camera, which used to build an image depth map. In addition to
  the above, the work describes in detail the principle of the deep learning model – YOLOv3, which
  based on several blocks of input data processing. A detailed description of the implementation of a
  stereo camera in conjunction with an artificial neural network model using the Python programming
  language and libraries for working with video data and a stereo camera is presented.

• COMPARATIVE ANALYSIS OF CENTRALIZED AND DECENTRALIZED ALGORITHMS FOR THE MOVEMENT OF MULTICOPTER-TYPE UAVS

  М.Y. Medvedev, V.K. Pshikhopov

  2022-04-21

  Abstract ▼

  The development of robotics makes their group application relevant for solving various
  tasks. The effectiveness of performing the tasks of detecting and determining the coordinates of
  objects by a group of robots significantly depends on the accuracy of maintaining a given formation.
  In this regard, the task of determining motion planning algorithms that ensure the greatest
  accuracy of maintaining a given formation is of practical interest. This article is devoted to the
  study of the accuracy of maintaining the formation of a multicopter-type UAV group using a centralized
  motion planning algorithm and a decentralized algorithm. The centralized algorithm uses
  a master UAV, which transmits its coordinates to the slave UAVs. Based on the coordinates obtained
  and the given framework of the formation, the guided UAVs plan their movement. In a decentralized
  system, neighboring UAV groups transmit their coordinates to each other, on the basis
  of which the movement of a separate UAV is planned. The accuracy of the control system is investigated
  depending on the errors of the navigation system and the frequency of updating data on the
  position of the leading or neighboring UAVs. It is assumed that the group's UAVs determine their coordinates in discrete moments of time using an external navigation system. Centralized and
  decentralized algorithms are worked out by the same motion control system. The algorithms are
  investigated in this article by numerical modeling methods. In the process of simulation, models of
  kinematics, dynamics and actuators are taken into account, as well as models for the formation of
  errors in the navigation system. It is shown that the de-centralized algorithm of group motion
  planning provides higher accuracy compared to the centralized algorithm. However, the technical
  implementation of a decentralized algorithm is more complicated from the point of view of organizing
  a group communication system. In a centralized system, data transmission from the master
  UAV to the slave should be implemented. In a decentralized system, it is required to implement
  network communication.

• UAV GROUP MANAGEMENT WHEN WORKING OUT OF CRISIS FLIGHT SITUATIONS IN SOLVING TRANSPORT PROBLEMS

  А.I. Savelyev, V.V. Lebedeva, I.V. Lebedev, К.V. Kamynin, L.D. Kuznetsov, А.L. Ronzhin

  2022-04-21

  Abstract ▼

  The relevance of the development of algorithms for managing a group of UAVs in the event of
  crisis situations that affect the performance of the task is substantiated. An algorithm for autonomous
  collective (decentralized) control of a group of UAVs is described when performing the target task of
  transporting goods, as well as combined control in the event of crisis situations when the autonomouscontrol mode cannot be fully implemented. The algorithm for working out a crisis situation in case of a
  lack of energy resources on board the UAV and the return of group agents to the starting position is
  described in detail. The results of modeling the movement of a group of UAVs of multirotor and aircraft
  types and working out a crisis situation for managing a group of UAVs based on information about the
  reserves of energy or fuel resources are presented. During the experiment, iteratively calculated the
  remaining fuel when the UAV moved to the landing point, as well as the amount of fuel available to the
  UAV at a given time. As a result of the experiments, it was found that the time for calculating the balance
  of the energy resource does not exceed 6.792 ms. If the leader runs out of fuel, the cargo transportation
  mission ends ahead of schedule, since it cannot be completed without the participation of the
  leader. If several slaves fail, the mission can be continued if their number does not exceed a predetermined
  value, which is critical for the continuation of the cargo delivery mission. The results of experimental
  studies on modeling the flight of an UAV with a load are presented, during which a flight route
  was built that simulates a curvilinear trajectory of movement in urban conditions from the starting point
  to the end point, where the UAV is landing and transferring the cargo. In the experiments, the developed
  UAV and the onboard fastening system of the thermal container were used. During flight tests, the average
  horizontal speed of the UAV was set to 10 m/s. The length of the flight was 5350 m. The flight time
  was 13 minutes. 51 seconds.

• ALGORITHM FOR OPTIMAL CONTROL THE DIGITAL TWIN OF THE ENTERPRISE

  S.N. Masaev

  2021-08-11

  Abstract ▼

  The volume of processed information increases when analyzing and control the activities of an
  enterprise as a system. The amount of processed information directly depends on the dimension of
  this system. In the work, the activity of the enterprise is formalized as a digital twin of the enterprise.
  The digital twin of the enterprise is analyzed as a dynamic system. The enterprise was identified as a
  dynamic system. The digital twin of the enterprise is formalized as V. Leontiev's balance model. An
  algorithm for optimal control of the digital twin of the enterprise has been created.
  The following functions are considered as parameters of optimal control: the trajectory of the system,
  the execution time of the algorithm and the indicator of the state of the system. In the algorithm for
  enterprise control, the following methods were used: Bloom's taxonomy, the competence of graduates
  in the SFU specialties and the National Qualifications Framework of the Russian Federation. The
  identification of the enterprise processes is carried out by the method for which the patent has been
  obtained. The algorithm is implemented in the author's software package for analyzing a system with
  a dimension of 1.2 million values. The study showed significant changes in the values of the optimal
  control functions characterizing the states of a dynamic object, depending on the selected techniques.
  Calculations have shown how the choice of control method affects the optimality of decisions. The
  state of the enterprise is displayed through the competencies of the personnel: psychomotor, cognitive
  and affective. It was found that with low cognitive and affective abilities of the staff, psychomotor
  activity begins to prevail, which leads to little result. With the growth of the cognitive abilities of thepersonnel, psychomotor activity becomes more adequate to the internal tasks and the influence of the
  parameters of the external environment. An integral indicator was used to assess the implementation
  of methods in enterprise control. The estimation of the optimality of the solution for control the digital
  twin of the enterprise as a dynamic system is carried out.

• THE METHOD OF ESTIMATION POSITIONS OF THE UAVS BY MEASURING THE DISTANCES BETWEEN ELEMENTS OF THE GROUP

  V.A. Kostjukov, M.Y. Medvedev, V.K. Pshikhopov, E.Y. Kosenko

  2021-04-04

  Abstract ▼

  Currently, the active use of groups of robots has begun to solve a number of tasks for civil
  and military purposes. In this regard, problems arise associated with group management, the organization
  of reliable communication channels and ensuring the effective functioning of the group
  with limited energy resources. When solving the problem of optimizing energy consumption, the
  problem of increasing the efficiency of interaction of the elements of the group with stationary
  charging stations arises. This problem can only be solved by considering an integrated system,
  which includes robots and charging stations. Centralized management of such a system is justified
  in the case of a small number of its elements. However, with an increase in the number of elements
  in a group, the complexity of management increases, so a combination of centralized and decentralized
  management methods becomes a higher priority solution. The complex of problems of
  decentralized management of such a group includes the task of organizing the optimal interaction
  of its elements in order to achieve the goal of its functioning. When organizing energy exchange
  between robots and charging stations, solving this problem plays a key role in optimizing energy
  consumption. In this article, the concept of the interaction of mobile and stationary objects is developed,
  which implies the possibility of each agent choosing an appropriate companion for interaction.
  This choice is made taking into account the current state of the system and the assessment
  of the history of interaction results. The developed concept is detailed for a system that includes
  UAVs and their recharging stations. An algorithm is proposed for the decentralized selection of
  pairs of interacting elements "UAV - charging station" based on two indicators - the energy efficiency
  of the charging process, and the time spent by the UAV to reach the target point. Both indicators
  are taken into account when choosing the weights assigned to each charging station as its
  degrees of efficiency. Also, these indicators are included in the optimized quality criterion. An
  optimization procedure has been developed, the result of which is the number of the charging station
  that is most suitable for a given mobile object for interaction.

• ANALYSIS OF TRADITIONAL AND NEURAL NETWORK-BASED CONTROL METHODS FOR ELECTRIC DRIVES IN ROBOTICS AND PERSPECTIVES OF HYBRID APPROACHES

  А. I. Tataurov , V.Е. Vavilov

  287-298

  2025-12-30

  Abstract ▼

  The objective of this study is to conduct a comparative analysis of traditional and neural network-based control methods for electric drives in robotics, with an emphasis on identifying their strengths and weaknesses, determining their areas of application, and assessing the prospects for the development of hybrid approaches. Effective control of electric drives is critically important for modern robotic systems, which must demonstrate high performance, reliability, and versatility in various application domains. Specifically, key challenges include high-precision trajectory tracking, energy-efficient control, robust control under uncertainties and disturbances, constraint-aware control, as well as synchronized and coordinated control of multiple electric drives. In this regard, optimizing the control of electric drives to ensure motion accuracy, energy efficiency, and adaptation to changing conditions becomes a top priority. To achieve this goal, the study systematizes and analyzes the characteristics and applications of traditional electric drive control methods, such as PID controllers, Kalman filters, sliding mode control, and model predictive control. It also examines key neural network-based approaches to electric drive control, including feedforward neural networks, recurrent neural networks, radial basis functions, neuro-fuzzy systems, and reinforcement learning. A comparative analysis of these methods is conducted to identify their advantages and limitations based on key parameters such as trajectory tracking accuracy, robustness to disturbances and uncertainties, adaptability to changing operating conditions, and computational complexity. Additionally, the study investigates and assesses the prospects for hybrid electric drive control methods that combine the reliability and control quality of traditional methods in linear and structured environments with the flexibility and adaptability of neural network-based methods in complex and dynamic robotic systems. The study’s key findings indicate that traditional electric drive control methods, such as PID controllers and sliding mode control, remain effective and preferable in linear and well-defined systems due to their simplicity and reliability. At the same time, neural network-based approaches demonstrate significant advantages in controlling complex nonlinear systems, as well as in uncertain conditions requiring adaptation to changing environments. Special attention is given to hybrid control methods, which integrate the strengths of both traditional and neural network-based approaches. These methods are regarded as the most promising and advanced direction, enabling the development of intelligent and robust electric drive control systems capable of operating efficiently in complex and dynamic environments.

• DETERMINING THE RELIABILITY OF THE INSTRUMENT SPEED PARAMETER BASED ON THE DYNAMIC CHARACTERISTICS OF THE OBJECT OBTAINED DURING FLIGHT TESTS

  А.А. Zadorozhniy

  2022-03-02

  Abstract ▼

  The article describes about of the typical methods of air data parametric quorum control,
  and an analysis of their capabilities to determine parametric failures that occur in the air data
  system. To perform the calculations, the most common types of failures of the path of perception
  and measurement of air pressure of the air signal system, causing catastrophic consequences,
  were selected, the physical principles of their occurrence were described, the implementation of
  which made it possible to build mathematical models of signal distortion. Based on the results of
  modeling the operation of typical quorum control methods, and their response to failures artificially
  introduced into the system, the advantages and disadvantages of the methods used are determined.
  In order to eliminate the shortcomings found as a result of the analysis, an alternative
  method for determining failures of the sensor group of the air data system is proposed by implementing
  cross-checking of the parameters obtained from the pneumatic and vane sensor groups of
  the system. For the proposed method, the results of modeling based on real flight data of a mainline
  aircraft with parametric failures artificially introduced into them are presented. The possibility
  of using the cross-checking algorithm in single-channel systems of air signals of small-sized
  aircraft is evaluated. The statement of the research problem is formulated as follows: in order to
  ensure the flight safety of an aircraft when using information in the control loop from a singlechannel
  air data system, it is necessary to ensure the detection and exclusion of unreliable data
  from the array of information issued by the system to consumers of information. At the same time,
  the task of detecting and excluding data must be solved by the air data system itself, without using
  additional data from other aircraft systems. Mathematical analysis, numerical modeling, determination
  of correction factors and preparation of initial data were carried out in the MathCAD software
  and mathematical complex. Analysis of the results of the studying implemented in the
  MathCAD PMC cross-checking algorithm showed that the problem of determining the reliability
  of information can be solved autonomously when it implemented a single-channel system of air
  signals in an aircraft.

• DEVELOPMENT OF A METHOD FOR SOLVING THE PROBLEM OF TASK ALLOCATION IN A MULTI-AGENT SYSTEM

  V.А. Kostyukov , F.А. Houssein

  144-155

  2025-10-01

  Abstract ▼

  This paper considers the problem of task distribution within a multi-agent system, where each agent is an autonomous robot, and each task corresponds to a point in a two-dimensional environment that one of the agents must visit. This problem is essentially similar to a multi-agent version of the classical traveling salesman problem, where several agents are involved instead of one participant. Each of them must go through a unique route covering a certain set of points. In this regard, a study of the multi-agent traveling salesman problem is conducted as one of the formats for setting the problem of distributing goals among agents. This problem is of great importance in the field of routing and optimal task distribution. Its solution includes two closely related subproblems: determining the set of points assigned to each agent and constructing the optimal route for visiting them. There are three main approaches to solving this problem in the scientific literature: Optimization approach, where both subproblems are solved jointly; Cluster-First, Route-Second model, where tasks are first distributed among agents, and then routes are built;
  The Route-First, Cluster-Second model assumes initial optimization of the route for all points with its subsequent division between agents without changing the order of visits. In this paper, a hybrid method is proposed that combines elements of the Cluster-First, Route-Second and Route-First, Cluster-Second approaches. The goal is to combine the strengths of both concepts and minimize their drawbacks. To test the effectiveness of the developed method, a comparative study was conducted. The evaluation was carried out according to three main metrics: the time spent on constructing a solution, the total length of all routes, and the maximum route length among all agents. The experimental results showed that the use of the proposed method allows for a reduction in the maximum route length (thereby reducing the load imbalance between agents) by an average of 26%.

• THE ADJACENCY MATRIX RECONSTRUCTION ALGORITHM FOR CAUSAL GRAPH MODELS IN THE ABSENCE OF OBSERVABLE VARIABLES

  A. N. Tselykh , V.S. Vasilev, L. A. Tselykh

  2021-11-14

  Abstract ▼

  The paper deals with the problem of modeling complex systems in the absence of observable
  variables. To solve this problem, it is proposed to use causal graph models. The class of causal
  models considered here is defined as non-stochastic causal models with unobservable variables.
  These models are presented in the form of a directed graph, created on the basis of human mental
  representations. In this case, on the arcs, causality is expressed in the form of some marks with a
  sign that determines the direction of change in the state of the system. The considered causal models
  include heterogeneous, complex and qualitative types of variables that illustrate the nonnumerical
  nature of nodes and links and, as a consequence, the absence and impossibility of obtaining
  time series data. In the absence of observable variables and the impossibility of conducting
  experiments, the problem of reconstructing the adjacency matrix of the causal graph model becomes
  much more complicated. It is required to obtain a model with a certain spectral decomposition
  that implements the main function of the modeled system. Based on this concept, a new method
  for reconstructing the adjacency matrix is proposed, implemented on the basis of the corresponding
  causal propagation matrix or transmission matrix. The idea is to use combinatorial optimization
  based on spectral graph theory to generate data from a qualitative non-stochastic causal
  model and reconstruct an adjacency matrix using that data. In this case, the eigenvectors are
  identified as key objectives of the matrix reconstruction process, which postulates a fundamental
  approach based on the spectral properties of the graph. The results of computational experiments
  on solving the problem of reconstructing the adjacency matrix for causal graph models in the absence
  of observable variables using the developed algorithm have shown that the algorithm effectively
  reconstructs matrices from the given parameters with admissible similarity indices. The
  convergence of the approximation to the solution of the matrix reconstruction algorithm is proved
  no slower than with the speed of a geometric progression. From a technical point of view, the
  advantage of the algorithm is the implementation of a tool for automatic adjustment of the regularization
  parameter, suitable for users without prior mathematical knowledge.

• DEVELOPMENT OF A HYBRID METHOD FOR PLANNING THE MOVEMENT OF A GROUP OF MARINE ROBOTIC COMPLEXES IN AN A PRIORI UNKNOWN ENVIRONMENT WITH OBSTACLES

  А.М. Maevsky, R.O. Morozov, А. Е. Gorely, V.A. Ryzhov

  2021-04-04

  Abstract ▼

  The article discusses the problem of organizing the group movement of marine robotics
  (MRS), in particular, unmanned autonomous underwater vehicles (AUV), in an a priori unknown
  environment with obstacles. A brief analysis of existing projects on the subject of MRS group control,
  and path-planning algorithms have been carried out. The presence of numerous studies in
  this area confirms the relevance of the indicated problem. The formal statement of the problem of
  the movement of four robots in formation is presented. The proposed method for a group path
  planning is based on a combined approach that organizes a multi-level solution to organizing the
  movement of MRS. At the upper level, a system for global path planning and mission control was
  developed based on the random tree method, which provides the general movement of the group
  based on a priori information about the state of the environment. The lower-level planning system
  adjusts the global path, allowing objects at the local level to carry out the group agents’ movement
  and interaction, including ensuring their collision-free movement in environment and exit from the
  areas of local minima. The article provides a detailed analytical description of the developed algorithm
  and a block diagram of its functioning. Numerical simulation of the movement of a group
  of 4 AUVs in a non-deterministic environment with fixed obstacles is carried out. The simulation
  was carried out taking into account obstacles of various shapes and complexity. The results of
  mathematical modeling demonstrated the solution to the problem of the exit of the AUV group
  from the area of the local minimum. Full-scale tests are presented on the example of a group of
  three unmanned boats: a group of mobile objects formed a formation and carried out a movement
  in a given formation to target positions and returned to the final zone. In addition, the local planning
  module developed within the framework of this article was integrated into the software of the
  "Shadow" underwater glider control system. In the conclusion, the results of the proposed method
  and its further development, in particular, its application in 3D environment, are considered.

• METHODOLOGY AND RELIABILITY MODELING OF THE GROUP CONTROL SYSTEM FOR ROBOTIC PLATFORMS

  A. S. Boldyrev, A. L. Verevkin, K. V. Pshikhopova , L. S. Verevkina

  2020-10-11

  Abstract ▼

  One of the most relevant areas of robotics development is the design of group cont rol
  systems. In the proposed structure, a group of five robotic platforms (RP) is controlled from a
  wearable or stationary remote control. This composition of the group determines schemeswith tunable connections between the components and changes in the principles of operation.
  The article presents experimental studies of the computational efficiency of methods for planning
  RP trajectories in space and defines the optimal method and the required parameters of
  the RP computer. Variants of schemes with different numbers of RP are considered, as well
  as models of cold backup of RP, remote controls, and the entire system. With such a variety
  of configurations, problems arise in justifying and selecting calculation methods, and in
  providing an unambiguous, generalized representation of the reliability parameters of a
  group control system. Increased requirements for the reliability of components of the group
  management system require an accurate assessment of reliability and are dictated by the
  significant cost of equipment and functional purpose. The developed method is intended for
  modeling the reliability of the developed system of group control of robotic platforms RP.
  The proposed method shows the use of structural, probabilistic and matrix methods for ca lculating
  reliability models of a group control system. An approach to modeling the reliabi lity
  of integer, redundant, sliding, and cold redundancy of RP and control panels is also pr oposed.
  The results of numerical calculations of the reliability parameters of the group management
  system allow us to assess the risks and choose modes, depending on the required
  efficiency of the mission.

• FORMALIZATION OF A SET OF INFORMATIVE SIGNS THE DYNAMICS OF MANIPULATION BY CONTROL DEVICES TO SOLVING THE PROBLEM OF DIAGNOSING THE PRODUCTIVITY OF BTS OPERATORS

  A.V. Skrinnikova, N. E. Sergeev

  2021-01-19

  Abstract ▼

  Informative signs of the dynamics of manipulation by control devices such as a mouse and
  keyboard play an important role in the development of software complexes for the identification of
  biotechnical systems (BTS) operators by their individual dynamics, in solving problems of diagnostics
  of various psycho emotional states and operator productivity. It finds application in the
  spheres of technical and law enforcement security, medical and energy spheres, etc. The purpose
  of this work is to formalize a set of informative signs of the dynamics of manipulation by control
  devices to solving the problem of diagnosing the productivity of BTS operators. To achieve this
  goal, an overview of the most frequently used features is presented, the Bayesian approach is considered
  in the statistical formulation of the recognition problem, a set of informative sings of the
  dynamics of keyboard handwriting and the dynamics of mouse manipulations is formalized basedon the results of a number of works. Operator productivity forecast based on fuzzy rules based on
  selected criteria gave an accuracy of more than 90%. The advantage of using the dynamics of
  manipulation of the control devices of the BTS operators is the absence of special equipment that
  requires additional costs.

• RESEARCH AND DESIGN OF THE COMBINED CCM MOLD LEVEL CONTROL SYSTEM

  O.S. Volueva

  2021-02-13

  Abstract ▼

  the ingot internal uniformity, which is mainly determined by the initial solidification processes.
  The imperfection of the casting process control at the initial section "ladle-tundish-mold", especially
  the mold level, leads to occurrence of internal nonuniformity and surface defects, as well
  as distortion of the slab shape. Thus, the level drop below setting value leads to inner surface oxidation
  of the formed ingot crust and its structural nonuniformity. If metal level increases, overflow
  over the ingot crust occurs, which leads to increase the oscillation traces depth and capture of
  non-metallic and slag inclusions. Therefore, the mold is the most important technological element
  of the continuous casting machine (CCM). The scientific and technical complexity of the mold
  level control problem is the lack of technical capability of the metal level measuring in real technological
  conditions with the required accuracy, as well as changes in the object parameters during
  operation and in non-stationary modes. The modernization of existing control systems through
  the introduction of new control algorithms is one of the ways to improve the efficiency of the metal
  level stabilization control in the continuous casting machine mold. It demands to single out the
  factors affecting the metal level stability in order to observe and compensate them. In this paper
  implementation of the combined control principle based on the main disturbances compensation
  and controlled coordinate feedback is proposed. The synthesis of static compensators with constant and variable compensation coefficients was carried out in accordance with the principle of
  invariance, which allows to significantly reduce the deviation of the controlled variable in nonstationary
  operating modes.

• INTELLIGENT CONTROL OF ROBOTICS AT RODENT BURROW SEGMENTATION USING DEEP CONVOLUTIONAL ARCHITECTURES

  М.А. Astapova

  19-30

  2025-04-27

  Abstract ▼

  In this paper, we investigate the application of neural network architectures for semantic segmentation
  of rodent burrows for monitoring their population in agricultural fields. In particular, three models
  for semantic segmentation are considered: convolutional autoencoder (CAE), SegNet, and U-Net. These
  models are applied to analyze images obtained from unmanned aerial vehicles (UAVs) and ground robotic
  means, which allows for automatic burrow detection, minimizing the need for labor costs in processing
  large amounts of data. A sample of 247 RGB images containing 1098 labeled burrows was prepared for
  training and testing the models. The quality indicators of semantic segmentation were assessed using the
  Jaccard metric (IoU), which resulted in the following values: 0.511 for CAE, 0.548 for SegNet, and 0.529
  for U-Net. An assessment of the computational resources required to implement these models in on-board
  computing units (OCUs) of mobile robotic means was conducted. Two criteria were considered: the number
  of floating-point operations (GFLOPS) and the number of model parameters. The results showed that
  SegNet requires 2.23 GFLOPS and has 0.76 million parameters, which is 2.58 and 2.33 times less than
  SAE and U-Net, respectively. The number of floating-point operations for SegNet was also 2.43 and 1.88
  times lower than that of SAE and U-Net, respectively. As a result, SegNet outperformed SAE and U-Net in
  both segmentation efficiency and required computational resources. This work was carried out as part of
  the implementation of a computer vision system for an agricultural robotic means.

• DIGITAL PLATFORM FOR THE CREATION OF DISTRIBUTED CONTROL AND NAVIGATION SYSTEMS FOR UNDERWATER VEHICLES

  V.F. Filaretov, D.A. Yukhimets, A.V. Zuev, A.S. Gubankov, D.D. Minaev

  2021-04-04

  Abstract ▼

  The paper proposes the architecture of a digital platform for the implementation of distributed
  control and navigation systems of underwater vehicles (UV), that perform technological operations
  in an uncertain environment. The proposed digital platform is designed to automate the
  following activities: monitoring the state of underwater infrastructure objects (communication
  lines, pipelines, mining equipment, etc.), cartographic and geodesic works, determining the parameters
  and boundaries of physical fields, zones of distribution of chemical compounds (pollution
  zones) and bioresources, protection of underwater and surface infrastructure objects (underwater
  mariculture farms, borders of water reserves, etc.), tracking moving objects, searching for objects
  of a given type (biological, man-made, etc.), performing underwater technological operations
  (welding, cutting, cleaning, etc.). For this platform, a command system has been developed that
  provides flexible assignment of various types and purposes of UV missions. There are five types of
  digital platform messages: mission order management commands, mission load management
  commands, information messages, mission and group control commands. The concept of building
  distributed control systems of the UV is proposed, which ensures the compatibility of existing onboard
  UV systems with the proposed solution based on the combined hydroacoustic systems of
  global hydroacoustic navigation developed in PAO "Dalpribor" (Vladivostok). These control systems
  consist of two main parts. The first part is the initial on-board information and control system
  of the UV, which ensures its movement to a given point in space at a given speed, receiving
  data from on-board sensors, as well as controlling the operation of on-board equipment. The second
  part – the high level control system, provides the possibility of interaction of the control system
  through an acoustic communication channel with the global hydro-acoustic navigation system
  and the operator's automated workplace. Simulation of the data transfer in CoppeliaSim between
  the operator and the UV within the proposed digital platform have shown that reliable mission
  loading and receiving information about the state of the UV is provided at different speeds and
  under different operating conditions of the acoustic communication channel.

• OPERATIONAL AND TACTICAL REQUIREMENTS FOR THE SYSTEM OF COUNTERING GROUND-BASED RTK VN MEANS OF ELECTRONIC DESTRUCTION (SUPPRESSION) OF THE ENEMY

  A.I. Nagovitsin, B.B. Molotkova

  2021-04-04

  Abstract ▼

  The analysis of vulnerable systems and elements of a typical robotic complex is carried out. It
  is concluded that the greatest danger is represented by the vulnerabilities of the control channels of
  the RTK HV from the means of electronic suppression. The classification of the main threats for the
  RTK control channels, as well as the results of the analysis of possible effects from the impact of the
  threats described above on each of the channels are presented. The evaluation of the effectiveness of
  the radio control channel when using active masking interference stations (SAP) and the evaluation
  of the effectiveness of the data transmission channel when using SAP. Based on the evaluation of the
  effectiveness of the radio control channel and the data transmission channel when the enemy uses
  active masking interference (SAP) stations, a possible effective control zone is determined, which is a
  circle of different radii with the center at the location of the PU. Taking into account the general
  technical requirements for types of weapons and military equipment, the main operational and tactical
  requirements for the RTC VN counteraction system in terms of radio-electronic protection are
  formulated, such as electromagnetic compatibility( EMC), noise immunity and noise immunity, radiotechnical
  masking of radio-electronic means (RES), protection of RES from enemy radio-electronic
  counteraction, protection of RES from electromagnetic and ionizing radiation of a nuclear explosion,
  reduction in the effectiveness of enemy radio-electronic reconnaissance, the security of computer
  means of PPDU and samples of NRTS VN from destructive information influences and others. Taking
  into account the general technical requirements for types of weapons and military equipment, the
  main operational and tactical requirements for the anti-RTK VN system in terms of electronic protection
  are formulated. The requirements for the RES of the PPDU and the samples of the NRTC of the
  HV for limiting the power flux density of the electromagnetic field created by the radiation of the
  heterodyne of the transceiver device in order to exclude the recognition by the equipment of direct
  reconnaissance (detection) of the enemy's REP and SNO means are defined. In conclusion, the conclusion
  is formulated that the proposed list of operational and tactical requirements for the system of
  countering the RTC VN means of electronic destruction (suppression) of the enemy and recommendations
  for limiting the power flux density of the electromagnetic field created by the radiation of radio
  transmitting devices of the control systems of the RTC VN should be fully taken into account when
  developing and creating control systems for ground-based robotic complexes for military use. In
  addition, when developing military robotic systems, it is necessary to take into account the everincreasing
  capabilities of promising means of electronic destruction (suppression).