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• EMULATION OF A TECHNICAL VISION SYSTEM BASED ON VIRTUAL IR AND ULTRASONIC SENSORS FOR MOBILE ROBOT NAVIGATION

  F.М. Tseeva , N.Е. Arabov , А.М. Bozieva , Z. V. Shomakhov

  2026-04-29

  Abstract ▼

  The relevance of this research is driven by the growing need for safe validation of navigation algorithms for autonomous mobile robots operating in cluttered and dynamically changing environments, where the use of physical equipment entails risks of damage and high costs. The aim of the work is to develop a rigorous methodology for software emulation of a technical vision system based on complementary virtual infrared and ultrasonic sensors. To achieve this aim, the following tasks were solved: formalization of the kinematic model of a differential drive with a state vector [x, y, θ]ᵀ; mathematical description of nonlinear triangulation for IR sensors and the physics of ultrasound propagation using the time-of-flight method d = c·t/2; integration of additive Gaussian noises with parameters σ_us = 0.005 m, σ_ir = 0.002 m; implementation of heterogeneous data fusion using an Unscented Kalman Filter. The navigation controllers employed were the artificial potential field method with attractive and repulsive components, and fuzzy logic controllers. Experimental validation in a Python simulation environment of a maze with static obstacles demonstrated an average positioning error of 0.2 m in spherical configurations and an obstacle detection accuracy of 89.61%. The novelty of the proposed approach lies in providing a deterministic link between theoretical trajectory planning and physical implementation through the synergistic use of optical and acoustic sensory modalities. The practical significance of the work consists in a substantial reduction in the development and testing time for intelligent robotic systems, owing to the possibility of preliminary debugging of perception, data fusion, and navigation algorithms in controlled emulation conditions without the need for expensive hardware

• AUTOMATED LANDING OF AN UNMANNED HELICOPTER TO AN UNEQUPPED SITE

  N.V. Kim, V.P. Noskov, I.V. Rubtsov, V.A. Anikin

  2020-07-10

  Abstract ▼

  Unmanned helicopters perform many tasks in difficult operating conditions and are subject to various destabilizing factors that significantly affect flight safety. The main problems encoun-tered in the operation of unmanned helicopters are considered. It is shown that the insufficient level of flight safety is caused, in particular, by the high frequency of crashes during forced land-ings. The necessity of creating onboard means of automatic landing of an unmanned helicopter is proved. Taking into account the requirements of the Federal aviation regulations for landing plac-es, the parameters-restrictions that allow formalizing the choice of terrain areas suitable for land-ing according to the onboard technical vision system are formulated. On the basis of comparative analysis, it is shown that at present, when forming the initial video data for solving this problem, it is advisable to use a complex system of technical vision based on mutually adjusted and having a common viewing area of a 3D laser sensor, color video camera and thermal imager. The proposedrecognition algorithms of the pick-up location in the video data on-Board complex system of tech-nical vision with the use of geometric criteria and the reference permeability. It is proposed to perform the recognition of landing places based on the criterion of geometric cross-country capa-bility in two stages: at the first stage, a map of terrain heights is formed based on 3D laser sensor data, and at the second stage, areas suitable for helicopter landing are selected. Recognition of suitable and unsuitable areas is performed by comparing the elevation differences of this terrain with the reference elevation differences defined for this unmanned helicopter. It is proposed to perform the recognition of suitable landing sites based on the criterion of reference passability by calculating the Euclidean distance between the obtained data and pre-known standards corre-sponding to different types of soil in the six-dimensional feature space (height variance, reflected signal intensity, three colors, and temperature). The final selection of suitable places for planting is proposed to be made from sites that meet both criteria. The results of the work of the corre-sponding software and hardware in real conditions are presented, confirming the correctness and effectiveness of the proposed algorithms.

• PERFORMANCE OF THE ELBRUS-8SV MICROPROCESSOR FOR TECHNICAL VISION TASKS UNDER POWER CONSTRAINTS

  N.A. Bocharov, A.G. Zuev, О. А. Slavin

  2021-04-04

  Abstract ▼

  Research in the field of creating specialized computing systems for robots is conducted in
  many world scientific centers, including our country. The development of capabilities of sensor
  systems, global navigation systems, growth of computing power and improvement of algorithms
  allow creating onboard computing systems with broad intellectual capabilities. An important, butunsolved problem remains the equipping of such computing systems with domestically produced
  microprocessors. The emergence of domestic computing systems and software of the new generation,
  such as microprocessor "Elbrus-8SV" and OS “Elbrus” opens up new opportunities for developers
  of robotic complexes. The peak performance of "Elbrus-8SV" microprocessor is more
  than 0.25 TFLOPS of double precision, which allows solving computationally complex tasks, such
  as technical vision tasks, on the microprocessor. Another important requirement of onboard computing
  technology, in addition to computational power, is low power consumption. As a rule, on
  general-purpose microprocessors, high performance is impossible with low power consumption,
  and specialized processors, such as vector or neuroprocessors, are used to solve computationally
  complex technical vision tasks. To reduce the power consumption of general-purpose microprocessors,
  there are special methods, among which the authors considered: switching off the physical
  cores, reducing the clock frequency, switching off the pipeline, switching off synchronous pulses
  in the idle state. The authors reviewed typical technical vision tasks solved by onboard computing
  systems. An experiment was conducted to estimate power consumption and execution time of
  vision algorithms when the clock frequency is reduced and the microprocessor cores are switched
  off. The experiments showed the possibility to decrease the power consumption of the Elbrus-8SV
  microprocessor cores by 36-46% with an increase in the program execution time. Based on the
  results of the experiment, conclusions were made about the applicability of the Elbrus-8SV microprocessor
  for creating advanced onboard computing systems with the ability to operate both in
  high performance mode and with reduced power consumption. The results obtained by the authors
  indicate the prospects of import substitution in the field of robotics.

• CONTACT AND VISUAL BASED ENVIRONMENT CLASSIFICATION FOR MOBILE ROBOTS

  V.P. Noskov, I.V. Rubtsov, K.Y. Mashkov, A.V. Vazaev

  2021-04-04

  Abstract ▼

  To increase the capabilities and expand possible applications of robotic systems for special
  purposes, switching from the currently being adopted remote control systems to semi-autonomous
  systems that monitor operator actions and perform part of his functions is proposed. Moving to
  autonomous control systems capable of functioning in the "silent" mode, in shielded areas andbeyond the range of radio communications is proposed as a next step. Such intellectualization of
  on-board control systems will allow to eliminate fundamental limitations and disadvantages
  caused by the communication channel and ensures the implementation of robot group control. It is
  shown that the basis for robot autonomy increasing of on-board control systems, both for movement
  and tool control, is onboard environment model generation and determining the coordinates
  of the control object. External environment model and current coordinates makes it possible to
  automate the trajectory planning and movement, which ensures the autonomous functioning of
  robotic systems. The complex problem of environment segmentation according to geometric and
  ground passability is considered, taking into account the characteristics of the chassis, the geometry
  of the relief and the supporting properties of the ground. The existing methods are described
  and the results of experimental studies are given to solve the following main tasks: – classification
  of the operation zone according to geometric passability based data from the onboard technical
  vision system; – ground types recognition according to the integrated technical vision system; –
  using the apparatus of neural networks to improve the reliability of ground types recognition; –
  determination of ground reference characteristics by measuring the reactions of the chassis during
  movement. The promising directions for further research in integrating tactile and visual information
  to improve the reliability of the classification of operation zone according to the complex
  criterion of geometric and support passability are formulated.

• COM-EXPRESS MODULES BASED ON ELBRUS MICROPROCESSORS FOR ONBOARD COMPUTING SYSTEMS

  N.А. Bocharov, А.V. Glukhov, N. B. Paramonov

  2022-04-21

  Abstract ▼

  Research in the field of creating specialized computing systems for robots is conducted in
  many world scientific centers, including our country. The development of capabilities of sensor
  systems, global navigation systems, growth of computing power and improvement of algorithms
  allow creating onboard computing systems with broad intellectual capabilities. An important, but
  unsolved problem remains the equipping of such computing systems with domestically produced
  microprocessors. The need to take into account the maximum weight and size characteristics, the
  requirements for the cooling system of the computing complex, the requirements for on-boardpower supply and power consumption, performance requirements and external interfaces cause
  the complexity and high cost of developing on-board computing systems. The lack of unification of
  computing modules during development creates additional difficulties for developers of robots,
  increases the final cost of the robot and complicates its modernization. The use of a standardized
  form factor such as COM-Express makes it possible to divide the onboard computing complex into
  a universal high-tech system part and a carrier board. The microprocessor, peripheral interface
  controller, RAM and hard disk are placed on the system module, which is produced in large quantities
  and can be replaced with a newer one when new generations of domestic computing equipment
  appear. The carrier board, in turn, is easy to develop and cheap to manufacture, and according
  to its characteristics can be configured for a specific robotic complex. This article discusses
  COM-Express modules based on domestic Elbrus microprocessors. Their applicability for the
  creation of promising on-board computing systems is shown. The results obtained by the authors
  indicate the prospects of import substitution in the field of robotics.

• RESEARCH OF APPLICABILITY LIMITATIONS FOR ELBRUS MICROPROCESSORS FOR SOLVING TASKS OF TECHNICAL VISION

  К. А. Suminov, N. А. Bocharov

  2022-04-21

  Abstract ▼

  One of the key areas in the artificial intelligence is technical vision. For resource-intensive
  tasks of technical vision high-performance, computing systems are created with use of specialized
  accelerators. The use of such accelerators is necessary due to the inability of general-purpose
  microprocessors (GPM) to solve such problems in a given time due to a high computational load.
  However, the microprocessors of Elbrus series are successfully used to solve technical vision
  problems in both server and on-board modes, and the appearance of the sixth-generation Elbrus
  microprocessors should further improve performance on such tasks. Due to the high cost, greater
  complexity and limitations in the use of systems with specialized accelerators, the question arises
  of determining the conditions under which, it is sufficient to use CPU’s to solve the tasks of technical
  vision, for example, with the microprocessors of the Elbrus series without special accelerators.
  One of the most resource-intensive tasks in the field of technical vision are detection and
  classification of objects. For the detection of objects one of the popular methods is the Viola-Jones
  method. Convolutional neural networks are usually used to solve the classification problem.Mathematical models of computations have been developed for VGG16 and VGG19 neural networks
  in relation to the actual microprocessors of the Elbrus series. Using the developed models,
  the theoretical sufficiency of the performance of Elbrus microprocessors for technical vision tasks
  is substantiated. Also, based on these methods, programs for modeling detection and classifications
  objects in the image and video stream have been developed. The programs are written in
  C++ using the OpenCV library, OPO Elbrus, the GNS Platform library and the ImageNet competition
  database. Using the implemented programs, comparative testing was carried out on a number
  of high-performance computing systems with Elbrus and Intel CPU’s and NVidia video card.
  Based on the results obtained, it is shown that the Elbrus-8S is sufficient to solve the problem of
  searching for objects in the image for input resolutions up to 1920 x 1080, where the processing
  speed of the video stream is more than 20 frames per second.

• SUBTRACTION OF BACKPROPAGATION INTERFERENCE BASED ON POLARIZATION IN UNDERWATER VISION SYSTEMS FOR OPERATION IN TURBID WATER

  N.А. Budko, А.Y. Budko, М.Y. Medvedev

  2022-08-09

  Abstract ▼

  The study of the sea depths in order to ensure safety, the effective use of underwater resources
  is an urgent task. The first part of the article briefly considers the physical phenomena and
  limitations that arise during the propagation of electromagnetic waves in the visible range in the
  underwater environment. It is shown that underwater vision systems (as a class of specialized
  technical vision systems - TVS) based on conventional CCD matrices face a number of fundamental
  limitations in terms of improving the efficiency of functioning in natural water of low transparency.
  In particular, the use of artificial light sources as part of underwater vision systems in turbid
  water leads to the occurrence of backpropagation interference (BPR), which leads to spurious
  illumination of the optical device matrix. As a promising direction in the development of underwater
  vision systems, it is proposed to use methods for subtracting POR based on information about
  the polarization of light. In the review part of the article, the latest achievements in this field are
  considered. The main part of the article presents the methodology for studying the proposed method
  for subtracting the POR based on a comparison of the results obtained by processing images
  with known methods for estimating the Stokes vector parameters DoLP and AoLP, which allow
  obtaining information about the degree of polarization and the prevailing polarization angles of
  the scene, respectively. The experimentally obtained results of processing an underwater scene in
  water of varying degrees of turbidity using the DoLP, AoLP algorithms and the proposed methods
  for subtracting the POR are presented. Distinctive features are the use of four rather than two
  polarization directions in calculations, as well as the original mathematical apparatus for processing
  signals from the machine vision camera matrix.