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• EVALUATING THE TIAGO BASE MOBILE ROBOT'S PERSON-FOLLOWING ALGORITHM USING REALISTIC DIGITAL HUMAN MODELS IN THE GAZEBO SIMULATOR

  Т. R. Gamberov , R.N. Safin , E.V. Chebotareva , Т. G. Tsoy , Е.А. Magid

  109-119

  2026-09-10

  Abstract ▼

  Digital Human Models (DHMs) are becoming an important tool in robotics, enabling reproducible and controlled validation of computer vision algorithms. Such algorithms include human detection, tracking, and following, which play a key role in autonomous navigation, trajectory planning, and safe robot-human interaction in shared spaces. However, standard simulators are typically limited in the realism of virtual actors, the diversity of their appearance, and the variability of their behavior. These limitations reduce the reliability of the results and make it harder to transfer algorithms to real-world robots. This paper presents a set of customizable DHMs for the Gazebo simulator. The developed models feature variability in clothing, anthropometric parameters, and appearance, and include a library of walking animations simulating various human movement scenarios, including changes in speed and direction. To evaluate the effectiveness of the proposed approach, virtual experiments were conducted in a realistic office environment using the TIAGo Base mobile robot with differential drive, equipped with a 2D lidar and a monocular camera. The efficiency of the user-following algorithm was evaluated in terms of average distance traveled and the number of target loss events (the number of false positives). The results showed that the proposed DHMs make it possible to reproduce complex perception conditions, including occlusions and dynamic obstacles, while providing scalable and systematic validation of algorithms. The obtained data confirm the significance of the developed DHMs for testing robotic systems oriented toward human interaction in conditions close to real-world settings

• IMPLEMENTATION OF A PROBABLE DEEP NEURAL NETWORK DECODER FOR STABILIZER CODES

  S.M. Gushanskiy, V.N. Pukhovsky, V.S. Potapov

  2021-12-24

  Abstract ▼

  Recently, there has been a rapid increase in interest in quantum computers. Their work is
  based on the use of quantum-mechanical phenomena such as superposition and entanglement for
  computing to transform input data into outputs that can actually provide effective performance
  3–4 orders of magnitude higher than any modern computing devices, which will allow solving the
  above and other tasks in real and accelerated time scale. This work is a study of the influence of
  the environment on a quantum system of qubits and the results of its implementation. A probabilistic
  deep neural network decoder for stabilizer codes has been developed. The issues of error correction
  for a three-bit code without state decoding are analyzed and considered. The relevance of
  these studies lies in mathematical and software modeling and implementation of correction codes
  for correcting several types of quantum errors in the development and implementation of quantum
  algorithms for solving classes of problems of a classical nature. The scientific novelty of this direction
  is expressed in the elimination of one of the disadvantages of the quantum computational
  process. The scientific novelty of this area is primarily expressed in the constant updating and
  supplementation of the field of quantum research in a number of areas.

• DEVELOPMENT OF METHODS OF OPTIMIZATION AND PARALLELIZATION OF COMPUTATIONAL PROCESSES IN QUANTUM ACCELERATORS

  S. M. Gushanskiy, V. S. Potapov, V.I. Bozhich

  2021-08-11

  Abstract ▼

  Recently, there has been a rapid increase in interest in quantum computers. Their work is
  based on the use of quantum-mechanical phenomena such as superposition and entanglement for
  computing to transform input data into outputs that can actually provide effective performance
  3–4 orders of magnitude higher than any modern computing devices, which will allow solving theabove and others. tasks in real- and accelerated-time scale. This article is devoted to solving the
  problem of research and development of methods for optimizing quantum computing within the
  framework of the application of quantum accelerators. A block diagram of a hardware accelerator
  is proposed to increase the performance of simulated quantum computing. The development of the
  structural diagram of the communication module of the hardware accelerator and the software
  model was carried out. The relevance of these studies lies in mathematical and software modeling
  and implementation of correction codes for correcting several types of quantum errors in the development
  and implementation of quantum algorithms for solving classes of problems of a classical
  nature. The scientific novelty of this direction is expressed in the elimination of one of the disadvantages
  of the quantum computational process. The scientific novelty of this area is primarily
  expressed in the constant updating and supplementation of the field of quantum research in a
  number of areas, and the computer simulation of quantum physical phenomena and features is
  poorly covered in the world.

• COMPUTATIONAL FORENSICS METHODOLOGY AND FORMAL VERIFICATION OF EXPERT FINDINGS

  Е.S. Abramov

  45-68

  2026-07-07

  Abstract ▼

  This paper addresses the fundamental challenge of overcoming the systemic epistemological crisis in digital forensics. This crisis is driven by an expanding semantic gap between the probabilistic and stochastic nature of digital traces—frequently compromised by anti-forensic techniques—and the rigorous demands of adversarial legal proceedings for the legal certainty of evidence. The article is conceptual in nature and establishes the theoretical foundation of computational forensics as an independent scientific discipline. The study justifies a necessary paradigm shift from traditional heuristic artifact-discovery approaches and subjective expert opinions toward a rigorous methodology grounded in the principles of algorithmic reproducibility, the measurability of uncertainty, and formal verifiability. The author develops a set-theoretic ontological model of a computer incident, which is built upon the "subject–method–object" (S-M-O) triad and the axiom of process trace conservation. This model enables a one-to-one mapping of low-level technical indicators (IoA, IoB, IoC) onto the legal elements of a crime (corpus delicti). Furthermore, a methodology for the formal verification of hypothesis validity is proposed, incorporating the criteria of structural completeness, causal coherence, logical consistency, and factual grounding. For the first time, a mathematical model for assessing the reliability of expert findings using a logistic function (trust function) is introduced into scientific discourse. This model enables the calculation of the probability of a juridical fact by aggregating taxonomic compliance metrics, the strength of causal relationships within the incident graph, and an environmental entropy penalty. The application of the developed approach transforms forensic incident reconstruction from an ill-posed inverse problem into a deterministic procedure, ensuring the mathematically provable objectivity of the evidentiary base even under conditions of incomplete data and active anti-forensic countermeasures.

• DESIGN AND SIMULATING GENERAL APPROACHES OF AN ARTICULATED WHEELED-LEGGED CHASSIS OF THE LUNAR ROVER

  А.V. Vasiliev , I.V. Shardyko , Y.А. Zhukov

  2026-04-29

  Abstract ▼

  The paper considers the problem of constructing a chassis for a research lunar rover with ultra-high traversability over uncertain terrain with soft soil. Direct remote and supervisory control of modern complex robotic systems in non-deterministic environment places an increased workload on the operator, especially in the case of high-traversability mobile platforms with a large number of degrees of freedom (DoF) requiring coordinated control. In this regard, the problem of automating the movement of such a multi-DoF chassis as well as automating the motion planning depending on situation based on sensor feedback becomes relevant. This article proposes a concept for a multi-degree chassis for a research lunar rover, including a design and layout scheme of the chassis and a method for its application, i.e., motion algorithms on various types of rough terrain. A methodology for control algorithms design is proposed, and a brief description of the developed algorithms and the simulation models of the chassis for its preliminary testing is provided. The final outcome of this work is expected to be a number of experimentally obtained characteristics of the laboratory chassis model and the verification of the developed computer models and control algorithms of the multi-DOF chassis. Completing these tasks will provide scientific and technical groundwork for the motion control of wheeled- legged systems and improve the quality of lunar rovers' modeling and design. The results obtained at this stage allow us to move on to the manufacturing an experimental prototype and conducting physical experiments on this prototype to test the developed algorithms and simulation models. Experimental verification of the multi-DoF chassis control algorithms and their design methodology will improve the level of autonomy of future mobile robots designed to operate in extreme off-planet conditions

• DISCRETE-ANALOGUE FILTER OF THE SECOND ORDER ON SWITCHED CAPACITORS WITH TUNING OF POLE FREQUENCY BY DIGITAL POTENTIOMETER

  D.Y. Denisenko , N.N. Prokopenko , Y.I. Ivanov , D.V. Kuznetsov

  179-189

  2025-11-10

  Abstract ▼

  A discrete-analogue filter of the second order on two frequency-switching capacitors is developed and investigated. The proposed circuit contains two inputs (In_LPF_HPF, In_BPF_NPF) and four outputs (Out_LPF, Out_BPF, Out_HPF, Out_NPF). The filter type (numerator of the transfer function) is determined by connecting a signal source to the corresponding input of the circuit and taking a signal from the corresponding output. The pole attenuation depends on the resistance of a single resistor R5, which does not affect the other parameters. Therefore, the pole attenuation can be tuned using this resistor. To set the passband gain at a given level, it is appropriate to use resistor R1 in the LPF and HPF, and resistor R2 for the BPF and NPF. Changing these resistors will not cause changes in other parameters of the filter circuit. It is established that the pole frequency depends on the resistance of the resistor R8 or digital potentiometer Kdp (Kf), the transmission coefficient of which can be changed by changing the binary digital code Kf, fed to its control inputs, and the other parameters of the filter link do not depend on them, so by changing the resistance of this resistor or the transmission coefficient of the digital potentiometer the pole frequency can be tuned in a wide range while preserving other parameters. Computer modelling of the investigated discrete-analogue filter is performed in Micro-Cap environment. The sequences of pulses controlling electronic keys are given. Graphs of output voltages at the circuit outputs (Out_LPF, Out_BPF, Out_HPF, Out_NPF) are shown. The application of a digital potentiometer in the filter circuit is extremely promising in the construction of adaptive signal processing systems.

• DEVELOPMENT OF CORRECTION CODES FOR CORRECTING SEVERAL KINDS OF QUANTUM ERRORS

  S.M. Gushanskiy, V. S. Potapov, V.I. Bozhich

  2020-10-11

  Abstract ▼

  Recently, there has been a rapid increase in interest in quantum computers. Their work is
  based on the use of quantum-mechanical phenomena such as superposition and entanglement for
  computing input data into output data that can actually provide effective performance 3 to 4 orders of
  magnitude higher than any modern computing devices, which will solve the above and others tasks in
  a natural and accelerated time scale. This article is devoted to solving the problem of research and
  development of corrective codes for correcting several types of quantum errors that appear during
  computational processes in quantum algorithms and models of quantum computing devices. The aim
  of the work is to study existing methods for correcting various types and types of quantum errors and
  to create a 3-qubit corrective code for quantum error correction. The work touches upon the tasks of
  research and development of the functioning methods of quantum circuits and models of quantum
  computing devices. The relevance of these studies lies in the mathematical and software modeling
  and implementation of corrective codes for correcting several types of quantum errors as part of the
  development and implementation of quantum algorithms for solving classes of classical problems.
  The scientific novelty of this area is expressed in the exclusion of one of the shortcomings of the
  quantum computing process. The scientific novelty of this area is primarily expressed in the constant
  updating and addition of the field of quantum research in a number of areas, and computer simulation of quantum physical phenomena and features is poorly illuminated in the world. The aim of the work is computer simulation of a quantum computing process using the method of correcting
  phase types of errors, which allows one to evaluate the own phase of a unitary gate that has
  gained access to the quantum state in proportion to its own vector.

• DEVELOPMENT OF MICRO-COMMANDS AND BASIC UNITS OF THE HARDWARE ACCELERATOR OF QUANTUM CALCULATIONS

  S.M. Gushanskiy, V.S. Potapov, Y.M. Borodyansky

  2021-02-13

  Abstract ▼

  At all stages of the development of information technology, much attention has been paid to
  the issues of modeling functioning specialized high-performance computing systems, which make it
  possible to provide the necessary performance indicators in combination with minimized costs of
  software resources and energy consumption. The developed information system, focused on human-
  machine interaction, allows you to clearly see the strengths and weaknesses of the developed
  quantum computing device, to prove the advantages of its use. The developed modeling information
  system is a visual aid for understanding the main methods of interaction between information
  processes and information resources. A number of the most important problems cannot be
  solved using classical computers, including classical supercomputers, in a reasonable time. Recently,
  there has been a surge in interest in quantum computers. This article is devoted to solving
  the problem of research and development of a circuit and a simulation technique for a hardware
  accelerator of quantum computing. The work touches upon the problems of research and development of methods for the functioning of quantum circuits and models of quantum computing devices.
  The relevance of these studies lies in the mathematical and software modeling and implementation
  of the fundamental components of quantum computing models. The scientific novelty of
  this direction is expressed in the optimization of the quantum computational process. The scientific
  novelty of this area is primarily expressed in the constant updating and supplementing of the field
  of quantum research in a number of areas. The aim of this work is to implement a technique for
  constructing a hardware accelerator. The technical support of the information quantum system
  and processes has been implemented, including new software for the transmission and presentation
  of information. The use of a quantum computing information system differs from its counterparts
  by a significant increase in the speed of solving computational problems and, most importantly,
  by an exponential increase in the speed of solving NP-complete problems that can be
  solved on classical machines in unacceptable time. Due to the fact that the class of NP problems is
  wide, the applicability and significance of the developed method for constructing a modular system
  of quantum computing is beyond doubt.