Purpose of research. Mobile robotics is a discipline of great interest today due to the wide range of applications for which it has potential for; ranging from industry, services, military, to space exploration. One of the most challenging aspects in the development of this technology is the implementation of accurate and efficient navigation and positioning systems, since this function will ensure the autonomous operation of this equipment, providing flexibility and reliability in the tasks to which these mechanisms are assigned to. In this research work, an analysis and comparison of the performance and behavior of 5 different algorithms of obstacles evasion was made, with the implements of the navigation system from a differential drive mobile robot (MR), from an initial point to a target point.

Methods. Routes for MR take place within a structured map with various obstacles in its environment. The MR is modeled using the inverse kinematics equations provided by the robotics. In order to guarantee the expected behavior of the algorithms, this project started from the primordial logic of each one. Therefore, the sequence that each algorithm follows was analyzed and encoded using the MatLab software, since its Simulink plug-in is very useful and versatile for test simulations. For the tests, 10 routes were defined within the structured map, which was called the “test map”. To obtain the results, each algorithm was used to guide the mobile robot through each of the defined routes evaluating the distance and time used for each of them.

Results. For the analysis and comparison of the different simulated algorithms, an evaluation of the time and distance traveled was carried out to comply with 10 test routes with obstacles.

Conclusion. Algorithms can be classified into two classes: global planification (GP) and local planification (LP). GP is characterized by planning the route to be followed by the mobile robot prior to its movement, while LP plans in real time the route to be followed by the MR, a route which is calculated and recalculated iteratively based on the information from the environment outside the robot that is collected by the sensors. According to the results obtained, it can be concluded that LP algorithms have a superior performance to GP algorithms, so they are the most efficient for real applications. Although a correct combination of a GP algorithm with a LP could result in an optimal navigation system, which can overcome any type of obstacle and guide an MR efficiently through any type of environment no matter how complicated it is.

Purpose of research. Changes in the stress-strain state of structures of shallow shells on an elastic foundation with a change in its strength characteristics investigation.

Methods. To solve a system of differential equations of state for shallow shells in an elastic state the BubnovGalerkin method is used. Geometric non-linearity of work material of construction is taken into account. The approximating function allows you to simulate various conditions for supporting a structure on a foundation.

Results. Expressions are obtained for determining the stresses and critical load in isotropic shallow shells resting on an elastic foundation in analytical form. The geometric nonlinearity of the structure taking into account. The strength characteristics of the base are given by a function, which allows modeling various soils and their distribution under the base of the structure. Graphs of the possible distribution of the coefficient characterizing the rate of sediment attenuation in the depth of the foundation under the base of the foundation are given. Several variants of a sharp decrease in the strength characteristics of the base under a part of the structure are showт. Dependences of the critical load for a shallow shell on the shapes and sizes of sections of the elastic foundation with reduced strength characteristics are given. Comparative graphs of stresses and critical load are shown for the foundation structures of buildings and structures in the form of slabs and shallow shells on an elastic foundation.

Conclusion. Analytical equations for stresses and critical loads determining make it possible to design and investigation the foundations of buildings and structures in the form of slabs and shallow shells on an elastic foundation. The dependencies lets to select rational geometric characteristics of structures, allowing maintaining the bearing capacity when changing the strength characteristics of the base under a part of the structure.

Purpose of research. Development of a computational process in a vision system to determine the distance to objects from a single video camera based on the transformation of RGB data received from a CMOS video camera into three-dimensional coordinates showing the location of the object on the 3d scene.

Methods. The research paper focuses on methods for determining distances from a video camera to objects of significant importance in the field of computer vision and machine learning. The study covers a variety of approaches used for distance estimation using video analytics, traditional image analysis models and machine learning. A method based on the classical marker detection algorithm incorporating a recent approach that realizes the principle of neuro-fuzzy learning in a vision system is considered. Special attention is paid to the visual evaluation of the effectiveness and accuracy of the proposed neuro-fuzzy approach in estimating the movements of actuators of mechatronic complex. This study provides an overview of the current state of the art of methods for determining distances from a video camera to objects and suggestions for further improvement and development of this field.

Results. The methodology for determining distances from the vision system to objects proposed in this study represents a significant step in the development of methods for positioning actuators of mechatronic complexes. The methodology was tested in real conditions and demonstrated a significant improvement in the accuracy of actuator positioning. During computational experiments it was possible to determine in real time the three-dimensional coordinates (center of mass) of the detected objects. This led to a 12% improvement in the positioning of mechatronic drives compared to similar solutions, which is important for achieving the required performance and efficiency of the production system.

Conclusion. The accuracy of the developed methodology was tested on various test datasets, including scenarios with different lighting conditions, changed background and recognition of different types of objects. Experimental results confirmed the effectiveness of the proposed methodology and its applicability in real-world conditions, providing improved positioning accuracy of the mechatronic system actuators.

Purpose of research is to develop a structured model for training a neural network based on an electronic encyclopedia.

Methods. In this work, methods were used to analyze text articles: 1) TF-IDF is a statistical measure used to assess the importance of terms in a document relative to the corpus of documents. It calculates the relative importance of terms, taking into account the frequency of their appearance in a document or the entire corpus of documents. TFIDF allows you to highlight the key terms that characterize the content of each document. 2) Clustering by k-means++ is a machine learning method used to divide objects into groups (clusters) based on their similarity. This method made it possible to create new categories of articles based on their content. 3) The t-SNE method is a method of visualizing complex multidimensional data in two or three dimensions.

Result. The analysis of text articles using natural language processing methods, such as TF-IDF, and their clustering by the k-means++ method allow you to create new categories of articles based on their content. In this paper, the resulting clustering graph was obtained, which showed well-separated clusters with high accuracy.

Conclusion. TF-IDF values were used to analyze the uniqueness of trigrams in the articles. The trigrams were classified into various uniqueness groups, which allows us to identify areas where articles contain high uniqueness of trigrams. Combinations of different uniqueness groups may indicate different thematic aspects or contexts in the texts. Additionally, using the t-SNE method, a clustering graph was obtained that visually highlights new categories of articles. This graph helps to visualize the structure of clusters and their mutual location in two dimensions. Thus, the study allows a deeper understanding and systematization of the content of articles and highlight the links between them.

Purpose of research. The article discusses the possibility of increasing the probability of correct authentication of a remote message source based on the analysis of metadata of network packets generated by it. When transmitting data over networks with low power consumption, the values of inter-packet time intervals are subject to known distribution laws. Based on these laws and principles for the formation of authentic messages, it has been determined that an authentication error leads to the formation in the receiver of two sequences of packets that differ in one element, for which it is impossible to unambiguously determine the one that consists entirely of source packets. Analysis of the arrival time of data packets in two sequences allows us to develop a decision rule, on the basis of which the authentic one is determined from the two sequences.

Methods. Metadata analysis is carried out for sequences of 5–20 data packets in size, which makes only high-order moments for samples of inter-packet time intervals for such sequences informative. A map of coefficients of asymmetries and kurtosis is used, the analysis of which allowed us to formulate the hypothesis that the decisive rule for determining the authentic sequence can be adopted based on the minimum distance to the parabola, which is a map of the distribution of coefficients of kurtosis and asymmetries for the Poisson distribution.

Results. Based on the developed mathematical model of data arrival at the receiver, data sets were obtained to test the formulated criterion for selecting an authentic sequence. Analysis of the proportion of correct decisions made according to the minimum distance criterion and the proportion of cases in which the decision rule can be applied allowed us to formulate a criterion for the applicability of the rule of the minimum distance to a parabola on the map of kurtosis and asymmetry coefficients, which consists in the fact that the rule is applied if the minimum distance for one sequences are 3 – 4 times less than the minimum for the second sequence of the pair.

Conclusion. The work shows that using the criterion of multiple excess of the minimum distance to the map of distribution of kurtosis and skewness coefficients makes it possible to increase the reliability of determining authentic sequences with a length of 5–20 data packets for the Poisson distribution, and makes it possible to increase the accuracy of making the right decision to 90-95% with the possibility of using the method in 60% – 80% of cases.

Purpose of research. Visualization of information on a Head-up Display (HUD) has long been an integral part of the aviation industry, and is also actively developing in the automotive industry. This additional source of information allows the pilot, driver or other types of users to be focused on the surrounding environment, while receiving additional information that is important at the current time. However, the use of HUDs for robotic systems has not yet been fully developed.

Methods. This article presents a method that provides dynamic formation of display elements depending on the current state in which the robotic device operates. The presented method is universal and provides the output of information that is relevant to the current operating process.

Results. To approbation the developed method, software was introduced that dynamically forms head-up display elements in software for a training ground robotic platform. Scenarios for the functioning of the platform with a different set of sensors and dynamically generated display presentation options were developed and tested. The results of testing the developed solution on a control group of 32 people and a comparative analysis with a display without dynamic formation of elements showed that 87.5% of subjects perceive information much better.

Conclusion. This article analyzes the applicability of Head-up displays in the fields of aviation and automotive technology. Based on the data obtained, a classification of information displayed on the HUD was compiled. Testing of the developed method showed that 28 out of 32 people preferred to use dynamically generated HUDs, which shows the promise of further development of this solution.

Purpose of research. Improving the efficiency of designing vibration-transporting devices as part of an automated complex, through the use of a mathematical model of the movement of parts under the influence of vibration, the adjustment and verification of which was carried out during field tests on laboratory equipment.

Tasks. Development of a mathematical model of vibration displacement and carried out computational experiments. Preparation of a laboratory stand, setting up and conducting a complex of field experiments. Comparative analysis of experimental results and assessment of the adequacy and applicability of the mathematical model in the design of vibration-transporting devices.

Methods. The study was carried out in accordance with generally accepted methods of conducting and planning experimental studies. When modeling the movement of parts under the influence of vibration, a nonlinear friction model and an original integration algorithm were used to obtain a solution for the system being developed.

Results. In the course of the work, a mathematical model of the movement of parts along the guides of the vibrobunker bowl was developed, characterized by the possibility of specifying the horizontal and vertical component of vibration and using a nonlinear friction model that allows modeling processes at zero relative speed of movement of the part and the bowl. A set of full-scale tests was performed, which proved the adequacy of the developed model.

Conclusion. The mathematical model proposed in the paper for moving parts under the action of two-component vibration can significantly improve the efficiency of designing and configuring a vibration-transporting device as part of an automated assembly line, which can find applications in a wide range of production tasks.

Purpose of reseach. Improving the efficiency of the test benches of the structural elements of the aircraft controls, by taking into account the dynamic features of the electromechanical system, studied using a mathematical model that takes into account the features of the hardware implementation of the drive and measuring systems of the stand. Tasks. Development of a mathematical model of the drive system of the executive link of the test bench, obtaining dynamic characteristics of the controlled movement of the electromechanical system of the stand and the rotary switch from the aircraft crew controls.

Methods. Methods of mathematical modeling of dynamic systems, control theory and theory of mechanisms and machines were used to solve the tasks. When creating software products, Matlab/Simulink mathematical packages were used. To assess the influence of the properties of the elastic coupling on the dynamics of the movement of the executive link, the quadratic error in position and speed, as well as their integral values, were used.

Results. In the course of the research, a mathematical model of the test bench was developed, including the drive and measuring systems, the interface device and the object of the tested equipment. In the course of computational experiments, the maximum values of the torque and the rotational speed of the executive link were established, and the influence of the parameters of the elastic-viscous properties of the interface elements on the movement of the rotary switch was analyzed.

Conclusion. It is established in the work that the pulsed nature of the torque change affects the movement of the executive link of the stand. To reduce the effect, it is proposed to use a viscoelastic coupling element, which reduces the oscillation of the executive link of the stand while maintaining high accuracy of movement.

Purpose of research. In recent years, interest in the use of drones in various fields has grown significantly.

Methods. The reasons are due to the continuous growth of technology, especially the advent of fast microprocessors that enable autonomous control of multiple systems. Photography, construction, inspection and surveillance are just some of the areas in which the use of drones is becoming commonplace. The purpose of the work is to study the operation of protocols at various levels of interaction, to propose options for improving the security of interaction based on the introduction of intelligent components. The article discusses the protocols involved in the operation of UAVs at different levels, their features, advantages and disadvantages, as well as their load and security. Using realistic technological features of unmanned aerial vehicles to test models and methods can be very relevant for practical purposes in various industries from civil to military. The objectives of the study are to detail the protocols for information exchange in UAVs at various levels, taking into account the analysis of the structure of the transmitted information.

Results. The study examines various communication protocols used in UAV systems and also analyzes their performance. To qualitatively assess the impact on information security, it is proposed to introduce intelligent components that dynamically adapt data exchange protocols based on real-time threat analysis and system capabilities.

Conclusion. Efficient use of energy is critical to efficient and safe UAV operation. Power outages can cause serious damage to the flight area. The issues of correlation of protocol load associated with energy consumption and charging strategies are touched upon and considered.