bluuebunny/crossref_metadata_2025_split huggingface dataset:
Prediction of the trajectory of the tracking object based on adaptive controller
Authors: Stepanyan I V , Lednev M Y 
Published: March 2020

Abstract
A method for controlling an object that monitors another object is considered. The mathematical formulation of the problem of predicting the trajectory of motion is given. The solution is based on training an adaptive neurosemantic controller. The semantic units of the management process are defined. To highlight the prediction trajectories, the auto-structuring method is used. The results can be used to solve a number of practical problems of autonomous intelligent control in the face of uncertainty. The experiments showed that if there is a pattern (lack of randomness in the behavior of the tracking object), the adaptive controller can determine the behavior of the tracking object and has the ability to predict its movement over a finite number of training steps. It is noted that the implementation of semantic neural network technologies is adapted to the specifics of digital circuitry due to the structure of neurons and the mechanisms of learning.
On the movement of the rope robot on a vertical surface
Authors: Efimov M I , Briskin E S , Sharonov N G 
Published: March 2020

Abstract
A method of moving a cable robot on a vertical surface with support on it is considered. The motion of the robot with adjustable, with the help of the load, the position of the center of mass is investigated. The stages of overcoming obstacles by such a robot and the equations of motion at individual stages of movement are described.
Automation of the manipulation robot construction trajectory for soft tissues tensoalgometry
Authors: Khmyachina E A , Archipov M V , Khmyachin D V , Samorukov A E , Eremushkin M A , Vzhesnevsky E A 
Published: March 2020

Abstract
The problem statement and solutions for using the vision system to automate the machine learning process of a manipulation robot for constructing trajectories for tensoalgometric diagnostics of human soft tissues are considered. The research structure of the robotic system is equipped with a vision system and a power sensor. Robots to accelerate the procedures of geometric power characteristics of soft biological human tissues. The results of the work in the form of programs and algorithms are presented.
Vehicle’s transmission as a vibro-impact system
Authors: Korendyasev George , Salamandra Konstantin 
Published: March 2020

Abstract
The article discusses a dynamic model of a dual-clutch transmission. The absence of a torque converter and the short duration of gear shifting (0.2 - 0.5 sec) in such transmissions allows to present the shifting process as impact interaction. As a result, the gear shift excites the oscillations of the gearbox output shaft. Thus, the transmission of the vehicle can be considered as a vibro-impact self-oscillating system.
Designing the program trajectory for steering a spacecraft under arbitrary boundary conditions
Authors: Lamotkin A E , Misyura N E , Mityushov E A 
Published: March 2020

Abstract
A problem is considered of designing the program trajectory of a spacecraft turning from an arbitrary initial orientation to an arbitrary final orientation, with the orientations being defined with unit quaternions. A projection of a group of unit quaternions Sp(1) on a sphere with the radius of 2ˇ is used to represent rotation of a body as a motion of a point inside the given sphere. Polynomials of the fifth degree are considered as a class of functions to define the program trajectories in the sphere. The suggested class of trajectories is demonstrated to be effective to provide the possibility of meeting boundary conditions at arbitrary values of velocities and accelerations.
Improved calculation of external loads of motor graders metalwork
Authors: Mikhailovskaia V A 
Published: March 2020

Abstract
The main thought of the work is to develop a comprehensive methodology for calculating the metalwork of construction and road machines, in particular of motor graders. This way of calculation will allow obtaining real values of stresses in metal design in contrast to already existing calculations. This article discusses the developed mathematical model of the dynamic loading of the grader, implemented in the MatLab program, which allows you to calculate the real dynamic loads that appear on the metalwork of machine of the grader depending on various factors of the working environment that happen during working operations, for example, the type of road surface and the shape of the road contour, type of power train, speed of the machine etc. It should be noted that among scientific literature there have not revealed such models as presented in this article. A mathematical model was also created to calculate the loads that occur in the parts of the machine during its operation, which is also presented in the article. This mathematical model differs from the existing ones because it takes into account the design features of modern motor graders and the actual positions of the operating equipment of the machine during its operation.
About moving of the ortogonal drive of the underwater mobile robot to a new position
Authors: Miroshkina M V , Briskin E S , Kalinin Y V 
Published: March 2020

Abstract
The solution of one of the problems arising in the design of mobile walking robots: the problem of achievement of minimum of energy costs at overcoming obstacles, increasing the efficiency of a multi-legged mechanism and a reduction of the developed power due to a change in the mode of motion of the multi-legged walking apparatus is presented.
Dynamics of the accessible solid body’s movement controlled by two drives with rectreline movement of it’s mass center
Authors: Platonov V N , Briskin E S , Sharonov N G 
Published: March 2020

Abstract
Based on experimentally obtained step response, an analytical relationship between the input and output parameters of the anchor-rope propulsion’s control system, reflecting it’s dynamic properties, is obtained. The features of motor control, DC and stepper in the structure of the actuators of the anchor-rope propulsion have been set.
Kinematic and Force Analysis of Irregular Motion Stirrer with Elliptical Gear
Authors: Prikhodko A A , Kopteva A A 
Published: March 2020

Abstract
Agitated reactors are one of the most popular types of equipment in the chemical, food and oil refining industries. Currently, various authors have proved that a constant speed of the impeller leads to low efficiency of the mixing process, the formation of stagnant zones and a decrease in the quality of the product. The paper proposes to transmit irregular motion to the impeller by transmission with elliptical gears. To conduct further dynamic analysis of the transmission, evaluate the efficiency and design of the actuator of the stirred tank, a kinematic and force analysis is carried out in this paper. Analogues of the velocity and acceleration of the output link, as well as reactions in the kinematic pairs of the mechanism for all positions of input link are found.
Control of machines and robots: creation of mivar decision-making systems for controlling autonomous tractors and special vehicles of the ministry of emergencies
Authors: Aladin D V , Varlamov O O , Chuvikov D A , Adamova L E , Saraev D V 
Published: March 2020

Abstract
To control machines and robots, it is proposed, in addition to well-known control systems of the reflex level, to use a logical level Mivar decision-making systems. In this report, the scientific background on the application of the Mivar technologies for controlling autonomous tractors and special vehicles of the Ministry of Emergencies is shown. The decision-making systems “ROBO!RAZUM” can, on conventional computers and in real time, control autonomous multilevel heterogeneous robotic systems to perform complex actions under conditions of heterogeneous dynamic obstacles and adaptively solve tasks even with malfunctioning technical vision. The main difficulties of the complex of tasks of the “tractor of the Ministry of Emergencies” are analyzed, which are successfully solved by the Mivar decision-making systems for controlling machines and robots.
Control of vehicles and robots: creating of knowledge bases for mivar decision making systems robots and vehicles
Authors: Aladin D V , Varlamov O O , Adamova L E , Chuvikov D A , Saraev D V 
Published: March 2020

Abstract
An important element in the control of machines and robots is the Mivar decision-making system based on production rules and cause-effect relationships. For example, unmanned vehicles must know the traffic laws rules in a real environment. It is shown how young scientists and students of the department “Information Processing and Control Systems” of the Bauman Moscow State Technical University successfully create production knowledge bases for mivar decision-making systems for unmanned vehicles and robotic systems. It is proposed to use actively our experience in all educational and scientific institutions where they solve the problems of controlling machines and robots.
Analytical and experimental methods for evaluation stress concentration in attachment point
Authors: Arutyunova A S , Polilov A N , Tatus’ N A 
Published: March 2020

Abstract
The article considers a flat specimen made of composite material deposited on a part of its side surface. The article presents calculations of stress concentration factors close to grips by the simplified model of shear analysis. The dependence of the strength on the modules ratio, on the thickness of the specimen, on the lengths of the grip and of the working part is investigated.
Vibration protection drive control in small movement mode
Authors: Dmitriev M A , Brysin A N , Komarov P V , Mikaeva S A , Soloviev V S , Nikiforov A N 
Published: March 2020

Abstract
Mathematical model of the stepper motor is considered. Features of “large” and “small” movements require implementation different approaches to solve stabilization problem. For large movements, is proposed to use an algorithm of active regulation according information from position sensor. Small movements, stabilization algorithm is proposed taking into account use elastic-dissipative properties of the creation and control stopping torque.
Studying the influence of numerical simulation parameters on the solutions of boundary value problems on the destruction of bodies with crack-like defects
Authors: Feklistova E V , Tretyakov M P , Wildemann V E 
Published: March 2020

Abstract
The work is devoted to the study of damage accumulation processes in solving problems on the fracture of bodies with crack-like defects. Scientific publications in the field of studying the influence of various parameters on the results of numerical simulation are considered. The boundary-value problem of the deformation and fracture process is determined, the degradation algorithm is written taking into account the staging and the dispersion of the strength properties of finite elements over the three-parameter Weibull distribution. The results of numerical simulation are presented in the form of a calculated diagram of deformation in the axes “force - displacement” and patterns of the fracture area, patterns of development of defects. The influence of the stochastic nature of the strength properties of the material on the fracture process is shown.
On the impact of unsprung weight of mobile vehicles
Authors: Kastanos V S , Yu Andreev P , Gorodnov D A , Chabunin I S 
Published: March 2020

Abstract
The article analyzes the impact of the value of unsprung weight on the main operating characteristics of mobile vehicles and on the load incurred by the elements of suspension, wheels and tires. It is concluded that the reduction in the unsprung weight has a positive impact on drawing and dynamic as well as fuel economy features of mobile vehicles, their stability and maneuverability, on the load incurred by wheels, tires and roads. At the same time, it has an insignificant influence on the performance of springing or dissipative elements of the suspensions as well as on the smoothness of the ride.
Protective shielding fabric materials on the base of ferromagnetic microwire
Authors: Khandogina E N , Vladimirov D N , Kheylo S V , Fukina O V , Larina K M 
Published: March 2020

Abstract
The article presents the protective and operational characteristics of the developed protective fabric from electromagnetic radiation. The article proposes a technological scheme for the production of tissue that protects against electromagnetic radiation. At the heart of this fabric, it is proposed to use a nanostructured ferromagnetic microwire in a glass shell. It is determined that the protective characteristics of the fabric (screening and reflection coefficients, surface resistance) will depend on the following main factors: chemical composition of the microwire; diameter of the microwire; the number of cores of a microwire in a complex thread; the number of complex threads in the warp and weft systems.
Solutions of the inverse kinematic problem for manipulation robots based on the genetic algorithm
Authors: Krakhmalev N O , Korostelyov D A 
Published: March 2020

Abstract
Using simple examples, an unconventional method for solving the inverse kinematic problem for manipulation robots is considered. The classical nonlinear formulation of this problem is reduced to the optimization problem. To solve which it is proposed to use the stochastic method, implemented based on a genetic algorithm. As the optimization criterion (fitness function), the square of the deviation of the position of the tool center point of the manipulation robot from the given trajectory point is selected. Various kinematic schemes of manipulation systems (flat, spatial, with kinematic redundancy) are investigated. The algorithm showed good convergence with a given accuracy, including multivariate solutions to the problem.
Justification of the choice of numerical methods in the study of nonlinear micropolar mesh cylindrical panel’s oscillations
Authors: Yu Krylova E , Papkova I V , Sinichkina O A 
Published: March 2020

Abstract
Based on the micro polar and the Kirchhoff-Love theories, the mathematical model of the cylindrical mesh panel’s oscillations is constructed. The panels are consisting of two families of mutually perpendicular edges. The scenarios of the transition of panel oscillations to chaos are investigated. To justify the reliability of the results obtained, the numerical implementation was carried out by fundamentally different numerical methods. The conclusion is drawn about the optimal combinations of methods for the numerical implementation of the task.
Realization effects of postcritical deformation the regularities for GFRP in tensile tests
Authors: Lobanov D S , Staroverov O A , Tretyakov M P 
Published: March 2020

Abstract
Experimental data on mechanical behavior of polymer composite material on the postcritical deformation stage were presented. The typical dependences effect of deformation rate and temperature in a wide range (high and low) on the regularities of deformation and the realization degree of postcritical deformation stage on tensile test were obtained. The tests were carried out on the specimens of constructional glass-reinforced plastic with various lay-up sequences. Test runs were carried out at different loading rates (between 0.1 and 10 mm/min); in a wide temperature range (betwen - 40°C and 200°C) and with different stiffness. The loading conditions are determined under which the degree of implementation of the postcritical stage of deformation increases.
Research and natural modeling of an inertial system on a mobile platform
Authors: Lobova A I , Kandaurova K I , Masyuk V M , Orekhov S Y 
Published: March 2020

Abstract
This article is dedicated to the research of inertial sensors application. A number of issues of the measurements organization, the received data calibration and the results interpretation are investigated here. Theoretical researches are compared with the practically obtained data. The explored mobile platform is equipped with inertial sensors and high precision encoder. The mathematical model was constructed, the comparative experiments were carried out. It was concluded that the use of this method is a complement to the data obtained from the encoders.
Studying of accumulation damages regularities under low cycle loading and cycle variable parameters conditions
Authors: Lykova A V , Ilinikh A V 
Published: March 2020

Abstract
The aim of the work is to study the possibilities of predicting cyclic durability in low-cycle fatigue and variable cycle parameters conditions, which combination describes the change complex nature in the stress-strain state over time of aircraft engine parts, based on linear and nonlinear models of damage accumulation. To do this, low-cycle fatigue tests of cylindrical samples were carried out for various loading forms, consisting of several simple-shape cycles. On the results of the tests carried out, fatigue life was predicted based on the nonlinear hypothesis of the Marco-Starkey damage accumulation. An analysis of the mechanical hysteresis loops was carried out to estimate the reasons for the increase of life during tests with a large number of groups in blocks.
The influence of carburization technology on performance properties of high-loaded gear wheels
Authors: Pakhomova S A , Fakhurtdinov R S , Tsinkolenko O A , Zolotov B S 
Published: March 2020

Abstract
The purpose of the study is to develop a technology for vacuum carburization of heat-resistant steels, taking into account the requirements for the structure of the carburised layer to ensure the operational properties of gears.
The paper describes the issues of improving the operating characteristic of heavily loaded gears made of high-strength steels. Information on the modes of vacuum cementation is given. A technological process has been developed that ensures the presence of carbides on the tooth profiles, the absence of a carbide mesh in the cemented layer and the optimal mechanical properties of the gears. Recommendations on the choice of modes of diffusion saturation to ensure wear resistance, contact endurance, bending strength of gears made of heat-resistant steels are proposed.
Determination of the viscous resistance of a plane damper with a newtonian fluid using the equation similarity with the shaft torsion problem
Authors: Poshekhonov R , Anisimov I , Gorbunov A 
Published: March 2020

Abstract
This paper describes the similarity between the Reynolds equation for a thin viscous layer of liquid in a plane damper and the commonly known equations of membrane deflections and equations of free torsion of a shaft. Based on the similarity of equations, a viscous resistance coefficient of a plane damper in the normal direction was determined. An approximate formula of the viscous friction coefficient in tangential direction was derived using the Couette flow assumption. The paper shows that acquiring the same viscous friction coefficients in the normal and tangential direction for a plane damper with a thin lubricating layer is not possible.
Birger method of variable parameters for the problems of flexible plates
Authors: Saltykova O A , Yu Krylova E , Krysko V A 
Published: March 2020

Abstract
The paper describes the application of the Birger method of variable parameters as applied to solving problems of flexible plates taking into account physical nonlinearity. The load-deflection curves for various values of the geometric and physical-geometric parameters are given. The limiting values of the physic-geometric parameter are calculated at which the calculation should be carried out with one or two non-linearities.
Analytical and finite element method of calculation of multi-shell gas tanks
Authors: Yu Sklemina O , Tatus’ N A , Polilov A N 
Published: March 2020

Abstract
The article considers the analytical and finite element method for calculating the stress-strain state of a multi-shell gas tank. The calculated dependences connecting the gas pressure inside the gas tank and strength are presented. The analytical calculation of a multi-shell container was verified using the finite element method in the ANSYS APDL software package.
Development of a system for monitoring the state of Electromechanical objects taking into account the influence of magnetic storms
Authors: Tumakova E V 
Published: March 2020

Abstract
A description of the influence of space weather parameters on electromechanical objects is given in the work. Geo-induced currents are considered as the main source of danger for electromechanical objects. A comparison of the experimental data obtained at the Surgut state district power station-2 with the data of the IZMIRAN archive is carried out. The metrological support system for electromechanical objects is described taking into account the influence of space weather. The description of the main elements of this system is given. The use of this system will prevent accidents at electromechanical objects caused by the negative influence of space weather.
Contact interaction of a two-layer package of nanobeams package of Bernoulli-Euler nanobeams with gap between them
Authors: Yakovleva T V , Kruzhilin V S , Krysko-jr V A 
Published: March 2020

Abstract
In this work, mathematical model of contact interaction of two parallel Bernoulli-Euler nanobeams with a small gap between them is built on the basis of a modified couple stress theory. Contact interaction is considered in accordance with B.Ya. Cantor’s theory. The influence of size-dependent coefficient on contact interaction and the nature of the oscillations have been studied. Wavelet analysis, methods of the qualitative theory of differential equations, methods for analyzing the sign of the largest Lyapunov’s exponent are used to solve and analyze.
Graphic-analytical calculation method of straight centrally compressed bars on stability
Authors: Zotov D D , Kudryavtsev I A , Chabunin I S 
Published: March 2020

Abstract
In designing bars a significant drawback of employing the method for calculating slenderness using the coefficient of reducing allowable stress lies in the need to use the successive approximation method requiring a considerable amount of calculation. This paper suggests an alternative grapho-analytical method of calculations devoid of this drawback. The essence of the method proposed consists in analytically receiving the dependence between the coefficient of reducing the allowable stress and the slenderness and in graphically determining their real values as the coordinates of the point of intersection of the graph of the dependence received and the graph built using the reference values.
Electron-Ion Trap for Combined Density and Composition Sensor of the Upper Atmosphere
Authors: Dreyzin V.E. , Ali Noori Mohammed Al Kadhimi , Raisan Hussein Ahmed 
Published: March 2020

Abstract
The urgency and problems of instrumental studies of the density and composition of the upper atmosphere (ionosphere) are shown, which consist in the absence of instrumental means of direct measurements of the composition electron-ion trap combined density sensor of the atmosphere at altitudes from 150 to 500 km. In this article describes the possible design and study of the electron-ion trap combined density sensor and the composition of the upper atmosphere and simulation of the processes occurring in it. The simulation of the electric field between the electrodes of the trap and the motion of charged particles in it is carried out. The calculation of the maximum speed and energy of the particles, which the trap holds all charged particles, even in the case of the most unfavourable direction of their speed – along the gap between the electrodes. It is shown that this critical energy does not depend on the particle mass, and the probability of passage of charged particles with energy above the critical energy through the trap is estimated.