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Avtometriya

2021 year, number 4

1.
VELOCITY VECTOR CONTROL OF AIRCRAFT

Yu. N. Zolotukhin, K. Yu. Kotov, A. S. Maltsev, A. A. Nesterov, A. P. Yan
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: flight speed control system, structural synthesis of nonlinear automatic systems

Abstract >>
In this paper we address the problem of velocity vector control of aircraft in the flight path axis system. The development of an automatic flight path control system requires reaching a desired flight speed with coordinated control of rudders and engine thrust. For that purpose the nonlinear controller based on method of structural synthesis is built. Simulation results of the complete closed-loop system demonstrate the effectiveness of the proposed approach.
																								



2.
MOBILE SOFTWARE AND HARDWARE COMPLEX FOR FLIGHT EXPERIMENTS

S. A. Belokon1, D. S. Derishev2, Yu. N. Zolotukhin1, K. Yu. Kotov1, A. S. Maltsev1
1Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
2Joint Stock Company "NovosibNIAT", Novosibirsk, Russia
Keywords: hardware-in-the-loop simulation, flight tests, attitude and heading reference system, ground control station, aircrew training

Abstract >>
In this paper the developed and implemented software and hardware complex for flight experiments is presented. The complex ensures operation in the hardware-in-the-loop simulation mode, aircraft crew training mode, and ground control station mode. The purpose and functional features of each of the operating modes of the complex are highlighted. The results of research performed by using the developed complex by an example of a remotely controlled aircraft - a flying laboratory - are presented.
																								



3.
OPTIMAL ENERGY-EFFICIENT CONTROL OF DISTRIBUTED PARAMETER SYSTEMS

E. Ya. Rapoport, Yu. E. Pleshivtseva
Samara State Technical University, Samara, Russia
Keywords: systems with distributed parameters, energy-efficiency, programmed control, alternance method, synthesis of the optimal control, optimal controller

Abstract >>
A constructive method for synthesizing the optimal energy-efficient control for distributed parameter systems with a given-precision uniform approximation of the space distribution of the controlled variable with respect to the desired state is proposed. This approach is based on the earlier developed alternance method for constructing optimal open-loop control algorithms. It is shown that the optimal controller equations are reduced to linear output feedback equations with time-dependent coefficients that are calculated based on incomplete measurements of the state of the system. The transmission factors here are known functions of time and final values of the controlled parameter determined by preliminary calculations of the programmed control.
																								



4.
ON THE PROBLEM OF THE CONTROLLER SYNTHESIS FOR THE "DOUBLE INVERTED PENDULUM ON A CART" BASED ON THE SLIDING MODES TECHNIQUE

O. A. Votrina, K. N. Meleshkin, G. A. Frantsuzova
Novosibirsk State Technical University, Novosibirsk, Russia
Keywords: Double inverted pendulum on a cart, stabilization system, sliding mode, controller synthesis, state estimation filter

Abstract >>
In this paper the procedure of the controller synthesis for a linearized system double inverted pendulum on a cart based on the sliding modes technique is described. The main peculiarity of this method is the two-stage controller calculation. At the first stage, the canonical basis transformation of the model object is performed, and the control algorithm is organized in the form of a function of canonical variables. At the second stage, the controller definition related to the initial basis is obtained via the inverse transformation of variables. As the direct measurement of several internal variables for the type of the object under research is possible, it is needed to estimate the remaining object variables for the controller implementation. The use of several state estimation filters of the same kind is proposed for this purpose, which allows definition of the entire state vector, although only some of state variables can be measured directly. The calculated controller ensures pendulum stabilization in the upper position with the low value of angle deviation from the vertical. The results of the numerical simulation of the system with the help of the MatLab Simulink integrated environment illustrate the main properties of the system.
																								



5.
PIR CONTROLLER DESIGN BASED ON THE TIME-SCALE SEPARATION METHOD AND INTERNAL MODEL PRINCIPLE FOR HARMONIC DISTURBANCE SUPPRESSION

V. D. Yurkevich
Novosibirsk State Technical University, Novosibirsk, Russia
Keywords: control, proportional-integral resonant (PIR) controller, time-scale separation method, internal model principle

Abstract >>
A modified structure of a proportional-integral resonant (PIR) controller and a method of adjusting its parameters are considered. It is shown that application of the time-scale separation method allows selection of the proportional-integral component of the controller independently from selection of the parameters of the resonant components of the controller. The proposed approach to calculation of the controller parameters allows providing robust perfect tracking and disturbance rejection in the presence of plant model uncertainties and harmonic disturbances. The results of numerical modeling are also reported.
																								



6.
CONSTRUCTIVE ASPECTS OF THE METHOD OF POTENTIAL FIELDS IN MOBILE ROBOTICS

A. B. Filimonov1,2, N. B. Filimonov3,4
1MIREA - Russian Technological University, Moscow, Russia
2Moscow Aviation Institute, Moscow, Russia
3Lomonosov Moscow State University, Moscow, Russia
4Trapeznikov Institute of Control Problems, Russian Academy of Sciences, Moscow, Russia
Keywords: mobile robots, artificial potential fields, field lines of force, trajectory control

Abstract >>
In the well-known publications devoted to the method of potential fields in mobile robotics, the key importance is attached to the mechanism of force influence on the movement of the robot, which determines the law of change in the speed of its movement. In this article, a new methodology for using virtual fields is proposed: the force aspect is excluded, and the lines of intensity of the generated field define only the desired trajectories of the robot movement, and following a given trajectory is ensured by a two-contour control system for the direction and speed of the robot movement. The question of constructing attracting and repulsive potentials is discussed. The results of the simulation of the trajectory control of a two-wheeled robot are presented.
																								



7.
CONSTRUCTION OF A FUZZY CLASSIFIER STRUCTURE BY COMBINING THE ALGORITHM BASED ON EXTREME VALUES OF FEATURES AND THE SHUFFLED FROG LEAPING ALGORITHM FOR IMBALANCED DATA WITH TWO CLASSES

M. B. Bardamova, I. A. Hodashinsky
Tomsk State University of Control Systems and Radioelectronics, Tomsk, Russia
Keywords: fuzzy classifier, shuffled frog leaping algorithm, fuzzy classifier structure, imbalanced data

Abstract >>
The paper proposes a way to apply the shuffled frog leaping algorithm as a tool to expand a rule base of the fuzzy classifier. Its application is relevant in the case where the existing rules are not sufficient for the qualitative recognition of all classes, for example, in the presence of data imbalance. Additional rules generated by metaheuristics are able not only to improve the classification quality, but also to provide a more complete description of the domain under study. To create a compact initial structure of the classifier, the algorithm based on extreme values of features in classes is used. The combination under consideration is tested on 36 imbalanced datasets from the Knowledge Extraction based on Evolutionary Learning repository and showed an increase in the mean geometric accuracy on 34 datasets, as well as satisfactory results compared to analogs. The advantages of the proposed algorithm of structure formation are the absence of the necessity of data augmenting with synthetic samples, low scatter of results in individual runs, and the ability to improve the classification quality by adding a few rules.
																								



8.
NEW METHODOLOGY FOR SYNTHESIS OF CONTROL AUTOMATA FOR COMPUTING AND INFORMATION-MEASURING SYSTEMS

Yu. F. Mukhopad1, A. Yu. Mukhopad1, D. C. Punsik-Namzhilov2, A. S. Manikovskyi3
1Irkutsk State Transport University, Irkutsk, Russia
2Open company "Sibproekt", Tomsk, Russia
3Zabaykalsky Institute of Railway Transport, Chita, Russia
Keywords: information and measurement systems, control automata, synthesis of automata

Abstract >>
In order to reduce the complexity of combinational schemes, a new methodology for synthesizing control automata is proposed, based on entering a limited number of empty operators into the control graph scheme and three ways to organize the address subsystem: by entering a state counter and unitary encoding, entering a multiplexer into the control automaton structure to select the address of one logical condition from the entire set {α}, and entering an address block consisting of q two-input elements "And," one "OR," and an RS trigger to select one αj∈{α}. In all versions of the control automata implementation, the number of inputs to the programmable logic matrix decreases by 1.5-3 times, depending on the control algorithm complexity.
																								



9.
COMBINED NONLINEAR CONTROL OF A SYSTEM OF INVERTED PENDULUMS WITH INPUT CONSTRAINTS

E. L. Eremin1, L. V. Nikiforova1, E. A. Shelenok2
1Amur State University, Blagoveshchensk, Russia
2Pacific National University, Khabarovsk, Russia
Keywords: combined regulator, a priory uncertainty, mechanical system, hyperstability criterion, L-dissipativity, filter-corrector, implicit reference model

Abstract >>
Using the hyperstability criterion, fast-acting filters-correctors, and implicit reference models under the conditions of control signal constraints and a priory uncertainty, the synthesis of combined nonlinear control algorithms for a system of inverted pendulums connected by a spring is discussed. With the help of computational experiments, the quality of the obtained control system is studied.
																								



10.
UAV CONTROL ALGORITHM IN THE AUTOMATIC MODE USING COMPUTER VISION

A. O. Lebedev, V. V. Vasilev
Institute of Semiconductor Physics, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: UAV, drone, Computer Vision, railways, UAV flight control

Abstract >>
An algorithm for controlling the flight of an unmanned aerial vehicle (UAV) over a railway in the automatic mode without participation of an operator and the use of satellite navigation systems is proposed. The algorithm is based on a computer analysis of the video image from the UAV camera, identifying the rails, determining their direction relative to the UAV movement, and controlling the flight characteristics (pitch, yaw, and roll) so that the flight is carried out above the railway at a given height. An advantageous feature of the algorithm is its simplicity, which does not require significant computing resources. The implementation of the algorithm affects neither the weight and size parameters and power consumption of the UAV nor the range and duration of its flight. Flight tests have confirmed the algorithm reliability.
																								



11.
SPOOFING DETECTION USING CONVOLUTIONAL NEURAL NETWORKS

D. V. Pakulich1,2, S. A. Alyamkin2
1Novosibirsk State University, Novosibirsk, Russia
2Expasoft LLC, Novosibirsk, Russia
Keywords: convolutional neural networks, recognition of spoofing attacks, deep neural networks, computer vision

Abstract >>
The increased usage of computer vision for biometric identification systems and as a security measure leads to an increase in attempts of falsification. In this regard, the number of ways to automatically detect such situations is also increasing. However, the accuracy of the detection of spoofing attacks can be reduced in some cases like in other systems that use computer vision. In the present study, the existing approaches to the detection of spoofing attacks are considered, and an assessment of their resistance to changes in the conditions of data recording is given.
																								



12.
FEATURES OF APPLICATION OF PRETRAINED CONVOLUTIONAL NEURAL NETWORKS TO GRAPHIC IMAGE STEGOANALYSIS

S. N. Tereshchenko1, A. A. Perov2, A. L. Osipov1
1Novosibirsk State University of Economics and Management, Novosibirsk, Russia
2Moscow Polytechnic University, Moscow, Russia
Keywords: machine learning, convolutional neural networks, steganography, steganalysis, container

Abstract >>
The use of convolutional neural networks for analyzing graphic images for the presence of data introduced by steganography methods is investigated. It is shown that a deep convolutional neural network is trained to classify the presence of hidden data in graphic images, achieving accuracy according to the weighted AUC metric of 0.928. The hypothesis of the effectiveness of applying the concept of "transfer learning" for the sphere of steganography is tested. The effectiveness of the proposed technology is confirmed by a large number of experiments.
																								



13.
SYSTEMATIC ERRORS OF STARRY SKY SIMULATORS USING RASTER SCREENS

A. O. Zhukov1,2,3,4, A. I. Gladyshev5, M. S. Tuchin6, A. I. Zakharov6, N. L. Kroussanova6, A. V. Mironov6, V. G. Moshkalev6, M. E. Prokhorov6, O. Yu. Stekolshchikov6, I. V. Kuznetsova6
1Corporation «Special Design Bureau of the Moscow Power Engineering Institute, Moscow, Russia
2Expert-Analytical Center of the Russian Ministry of Education and Science, Moscow, Russia
3Institute of Astronomy, Russian Academy of Sciences, Moscow, Russia
4MIREA - Russian Technological University, Moscow, Russia
5Section of Applied Problems under the Presidium of the RAS, Moscow, Russia
6Sternberg Astronomical Institute of Moscow State University, Moscow, Russia
Keywords: star tracker, dynamic test bench, starry sky simulator, raster screen

Abstract >>
Dynamic test benches with starry sky simulators are designed for laboratory tests of the star tracker working cycle. Raster screens (computer or television) are often used now to obtain the image of the starry sky. However, star images on such screens have significant differences from the real sky, which must be taken into account when carrying out dynamic tests of star trackers and processing their results.
																								



14.
SYNTHESIS OF A DIGITAL LOW-PASS QUASI-GAUSSIAN FILTER FOR NOISE REDUCTION IN POISSON OBSERVATIONS

V. E. Chinkin1, V. G. Getmanov1,2, I. I. Yashin1,3
1Geophysical Center, Russian Academy of Sciences, Moscow, Russia
2Shmidt Institute of Physics of the Earth, Russian Academy of Sciences
3National Research Nuclear University MEPHI, Moscow, Russia
Keywords: Poisson observations, digital filtering, quasi-Gaussian filter, annealing simulation, stochastic search, global minimization

Abstract >>
The synthesis of a digital low-frequency quasi-Gaussian filter with a finite pulse-transient response, a unity gain at zero frequencies, and non-negative weighting factors is considered. The filter is designed to reduce noise in Poisson observations. A Gaussian function is used for the prototype filter, and an approximation functional is formed. For the synthesis, the stochastic global minimization of this functional with a modified algorithm for simulating "annealing" is used. The quasi-Gaussian filter is investigated using model and experimental Poisson observations, and its efficiency is confirmed.