Table Of ContentStudies in Systems, Decision and Control 174
Andrey E. Gorodetskiy · Irina L. Tarasova
Editors
Smart
Electromechanical
Systems
Group Interaction
Studies in Systems, Decision and Control
Volume 174
Series editor
Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland
e-mail: [email protected]
The series “Studies in Systems, Decision and Control” (SSDC) covers both new
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Andrey E. Gorodetskiy Irina L. Tarasova
(cid:129)
Editors
Smart Electromechanical
Systems
Group Interaction
With 140 Figures and 22 Tables
123
Editors
Andrey E. Gorodetskiy Irina L. Tarasova
Institute of Problems of Mechanical Institute of Problems of Mechanical
Engineering Engineering
Russian Academy of Sciences Russian Academy of Sciences
Saint Petersburg, Russia Saint Petersburg, Russia
ISSN 2198-4182 ISSN 2198-4190 (electronic)
Studies in Systems,DecisionandControl
ISBN978-3-319-99758-2 ISBN978-3-319-99759-9 (eBook)
https://doi.org/10.1007/978-3-319-99759-9
LibraryofCongressControlNumber:2018952601
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Preface
Smart electromechanical systems (SEMS) are used in cyber-physical systems
(CPhS).Cyberphysicalsystemstheabilitytointegratecomputing,communication
and storage of information, monitoring and control of the physical world objects.
The main tasks in the field of theory and practice of CPhS are to ensure the
efficiency,reliability,andsafetyoffunctioninginrealtime.Itisimportanttobearin
mind that recently thetask of ensuring functioningofrobotsas apart ofcollective
performing joint work is set.
The purposes of the publication are to introduce the latest achievements of
scientists oftheRussian Academy ofSciences inthe theory andpractice ofSEMS
GroupinteractionanddevelopmentofmethodsfordesignandsimulationofSEMS
Group interaction based on the principles of safety, flexibility, and adaptability in
behavior and intelligence and parallelism in information processing, computation,
and control.
Topics of primary interest include, but are not limited to the following:
– The Planning Behavior of the SEMS Group;
– Methods and Principles of Designing of Automatic Control Systems;
– Mathematical and Computer Modeling Group Interaction;
– Safety, Flexibility, and Adaptability of SEMS Group;
– Information-Measuring and Control Soft and Hardware;
Thisbookisintendedforstudents,scientists,andengineersspecializinginthefield
of smart electromechanical systems and robotics, and includes many scientific
domains such as receipt, transfer and pre-treatment measurement information,
decision-making theory, control theory, working bodies of robots that imitate the
complexity and adaptability of biological systems.
We are grateful to many people for the support received during the writing of
this book. A list of their names cannot be represented here, but all of them we are
deeply grateful.
Saint Petersburg, Russia Andrey E. Gorodetskiy
September 2018 Irina L. Tarasova
v
Contents
Part I The Panning Behavior of the SEMS Group
Emerging Issues of Robots to Be Used in Groups . . . . . . . . . . . . . . . . . 3
Ivan L. Ermolov
Situational Control a Group of Robots Based on SEMS . . . . . . . . . . . . 9
Andrey E. Gorodetskiy and Irina L. Tarasova
Evolutionary Algorithms of Stable-Effective Compromises
Search in Multi-object Control Problems. . . . . . . . . . . . . . . . . . . . . . . . 19
Vladimir A. Serov and Evgeny M. Voronov
Logical Control a Group of Mobile Robots . . . . . . . . . . . . . . . . . . . . . . 31
Stanislav L. Zenkevich, Anaid V. Nazarova and Hua Zhu
Analysis of Use of Platonic Solids in Swarm Robotic Systems with
Parallel Structure Based on SEMS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Sergey N. Sayapin
Intellectualization of the Process of Designing Smart
Electromechanical Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Aleksandr N. Shilin, Irina A. Koptelova and Dmitriy G. Snitsaruk
Part II Methods and Principles of Designing of Automatic
Control Systems
ReductionofLogical-Probabilistic and Logical-LinguisticConstraints
to Interval Constraints in the Synthesis of Optimal SEMS. . . . . . . . . . . 77
Andrey E. Gorodetskiy, Irina L. Tarasova and Vugar G. Kurbanov
Nature-Inspired Algorithms for Global Optimization
in Group Robotics Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Anatoliy P. Karpenko and Ilia A. Leshchev
vii
viii Contents
Distributed Solution of Problems in Multi Agent Robotic
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Anaid V. Nazarova and Meixin Zhai
Principles of Docking of Modular Mobile Robots Based
on Sems in Their Group Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Sergey N. Sayapin
The Control Complex Robotic System on Parallel Mechanism. . . . . . . . 137
V. A. Glazunov, S. V. Kheylo and A. V. Tsarkov
A Coordinated Stable-Effective Compromises Based Methodology
of Design and Control in Multi-object Systems . . . . . . . . . . . . . . . . . . . 147
Evgeny M. Voronov and Vladimir A. Serov
Part III Mathematical and Computer Modeling Group Interaction
Estimates of the Group Intelligence of Robots
in Robotic Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Andrey E. Gorodetskiy and Irina L. Tarasova
Techniques to Detect and Eliminate Inconsistencies
in Knowledge Bases of Interacting Robots . . . . . . . . . . . . . . . . . . . . . . . 171
Boris A. Kulik and Alexander Ya. Fridman
Group Interaction of SEMS Modules at Control
of an Adaptive Surface of the Main Dish. . . . . . . . . . . . . . . . . . . . . . . . 183
Andrey Yu. Kuchmin
Identification of Dynamics of Modules SEMS . . . . . . . . . . . . . . . . . . . . 193
Andrey Yu. Kuchmin
Implementation of a Joint Transport Task by a Group
of Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Valery G. Gradetsky, Ivan L. Ermolov, Maxim M. Knyazkov,
Eugeniy A. Semenov, Sergey A. Sobolnikov and Artem N. Sukhanov
Part IV Safety, Flexibility, and Adaptability of SEMS Group
Synthesis of the Program Motion of a Robotic Space Module Acting
as the Element of an Assembly and Servicing System for Emerging
Orbital Facilities. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Y. N. Artemenko, Anatoliy P. Karpenko and P. P. Belonozhko
Automatic Control Panel Module SEMS . . . . . . . . . . . . . . . . . . . . . . . . 229
Vladimir V. Dubarenko, Andrey M. Kornuyshin and Vugar G. Kurbanov
Smart Electromechanical Systems in Electric Power Engineering:
Concept, Technical Realization, Prospects . . . . . . . . . . . . . . . . . . . . . . . 251
Aleksandr N. Shilin, Aleksey A. Shilin and Sergey S. Dementiev
Contents ix
Three-Axis Electromechanical Drive of the Robotic Complex
for Monitoring Shells and Their Assembly. . . . . . . . . . . . . . . . . . . . . . . 263
Aleksandr N. Shilin and Dmitriy G. Snitsaruk
Diagnosis in SEMS Based on Cognitive Models . . . . . . . . . . . . . . . . . . . 275
Vladimir V. Korobkin and Anna E. Kolodenkova
Part V Information-Measuring and Control Soft and Hardware
Robotic Assembly and Servicing Space Module Peculiarities
of Dynamic Study of Given System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
P. P. Belonozhko
The Position Monitoring Robotic Platforms of the Radiotelescope
Elements on Base of Autocollimation Sensors . . . . . . . . . . . . . . . . . . . . 297
Anton A. Nogin and Igor A. Konyakhin
Optic-Electronic System for Measuring Angular Position
of SEMS Units on Base of Autoreflection Sensors . . . . . . . . . . . . . . . . . 305
Igor A. Konyakhin and Aiganym M. Sakhariyanova
Intelligent Reflectometer for Diagnostics of Air
Transmission Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Aleksandr N. Shilin, Aleksey A. Shilin, Nadezhda S. Kuznetsova
and Danila N. Avdeyuk
Intelligent Low-Frequency Electromechanical Vibration
Transducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Aleksandr N. Shilin, Aleksey A. Shilin, Mikhail N. Sedov
and Mohanad N. Mustafa
Part I
The Panning Behavior of the SEMS Group
