Ultrasonic sensors allow us to equip robots with a means of perceiving surrounding objects, an alternative technical vision. Humanoid robots, like other types, are, first, equipped sensory systems similar the senses human. However, this approach is not enough. All possible types and kinds should be used, including those that are animals creations (in particular, echolocation in dolphins bats), as well have no analogues wild. This paper discusses main issues arise when working HC-SR04...

The article discusses the process of applying big data analysis to solve problems traffic in Smart city Nur-Sultan. There is substantiated relevance model intellectual system development transport metropolis. carried out review modern approaches field and intellectualization systems. formal a logical-algorithmic language. describes its external internal structure. proposed solution based on Flowmap.blue parallel computing model. are analyzed two experimental cases such as assessment quality...

Currently, the development of electronic equipment is becoming an increasingly complex and at same time important task. Among many tasks that designer has to solve, one most routine labor-intensive work selection element component base for implementation corresponding units. The authors have attempted prepare complete review technical solutions automation this type activity, as well offer their own ideas creating a System would best meet needs modern electronics industry. Some principles,...

Methods for numerical optimization of regulators has a number advantages as compared with the analytical methods. The use modern software, together well-known and newest methods forming criteria in form cost functions provides set methods, successfully tested on tasks. These contrast to ones, allow effectively calculation robust objects even case simultaneous presence these non-linear elements, units lag, discrete elements (such sampling-and-hold analog storage) other complicating singularities.

One of the most important tasks automatics and robotics is design feedback regulators for controlling stabilization systems. This task contends on two parts: regulator structure numerical calculation or optimization its parameters. The paper discusses both proposes adequate decisions difficult examples.

The paper deals with the problem of design regulator for object having delay link. With all this parameters mathematical model are changing inside some intervals or known low accuracy, so that it is only to which these belong. states task supposed resolve helps numerical optimization. result values coefficient, whose structure has been given by designer in form PID-regulator. Searching parameter as parametric design. simulation program allows making sure validity and robust feature system...

In this paper the possibility of stabilization problem decision Rotating Pendulum electromechanical system is discussed. The schematic representation observable pictured and nonlinear differential equations which describe behavior are presented. transition to reductive model realized research its main qualitative properties executed. Modeling closed-loop by a controller in Matlab Simulink program environment spent.

The design of robust feedback systems by means the numerical optimization method is mostly accomplished with modeling several simultaneously. In each such system, regulators are similar. But object models different. It includes all edge values from possible variants model parameters. With this, not sets parameters taken into account. Hence, regulator can be robust, i. e. it provide system stability in some cases, which were tested during procedure. paper proposes an alternative method....

This paper performs determination of a mathematical model the balancing robot, its linearization and algorithm for calculation stabilization deflection angle from vertical modal method. also makes deviation use either alpha-beta filter rotation wheels by means encoders.

Design of multi-channel regulators by analytical methods is difficult. Numerical optimization in simulation simplify this task. However, it can produce system with too big overshoot. The paper proposes the use incorrect movements' detector (IMD). This based on integrating product loop error at its derivative. With full regulator calculated, i.e. containing no non-zero elements not only main diagonal transfer function matrix, but also other positions.

This paper solves the problem of designing regulator for control complex unstable object. Calculation was done by numerical optimization using structure comprising bypass channel. The idea channel develops Smith predictor, but, unlike a its model can be calculated more flexible algorithms. Furthermore, this method does not require presence pure delay link in object model. makes and efficient than predictor. is taken from list well-known models, which are very difficult feedback due to strong...

This paper studies the mathematical model of object "inverted pendulum" on example unstable electromechanical device - balancing robot wheel pair. The gives results analysis impact many real control properties system performance. Among them most important ones are actuator, filters, friction and tendency to fluctuations.

This article is devoted to issues concerned with the task of stabilization two wheeled balancing robot in a vertical position. device an inverted pendulum type object from mathematical point view. The key aspects are researched. operation tilt angle estimation subsystem based on using accelerometer and gyro sensors complementary filter used for fusing data considered. It shown that this has weakness which consists mid- low-frequency distortions may go through filter. alternate technique...

The control of dynamic objects inside the locked loop with negative feedback is now widely used in automation and robotics.This ensures greater precision under action uncontrolled disturbances.Usually, for controlling single output value object only one input on sufficient.But there are cases where it advisable to apply two or more actions a controlling.Such case occurs when structure mathematical model allow influence different ways, every which corresponds models.Each these models has...

This paper studies the effect of choice test signal on result optimization regulator by example PID and PI2D structures. It is shown that if quality response to ramp signals necessary, system only simple ineffective. In this case, resulting characterized excessively large overshoot when step supplied input. The proposes a method for designing an effective consisting in numerical two parallel operating control systems. Its effectiveness has been proved simulation.

This article is devoted to tuning the regulator coefficients of automatic stabilization system a two-wheeled balancing robot. When calculating analytically, it necessary set desired distribution roots. can be defined based on general requirements for quality transient processes such as maximum level overshoot and duration process that define sector in complex plane within which roots should placed. But issue choosing this remains open. task becomes even more complicated if there are...

The paper discusses new principle of the organization adaptive system. It is based on use two quality criteria, which are changed for worse as a result increment in adjustable parameters different directions. Namely, if increase this parameter leads to deterioration one it must lead an improvement another criterion. combined effect adaptation mechanisms should establishment equilibrium or small fluctuations around state parameters. If second criterion missing can not be measured, used factor...

Control of the object with one output using many inputs is widely used for combining advantages every input and eliminating disadvantages two or more control channels. Such systems are called MISO, which means Many Inputs - Single Output. For calculation such we have proposed a theory based on logarithmic frequency response. This method has proved to be excellent in laser physics other where single channel insufficient. As rule channels higher speed but small range changing value. The allows...

Precision phase measurements are necessary in many sectors of the measuring equipment. The most important parameters these devices: 1) carrier frequency range; 2) changing range measured difference; 3) measurement error; 4) for increments. paper discusses opportunities and challenges precise differences purposes.