
Main / Archive /'Автоматизация процессов управления / Automation of Control Processes' # 2 (40) 2015
'Автоматизация процессов управления / Automation of Control Processes' # 2 (40) 2015
Contents
AUTOMATED CONTROL SYSTEMS
Aleksandr Kupriianovich Ivanov, Federal ResearchandProduction Center Joint Stock Company ‘Research and Production Association ‘Mars’, Doctor of Engineering, Honoured Worker of Science and Engineering of the Ulyanovsk Region; graduated from the Faculty of Physics at Irkutsk State University; finished his postgraduate studies at Bauman Moscow Higher Technical School and his doctoral studies at Ulyanovsk State Technical University; Chief Staff Scientist at Federal ResearchandProduction Center Joint Stock Company ‘Research and Production Association ‘Mars’; an author of monographs, articles, and a manual in the field of mathematical modeling of hierarchical realtime computeraided control systems. [email:
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]A. Ivanov


Automated System of Terror Threats Assessment
The author considers the ability to use expert systems in the automated system of terror threats assessment to analyze signs of preparation to commission of terrorist acts and to evaluate threating level. The list of signs of terrorist acts preparation is submitted. These signs include information about facts of terrorist acts preparation, terrorists’ targets and the time of the attacks. The models of developing the expert system knowledge base are offered. The models include random generation of signs and threat assessments corresponding to them. The threat assessments were determined by experienced experts beforehand. Threat assessment automation under actual conditions is implemented through comparison of current characteristics values and characteristics values in the knowledge base and showing the most appropriate variants to the user. The author shows the algorithm of using the expert work in operational activities to assess the real threats in the current conditions and to expand the experience base and training exercises. Automated system, expert systems, knowledge base, operative research activities, terror threats.


Gennadii Petrovich Tokmakov, FRPC JSC ‘RPA ‘Mars’, Doctor of Engineering; graduated from the Faculty of Radioengineering at Ulyanovsk Polytechnic Institute; Chief Staff Scientist of FRPC JSC ‘RPA ‘Mars’; Professor at the Department of Computer Engineering of Ulyanovsk State Technical University; an author of a monograph, textbooks, articles, and inventions in the field of data models development and artificial intelligence systems. [email: mars@mv.ru]G. Tokmakov


Presentation and Processing of Information Resources in Automated System Control Functions. the Application Level Formalization
This article is the second in a series dedicated to the presentation and processing of information resources (IR) in automated system control functions (ASCF). In the first article, ASCF were described as ones which consist of three levels: graphic user interface (GUI), applications and data. In the detailed threetier architecture, automated system data level is implemented as a database management system (DBMS) and in accordance with its requirements subject domain information saves in forms that are different from habitual users’ views. In order to raise the presentation level of data that meets more clearly the users’ views about subject domain information, socalled database applications are developed. The applications are intended for creating the phrases on data entered by the user for queries that perform DBMS access operations. The article deals with the problem of database application program code formalization in order to unify IR data access procedures. The author offers to follow the statement formulated in the first article in a series. Database application formalization according to this statement is based on presentation of control functions functioning algorithms and IR structural features in metadatabase structures as it had been done in data level formalization. Control function, information resources, data management level, application level, user interface level, database, metadatabase, application unification.


Valentin Georgievich Tipikin, FRPC JSC ‘RPA ‘Mars’, graduated from Ulyanovsk Polytechnic Institute in a specialty of computers, devices, and facilities; Deputy Director General for Science at FRPC JSC ‘RPA ‘Mars’ and Chief of Complex R&D Department; an author of articles in the field of information technologies and integration of automated control systems. [email: mars@mv.ru]V. Tipikin, Petr Ivanovich Smikun, FRPC JSC ‘RPA ‘Mars’, Candidate of Engineering; graduated from the Faculty of Automation and Computer Science of Taganrog Radiotechnical Institute; Chief of the Research Department at FRPC JSC ‘RPA ‘Mars’; an author of articles in the field of automated control systems software development. [email: smikun@mail.ru]P. Smikun, Mikhail Iurevich Pesliak, FRPC JSC ‘RPA ‘Mars’, graduated from the Faculty of C2 Systems of Popov Higher Naval Radio Engineering School; Deputy Chief of the Research Department and Deputy Designer at FRPC JSC ‘RPA ‘Mars’; an author of articles in the field of automated control systems development. [email: mars@mv.ru]M. Pesliak, Aleksei Arkadievich Smagin, Ulyanovsk State University, Doctor of Engineering, Head of the Department of Telecommunications Technologies and Networks at Ulyanovsk State University; graduated from the Faculty of Radioengineering of Ulyanovsk Polytechnic Institute; an author of more than 200 articles, inventions, and monographs in the field of different purpose information system development. [email: smaginaa1@mail.ru]A. Smagin, Svetlana Valerevna Lipatova, Ulyanovsk State University,Candidate of Engineering, Associate Professor ; graduated from the Faculty of Information Technologies and Telecommunications of Ulyanovsk State University; Lecturer at the Department of Telecommunication Technologies and Networks of Ulyanovsk State University; an author of articles , inventions, and a monograph in the field of multipurpose information system development.[email: dassegel@mail.ru]S. Lipatova


Software Maintenance and Operational Reliability Evaluation on the Basis of Networkcentric Architecture
The article deals with the approach to the creation of networkcentric control system of condition of products produced by the original equipment manufacturer and operated on the distant sites. The organization of interaction between the center (manufacturer) and the consumer that serves as the basis for the creation of networkcentric structure is proposed. The ability of highquality control of events on sites is shown by giving an example of remote control of failures and operating products troubles. This leads to the increasing of the product operation efficiency and gives an opportunity for developers to upgrade products faster due to the fast feedback. The structure, the architecture, the general algorithm of functioning, and the description of general mathematical model of software product maintenance and functioning reliability evaluation system are considered. The proposed solutions are implemented as a software package that was used for computing experiment and the confirmation of the discussed approach practical application. Networkcentric architecture, maintenance of software, network control, product, reliability, failure, correlation, forecast.


INFORMATION SYSTEMS
Sergei Aleksandrovich Ageev, OJSC ‘Research Institute ‘Neptun’, Candidate of Engineering, Associate Professor; graduated from the Faculty of Radioengineering at Ulyanovsk Polytechnic Institute; Head of the Scientific and Technical Centre OJSC ‘Research Institute ‘Neptun’, St. Petersburg; specializes in the field of telecommunications system design; an author of articles and patents in the field of datatransfer system. [email: serg123_61@mail.ru]S. Ageev


Data Mining Methods for Information Security Risks Management of the Special Purpose Protected Multiservice Networks
The data mining methods using for information threat risks management of the specialpurpose protected multiservice networks (SPMN) elements are proposed. The fact that the process speed in SPMN, its variety, inaccuracy, and imperfection as well as a high aprior network element data dimension necessitates the application of intelligent techniques for data processing and management is explained. The factors effected on the SPMN information security management cycle time are analyzed, a unified metric for the threat assessment of SPMN elements information security is proposed. A unified mathematical model for the procedure of information security threat clustering, ranking, and classification is developed, its performance criteria are evaluated. The research results of this mathematical model are presented. Threat estimation rules for the specialpurpose protected multiservice networks are formulated. The achieved results of mathematical modeling are analyzed, the recommendations of practical application are provided. The similar methods and algorithms application in combination with intelligent agent technology allow to increase the efficiency of SPMN information security management. Directions for future research in this subject domain are defined. Protected multiservice network, efficiency of the management, tmnmodel, mathematical model, intelligent control, fuzzy inference, knowledge base, membership function, fuzzy data, linguistic variable.


Andrei Sergeevich Popov, S.M. Budenny Military Academy of Communications, Candidate of Engineering; graduated from Ryazan State Radioengineering University; Instructor of the General Vocational Subject Faculty at the S.M. Budenny Military Academy of Communications; an author of articles in the field of signal processing, statistical decision theory, and data transmission through wireless communication channels in information systems. [email: andrzn62@yandex.ru]A. Popov, Sergei Sergeevich Popov, Ryazan Higher Command Airborn College, graduated from Ryazan State Radioengineering University; Officer of the State Secrets Protection Service at Ryazan Higher Command Airborn College; an applicant of the S.M. Budenny Military Academy of Communications; an author of articles in the field of signal processing and statistical decision theory. [email: andrzn62@yandex.ru]S. Popov, Andrei Sergeevich Korsunskii, FRPC JSC ’RPA ’Mars’, Candidate of Engineering; graduated from the Faculty of Radio Communications at Ulyanovsk Branch of the Military Communications University; finished his postgraduate studies at the S.M. Budenny Military Academy of Communications; Chief Specialist at FRPC JSC ’RPA ’Mars’; an author of articles and inventions in the field of radioelectronics protection, communications, and information security as well as data transmission through wireless communication channels in information telecommunication systems. [email: aksspb@mail.ru]A. Korsunsky, Tatiana Nikolaevna Maslennikova, FRPC JSC ’RPA ’Mars’, Candidate of Engineering; graduated from the Faculty of Radioengineering of Ulyanovsk Polytechnic Institute; Head of a researchanddevelopment laboratory at FRPC JSC ’RPA ’Mars’; an author of papers and publications in the field of information support of specialpurpose computeraided systems. [email: mars@mv.ru]T. Maslennikova


Estimation of Optimal Multiservice Telecommunications Network Router Buffer Size
The article deals with different approaches to the estimation of optimal multiservice network router buffer size. It has been found that in plenty of existing approaches the most rational one should take into account the real traffic spectrum jointly with the facilities providing quality of service when optimal buffer size estimating. The qualitative traffic control can be realized only under conditions of prioritizing multimedia data flows in a format of fast and slow buffers. In addition, to provide the guaranteed quality of service during shortperiod traffic pulsations it is necessary to calculate the router buffer size taking into account packet loss prevention. The achieved conclusions can be used for the development of multipurpose integrated information management systems. Buffer, router, multiservice telecommunications network, communications channel, quality of service.


Nadezhda Glebovna Yarushkina, Ulyanovsk State Technical University, Doctor of Engineering, Professor, First ViceRector  ViceRector for Science of Ulyanovsk State Technical University; graduated from the Faculty of Radioengineering of Ulyanovsk State Technical University ; an author of more than 250 papers in the field of soft computing, fuzzy logic, and hybrid systems. [email: jng@ulstu.ru]N. Yarushkina, Valeriia Vadimovna Voronina, Ulyanovsk State Technical University, Candidate of Engineering, Associate Professor at the Department of Information Systems at Ulyanovsk State Technical University; graduated from the Faculty of Information Systems and Technologies of Ulyanovsk State Technical University; an author of articles in the field of intellectual analysis of time series [email: vvsh85@mail.ru]V. Voronina, Evgenii Nilolaevich Egov, Ulyanovsk State Technical University, Assistant at the Department of Information Systems at Ulyanovsk State Technical University; graduated from the Faculty of Information Systems and Technologies of Ulyanovsk State Technical University; an author of articles in the field of intelligent information systems. [email: e.egov@ulstu.ru]E. Egov


Entropy Application to the Diagnosis of Technical Time Series
The article deals with the method for time series diagnosis based on the measure of the time series uncertainty. The formula for finding the measure of entropy for fuzzy time series is determined. The algorithm for finding the measure of entropy for fuzzy time series is of particular interest. A model of expert diagnostic rules for aircraft accessories is developed. The models of the behavior of objects such as the main gearbox and power plant engine helicopter are offered. Interpretation of natural experiment for the purpose of diagnosis of helicopter units held by analyzing the quality of the built models. A set of programs for mathematical modeling and predicting the behavior of aircraft accessories based on fuzzy measure of the uncertainty of the time series is developed. The model showed high accuracy in determining the characteristics of the time series and the identification of dangerous areas while experimenting. The developed algorithm can be successfully applied for the diagnosis and prediction of time series. This article is intended for specialists diagnosing technical systems. Measure of entropy, diagnosis, time series.


Aleksandr Nikolaevich Afanasev, Ulyanovsk State Technical University, Doctor of Engineering, Professor; graduated from the Radioengineering Faculty at Ulyanovsk Polytechnic Institute; ViceRector for Distance and Extended Education at Ulyanovsk State Technical University; an author of more than 200 articles in the field of CAD, interested in automated training systems, computational process and computer structure organization, intelligent system design, CAD, composite workflow control, graphic language diagrammatics [email: a.afanasev@ulstu.ru]A. Afanasev, Nikolai Nikolaevich Voit, Ulyanovsk State Technical University, Candidate of Engineering, Associate Professor at the Department of Computer Science at Ulyanovsk State Technical University; graduated from the Faculty of Information Systems and Technologies at Ulyanovsk State Technical University; an author of more than 114 articles in the field of intelligent CAD systems, CASE and CALS technologies; interested in intelligent development systems of complex computeraided systems, automated training systems, graphical languages and grammatics. [email: n.voit@ulstu.ru]N. Voit, Dmitrii Sergeevich Kanev, Ulyanovsk State Technical University, Postgraduate Student at the Department of Computer Science at Ulyanovsk State Technical University; graduated from the Faculty of Information Systems and Technologies of Ulyanovsk State Technical University; an author of more than 20 articles in the field of CAD; interested in development and distribution of firmware systems intended for maintenance, intensification, and increase of trainee involvement in educational process with the use of information technologies. [email: dima.kanev@gmail.com]D. Kanev


The Development and Analysis Method and the Model of Computer Simalator
An intensive usage of hightechnology equipment for presentday developed production process makes high requirements on personnel training. Therefore, the adoption of modern information technologies particularly simulators for the educational process is an urgent problem of the great practical importance. The existing approaches to the implementation of virtual simulators and trainee actions assessment methods are analyzed, also their advantages and disadvantages are determined in the article. The author’s virtual simulator model intended for weboriented realization and the method of trainee actions analysis for his competence assessment. Due to this approach, specialist training process could be able without coachers because the system controls trainee actions by checking learning tasks. Represented solutions allow to develop highperformance simulators and to use them in organizing personnel trainings that meet modern production requirements. Particularly, the model was tested and used for the development of the following device simulators: C1116, C1127, and C1125 oscillographs, CNT90 timer/counter/ analyzer, and RG41701A highfrequency signal generator. Virtual simulator, automata approach, simulator realization, trainee action assessment.


Nadezhda Glebovna Yarushkina, Ulyanovsk State Technical University, Doctor of Engineering, Professor, First ViceRector  ViceRector for Science of Ulyanovsk State Technical University; graduated from the Faculty of Radioengineering of Ulyanovsk State Technical University ; an author of more than 250 papers in the field of soft computing, fuzzy logic, and hybrid systems. [email: jng@ulstu.ru]N. Yarushkina, Tatiana Vasilevna Afanaseva, Ulyanovsk State Technical University, Doctor of Engineering; Associate Professor, Deputy Head of Information Systems Department at Ulyanovsk State Technical University; graduated from the Faculty of Radioengineering at Ulyanovsk State Technical University; an author of articles and monographs in the field of time series data mining. [email: tv.afanasjeva@gmail.com]T. Afanaseva, Aleksei Mikhailovich Namestnikov, Ulyanovsk State Technical University, Candidate of Engineering, Associate Professor, Associate Professor at the Department of Information Systems at Ulyanovsk State Technical University; graduated from the Faculty of Radioengineering of Ulyanovsk State Technical University; an author of articles and a monograph in the field of intelligent systems for storage and processing of information. [email: nam@ulstu.ru]A. Namestnikov, Gleb Iurevich Guskov, Ulyanovsk State Technical University, PostGraduate Student of the Department of Information Systems at Ulyanovsk State Technical University; graduated from the Faculty of Information Systems and Technologies at Ulyanovsk State Technical University; an author of articles in the field of time series data mining. [email: guskovgleb@gmail.com]G. Guskov


Integration of Fuzzy Granular and Ontological Methods for Time Series Analysis
The theoretical and methodological foundations of fuzzy granular modeling were developed to solve the problem of fuzzy trend analysis of time series. Their practical implementation as a program complex allows to get the solution of some applied problems. Fuzzy granular presentation of time series includes five levels: from numeric value granulation to the main trend granulation. The authors propose to use fuzzy ontologies of problem area to interpret the results of time series analysis. he problem area fuzzy ontologies were offered to interpret the results of time series analysis. The ontology basis is based on the RDF model that defines classes, instances, ontological relationships, and contingencies. The logical interference of recommendation is realized on the basis of interaction between fuzzy OWL ontology and ruleoriented SWRL rules system. The article deals with the possibilities of integration of several methods of time series forecasting and corresponding aggregates. The integration of techniques for time series analysis and ontological analysis demonstrates the competitiveness of fuzzy trend models based on the mutual reinforcement of ontological and fuzzy granular methods. Fuzzy time series, fuzzy tendencies, ontology, fuzzy ontology.


MATHEMATICAL MODELING
Innokentiy Vasilyevich Semushin, Ulyanovsk State University, Doctor of Science in Engineering, Professor of Information Technology Department at Ulyanovsk State University (UlSU); graduated from V.I. Ul’ianov [Lenin] Leningrad Electrical Engineering Institute, “LETI”, Faculty of Automation Engineering and Computer Science (now Faculty of Computer Science and Technology); author of papers, monographs and textbooks; holds patents for inventions; is interested in filtering and control under uncertainty. [email: kentvsem@yandex.ru]I. Semushin


Straightaway Explicit Fir Programming Algorithm for Filtering, Smoothing, and Prediction
In this paper, we develop a straightaway explicit finite impulse response (FIR) programming algorithm for the filtering, smoothing, and prediction of signals containing a nonrandom component or their derivatives as an admissible alternative to previously known methods. The distinctive property of the algorithm is that it determines the FIR directly via the Chebyshev polynomials arising in the finite sample based quadratic approximation numerical analysis thus alleviating the problem of normal equations solution in the ordinary least squares (OLS) method. Using the Chebyshev polynomials gave an option of obtaining the following: short and explicit calculation formulae for FIR, i. e. for the conversion device weighting coefficients, including a possibility of estimating the signal derivatives; short formulae for filterpredictor smoothing factors; necessary memory size design procedure for filterpredictors of arbitrary astaticism order. Results obtained are useful for practical calculations when making a selection of filtering or prediction formula, i.e. while programming a FIR conversion device, and they can find practical use in adaptive devices. Firfilters, transversal filter structure, chebyshev polynomials, filtering, smoothing, prediction, quadratic approximations.


Ekaterina Vladimirovna Borisova, FRPC JSC RPA ‘Mars’, graduated from the Faculty of Economics and Mathematics of Ulyanovsk State Technical University; Programmer at FRPC JSC RPA ‘Mars’; interested in aircraft action mathematical modeling.[email: mars@mv.ru]E. Borisova, Andrei Evgenevich Kukin, FRPC JSC RPA ‘Mars’, PostGraduate Student at the Department of Telecommunication Technologies and Networks at Ulyanovsk State University; graduated from the Faculty of Information Technologies at Ulyanovsk State University; Programmer at FRPC JSC RPA ‘Mars’; an author of articles in the field of the development of software for automated control systems. [email: mars@mv.ru]A. Kukin, Aleksandr Nikolaevich Piftankin, FRPC JSC RPA ‘Mars’, Mechanics and Mathematics of Ulyanovsk State University; Chief Specialist at FRPC JSC RPA ‘Mars’; an author of publications in the field of fighter aviation planning and control. [email: mars@mv.ru]A. Piftankin


The Model of the Airborne Alert Charting With the Refueling Opportunity
The article deals with aircraft control automation during the airborne alert. The task of airborne alert is a part of the task for fighters to provide the air cover of naval force. A modern approach to solving task in aircraft patrol zonation with airtoair refueling opportunity is used when examining the automation problems. The approach consists in automation of airborne alert charting with the use of optimal mathematical models of alert aircrafts and air refueling tankers zonation according to the chosen criterion. The dependence of the chosen criterion upon the quality performance of the ship air defense system is demonstrated in the section on problem definition. The approach allows to combine the mathematical models of alert aircrafts and air refueling tankers zonation tasks into the single algorithm. The models use the methods of linear programming mathematical tools. Also the approach allows to improve the automation level of the process providing naval force air defense concerning fighter aviation. Standing patrol, fighter aviation, distribution, optimization algorithm, refueling.


Vladimir Kuzmich Manzhosov, Ulyanovsk State Technical University, Doctor of Engineering, Professor; graduated from the Machine Building Faculty of Frunze Polytechnic Institute; Head of the Department of Theoretical and Applied Mechanics at Ulyanovsk State Technical University; an author of articles, monograph, and inventions in the field of dynamics of machines, modeling of shock processes. [email: v.manjosov@ulstu.ru]V. Manzhosov, Tatiana Evgenevna Petrova, Ulyanovsk State Technical University, PostGraduate Student; graduated from the Building Faculty of Ulyanovsk State Technical University; an author of articles in the field of mechanism motion process modeling [email: tpm@ulstu.ru]T. Petrova


Modeling Crankandrocker Mechanism Motion With Frictional Constraints
The model of flat crankandrocker mechanism motion is considered in the article. The crank existence condition defined in Grashof’s theorem is analyzed. With frictional constraints, this condition requires additional terms that define the minimum permissible value of the angle of motion transformation from the connecting rod to the rocker. The software of modeling the crankandrocker mechanism motion, graphical and numerical reproduction of motion parameters in the modeling process was developed. The control of the length between rocker and crank supports allows to reach the bounds of crankandrocker mechanism existence zone to change the mechanism structure and to realize the alternative technological mechanisms. The graded structure mechanisms on the basis of the discussed algorithm were applied during the development of adaptive vibroimpact mechanism of the interplanetary station ‘Luna24’. The researches of such mechanisms are perspective in terms of further development of corresponding programs. Motion transmission, crankandrocker mechanism, grashof’s theorem, crank existence condition, contact angle, angle of motion transmission, frictional constraints, mechanism motion modeling.


Olga Alekseevna Peregudova, Ulyanovsk State University, Doctor of Physics and Mathematics, Associate Professor; graduated from the Faculty of Mechanics and Mathematics at Ulyanovsk State University; Professor at the Department of Information Security and Control Theory of Ulyanovsk State University; an author of articles, textbooks, and a monograph in the field of stability theory and the motion control of mechanical systems. [email: peregudovaoa@sv.ulsu.ru]O. Peregudova, Denis Sergeevich Makarov, Ulyanovsk State University, a PostGraduate Student; graduated from the Faculty of Mathematics and Information Technologies of Ulyanovsk State University; Junior Researcher at the Department of Scientific Research of Ulyanovsk State University; an author of articles in the field of the motion control of mechanical systems. [email: prostodenis18@mail.ru]D. Makarov


Control Synthesis for Threelink Manipulator
A stabilization problem of the threelink manipulator program motion by providing continuous nonlinear control with direct and feedback communication is solved in this paper. The manipulator consists of three totally rigid links. The first link is fastened on a horizontal base and can pivot about a vertical axis. The second one is interconnected with the first and the third links by the ideal cylindrical hinges. Relative movements of the second and the third links are performed in a vertical place that pivots about a vertical axis due to the first link motion. Thus, the manipulator can perform threedimensional motion. The manipulator motions are described by the system of Lagrange equations of the second kind. The problem on synthesis of the motion control of such system involves the control moment construction that allows the manipulator to carry out the .motion given by the program in real conditions of external and internal disturbances, and the inaccuracy of the model itself. A mathematical model of the manipulator controlled motion is constructed in this paper in case of control actions in the form of continuous control actions. By applying Lyapunov’s vector functions and the comparison systems the implementation of the built control laws in the stabilization task of the spectrum of the manipulator program motions was proved. The novelty of the results includes solving the stabilization problem of the nonstationary and nonlinear formulation, without using a linearized model, as well as the ability to stabilize not just one but a whole family of program motions. A numerical solution of the received system of differential equations using both continuous and discontinuous control laws is found. The corresponding graphs for the coordinates of the manipulator links proving the theoretical results are built. Threelink manipulator, stabilization, program motion, continuous control, comparison system, lyapunov’s vector function.


Aleksandr Sergeevich Andreev, Ulyanovsk State University, Doctor of Physics and Mathematics, Professor; graduated from the Faculty of Mechanics and Mathematics of Tashkent State University; Dean of the Faculty of Mathematics and Information Technologies at Ulyanovsk State University; Head of the Department of Information Security and Control Theory of Ulyanovsk State University; an author of articles, textbooks, and a monograph in the field of stability theory and the motion control of mechanical systems. [email: AndreevAS@ulsu.ru]A. Andreev, Ekaterina Alekseevna Kudashova, Ulyanovsk State University, graduated from the Faculty of Mathematics and Information Technologies of Ulyanovsk State University; Junior Researcher at the Department of Scientific Research of Ulyanovsk State University; an author of articles in the field of the motion control of mechanical systems. [email: katherine.kudashova@yandex.ru]E. Kudashova


On Modeling the Control Structure of the Omnidirectional Mobile Robo
Nowadays, requirements to modeling and researching selfdirected robotic systems are extremely high. In order to improve maneuverability and control efficiency, new mobile robots with omniwheels are developed. Such robots are able to move in either direction without turning around. They have these features due to the fact of increase of construction and control rules complexity. Three and fourwheeled mobile robots with rollercarrying wheels have become more widespread. The article deals with the problem of theoretical control establishing to provide arbitrary program motion of threewheeled robots with omniwheels. The computer model of valid control efficiency analysis was developed. For developing this model, .the numerical modeling method that turns the continuous model into the corresponding numerical one was used. Practical application of the introduced stabilizing control algorithm for mechanical systems was demonstrated by the example of threewheeled robot motion stabilization. Mathematical modeling, threewheeled robot, stabilization, control, digitization.


Gennadii Petrovich Vinogradov, Tver State Technical University, Doctor of Engineering, Professor at the Department of Information Technologies and Applied Mathematics of Tver State Technical University; an author of more than 200 articles in the field of theory, methods, and algorithms of decisionmaking in automated control systems on the basis of subjective representations [email: wgp272ng@mail.ru]G. Vinogradov


Assembling the Model of the Agent With Subjective Rational Behavior Selection in Hightech Industry
The problem of influence of human factor on hightech industry effectiveness is considered in the article. The problem heart lies in human ability to choose the behavior model that meets his interests and answers his goals. Thus, the development of assemble procedures of behavior model of active, creative, and selforganized agents is quite urgent. The center needs this model to evaluate (maybe even crudely) control action activity before the fact of influencing because the center (as the agent itself) has its own internal rating of either itself or the interacting party. Thereby, the agent behavior model allows the center to control the process of the agent decisionmaking and to determine his behavior this way. In this case, the center control system should consist of at least two parts: motivational and informational (training or coaching) ones. Their goal is to determine the agent behavior by creating the notion model of the choice situation components. That can help the center to predict the agent decisionmaking process in the production system. Coordination, decisionmaking, active systems, coordinated control, choice model.


