Yuliya Lezhnina

Robust Adaptive Control of the Dynamic Multilinked Object: Control of Robot Manipulator

In article, the problem of the robust adaptive control of the dynamic multilinked object with local reference models is investigated. Exchange of information between local subsystems is thus forbidden and only scalar input and output signals are available to measurement, i.e. completely decentralized control is realized. As an example, the designed algorithm is used for control of the robot manipulator. Results of computer modeling of control of motion of the end of manipulator from one point to another are given. The article describes control of robot manipulator on the closed curve.

Topological Structure for Building Ontology of Energy-Information Method Circuits

The method of constructing the knowledge space is considered. This allowed to structuring of data and knowledge about the objects of design. It is necessary to have for all analogues not just similar, but a unified description equally reflects the essence of the different processes to analyze the different physical processes. Received ontology physical and technical effects, allowing solving the problem of synthesis of technical systems using energy-information method circuits. There proposed to use the apparatus of General topology for structuring ontology of energy-information method circuits in this paper. This approach enables to prove the existence of formalized solution of the problem of synthesis of energy-information method circuits. Informal presentation of topo-logical space as pseudo cell complex, allows us to consider intra chain and inter chain physical differences as insignificant, and distinguish the class of problems.

Algorithms of Ranking and Classification of Software Systems Elements

Algorithms of ranking of software systems elements are considered. Usually, there is a large number of indicators on the base of which the software systems elements are ranked; and these indicators are measured in different scales. Experts with subjective perception to some extent often estimate the indicators. Ranking algorithms using meta parameters in conditions of lack of information, as well as algorithm of fuzzy ranking of element enable to formalize the decision support processes for software engineering. The developed algorithm of fuzzy ranking data types within a single scale using standard fuzzy classifier for categorizing competencies of objects.

Decentralized Robust Control over Robot Manipulator

The problem of control of systems with structural and parametric uncertainty for the case when derivatives of input and output parameters cannot be measured is solved. The operability of the designed control systems is modeled for anthropomorphic robots manipulator. Selected example demonstrates the compensation of effect of bounded structure and parametric disturbances. As in the control action organization the effect on subsystem is not allowed, i.e. obtained control system is completely decentralized.

Modeling of the Physical Principle of the Processes that is Occurring in Bioselective Elements

Design of biosensors refers to the field of interdisciplinary research, therefore, it is necessary to develop a unified systems approach that is invariant to the physical nature of the used phenomena and processes to create an automated system for conceptual design of such elements. It is appropriate to choose the fundamentals of non-equilibrium thermodynamics as the basis for the development of this approach. This article discusses the energy-information model of diffusion phenomena, as the processes of diffusion is the general type of the processes that is occurring in bioselective elements. A number of physical effects are described by this model. In this paper authors continue researches in the field of automation of design of biosensors which was presented at the 6th International Conference on Information, Intelligence, Systems and Applications. The new information technology of functional and structural design of biosensors is described. It is based on the energy-information model of chains, invariant to the physical nature of the processes occurring in technical devices. And it uses the device parametric structural diagrams allowing algorithmization of the search and selection of new technical solutions with estimation of their performance.

Path Control for a Manipulator while Tracking a Given Trajectory

The paper propose to use robust control algorithm with disturbance compensation for management anthropomorphic robot PUMA type so as to ensure the movement of the robot manipulator along a predetermined path with a given accuracy. Necessary to generate a control signal for each degree of mobility without the use of velocities and accelerations of its relative coordinates measured output variables or other degrees of freedom. Thus, decentralized control is implemented to overcome the handling robot. For the formation of the control actions using the auxiliary circuit. This approach allows compensating for structural and parametric perturbations of the control object.

Conceptual design of biosensors

Design of biosensors refers to the field of interdisciplinary research, therefore, it is necessary to develop a unified systems approach that is invariant to the physical nature of the used phenomena and processes to create an automated system for conceptual design of such elements. It is appropriate to choose the fundamentals of non-equilibrium thermodynamics as the basis for the development of this approach. They allow to obtain a complete system of transfer equations of the phenomena of different physical nature and other laws, without opening their molecular mechanism. This article discusses the energy-information model of diffusion phenomena, as the processes of diffusion is the general type of the processes that is occurring in bioselective elements. A number of physical effects are described by this model. They are used in the conceptual design of electrochemical biosensors.

The Calculation Procedure of Competence Completeness

The paper presents the procedure, allowing to make an assessment of the student’s competence completeness during the training. To solve this goal it is offered to create an integrated criterion on the basis of additive transformation. The choice of the method to create an integral criterion on the basis of the carried-out analysis of existing methods, with reference to this problem, is reasonable. Calculating procedure is developed and formulas for calculation of various characteristics of competence accumulation in process of time and accordingly competence losses in comparison with the maximum possible level of its formation are presented. To see it clearly, there are diagrams of competence formation level are provided in the article in process of time and in conformity with studying new disciplines. Here is considered the possibility of this procedure application for the various mark-rating systems, used in institutions of high education.