Begell House Inc.
Journal of Automation and Information Sciences
JAI(S)
1064-2315
49
3
2017
To Memory of Academician of NAS of Ukraine Iurii Georgievich Kryvonos 12.04.1939 − 12.02.2017
1-2
On Navigation of the Transport Robot with Two Steering Wheels
3-12
Vladimir B.
Larin
S.P. Timoshenko Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine
The problem of navigation of the wheeled transport robot with two steering wheels is considered. The problem is solved without the use of accelerometers and gyroscopes, but only by measurement of kinematic parameters of movement. It is supposed, that sensors of turning angles of the steering wheels have regular errors which it is necessary to compensate. Correction of navigating parameters is carried out by signals of GPS. The case when only one of the sensors of turning angles of the steering wheels has a regular error considered in detail. The stated approach is based on the treatment of the wheeled robot as a system with nonholonomic constraints. The efficiency of the algorithm of such navigating system is shown on the example.
On the Game Dynamics Problems for Nonstationary Controlled Processes
13-23
Vladimir A.
Pepelyaev
V.M. Glushkov Institute of Cybernetics of National Academy of Sciences of Ukraine, Kiev
Alexey A.
Chikriy
V.M. Glushkov Institute of Cybernetics of National Academy of Sciences of Ukraine, Kyiv
Consideration is given to the game approach problems for nonstationary controlled processes of a general type with a cylindrical terminal set. Based on the method of resolving functions there were obtained the sufficient conditions for the game termination in the finite time in a class of quasi- and stroboscopic strategies. The results are illustrated by the model example with simple matrix.
Usage of Preudoinversion and Regularization Methods in Adaptive Models of Structural Representation and Data Processing
24-33
Fedor G.
Garashchenko
Kyiv National Taras Shevchenko University, Kyiv, Ukraine
Olga S.
Degtyar
Kiev National Taras Shevchenko University, Ukraine
Mathematical models of presentation of data in structural form in static case, which are based on direct and dual problems of regularization and estimation of computational complexity of the corresponding methods, are given. Iteration schemes for correction of vector of unknown parameters in the case of dynamical entering of experimental data are developed on their basis. Estimates of convergence of the suggested iterative schemes in the class of ellipsoids, where phase restrictions are set in the form of parallelepiped, are obtained.
The Method of Main Coordinate in the Theory of Parametric Synthesis of the Linear Stabilized Systems
34-45
Yevgeniy Ye.
Aleksandrov
National Technical University "Kharkov
Polytechnic Institute", Kharkov
Tatyana Ye.
Aleksandrova
National Technical University "Kharkov
Polytechnic Institute", Kharkov
The method of solving the problem of parametric synthesis of linear dynamical object stabilizer is developed using the concept of main coordinate of the stabilized process. This allows one to reduce the search for minimax of Lyapunov function of closed system to the search for minimum of the simplest quadratic form containing one or two elements of matrix which is the solution of linear algebraic Lyapunov equation.
Polynomial Method for Solving Unconditional Linear Fractional Problem of Combinatorial Optimization on Arrangements
46-56
Oleg A.
Iemets
Poltava University of Economics and Trade
Tatyana N.
Barbolina
Poltava National V.G. Korolenko Pedagogical University, Poltava
The article deals with solving the linear fractional problem of combinatorial optimization on the general set of arrangements. The authors propose and substantiate the method which provides solving the finite sequence of linear unconditional problems of combinatorial optimization on arrangements. Theoretical estimates of the formulated algorithm are obtained, its polynomiality is proved.
Modeling of the Process of the Management Innovation Decision Making under Conditions of Risk and Uncertainty
57-68
Galina L.
Verbitskaya
National University "Lvovskaya Politekhnika", Lvov
The mathematical model of the process of the management innovation decision making under conditions of risk and uncertainty based on game-theoretic concept, which enables the enterprise to optimize innovative projects on the basis of the optimality offered by the enterprise itself, is considered. A clear system of methodical provisions, suitable and convenient for use in practice, has been developed.
Construction of a Mathematical Model of the Minimum Order for a Linear Dynamical System with Feedback
69-77
Boris I.
Mokin
Vinnitsa National Technical University, Vinnitsa
Irina A.
Chernova
Vinnitsa National Technical University, Vinnitsa
There had been determined the conditions under which the minimum order of a differential equation with the highest derivative of the order m on the right side, which is used as a model of a linear dynamical system with PID controllers and adjusting links, should be equal to m+3. There had been given an example of identification of such model by the previously developed by the authors' method for models containing no derivatives on the right side, after its adapting to new conditions.
Comparative Analysis of Pseudorandom Bit Sequence Generators
78-86
Marya N.
Mandrona
Lvov State University of Life Safety, Lvov
Vladimir N.
Maksymovych
National University "Lvovskaya Politekhnika", Lvov
The comparative analysis of characteristics of the pseudorandom bit sequence generators based on modified additive Fibonacci generator and the generator based on R-block is carried out. Repetition periods, the statistical security, speed, difficulty of construction and the amount of key information (key length) are investigated.