Software package designed for test execution of Heavy Goods Vehicle in a virtual environment
Certificate № 2018666741
| Авторы: | Rauf Yagfarov (RU), Igor Zubov (RU), Roman Fedorenko (RU), Mikhail Ostanin (RU), Salimzhan Gafurov (RU) |
| Подача заявки: | 10.12.2018 |
| Реферат: | The software package is designed to test trucks in a virtual environment. The software package consists of the following key modules: software processor for built-in sensors necessary for localization and recognition of the environment, assessment of motion parameters; software simulators of various road conditions and surrounding space. The program complex imitates buildings of urban infrastructure, roadways, adjustable intersections, road signs, cars and other traffic participants. |
The program of distribution of control actions on the executive mechanisms of the airship by the control method with forecasting
Certificate № 2018665283
| Авторы: | Roman Fedorenko (RU), Anna Fedorenko (RU) |
| Подача заявки: | 19.11.2018 |
| Реферат: | The program is designed to calculate the distribution of airship controls of various designs using the forecasting control method and can be used as part of airship control systems. The program distributes the control actions by minimizing the generated functional, including an element that estimates the energy consumed and an element that estimates the error between the set and the achieved generalized force by the forecasting control method. |
The program of distribution of control actions on the actuators of the airship using sequential quadratic programming
Certificate № 2018664626
| Авторы: | Roman Fedorenko (RU) |
| Подача заявки: | 30.10.2018 |
| Реферат: | The program is designed to calculate the distribution of controls for airships of various designs using the SQP approach and can be used as part of airship control systems. The program provides the following functions: calculation of the control actions of the airship actuators according to the specified desired control forces and moments, geometric parameters of the location of the actuators in the coordinate system associated with the airship; displaying the results of modeling the distribution of controls in the form of graphs. |
Virtual car driving environment, taking into account its dynamics and various road conditions
Certificate № 2018664625
| Авторы: | Aleksandr Buyval (RU), Igor Zubov (RU), Roman Fedorenko (RU) |
| Подача заявки: | 30.10.2018 |
| Реферат: | The program is designed to create a virtual environment for driving a car, taking into account its dynamics and various road conditions. The road environmental conditions are determined using virtual sensors located on or in the car. Sensors are able to determine the location of the car in a virtual environment, acceleration, angular velocity and direction. There are also sensors that transmit the image of the virtual environment in two-and three-dimensional format, such as cameras and lidars. The same sensors are also used to calculate the dynamics of the car. Different road conditions were obtained by simulating city traffic and various weather conditions. |
Cable robot control program with a vertical arrangement of winch drums
Certificate № 2018665382
| Авторы: | Mikhail Ivanou (BY), Mikhail Fadeev (RU), Alexandr Maloletov (RU) |
| Подача заявки: | 26.10.2018 |
| Реферат: | The program is designed for coordinated control of cable robot drives built on the basis of OMRON controllers. The program calculates the rotation angles of the winch drives of the cable robot according to the specified positions of the working body, taking into account the design of the guide rollers and vertically located winch drums. The program calculates the angular speeds of rotation of the cable robot drives, providing movement of the working body to a predetermined position. The program transmits and receives data between OMRON controllers and the host computer. The program was developed at the Center for Technologies in Robotics and Mechatronics Components. |
A software package for calculating the kinematics and dynamics of robots of a tree-like kinematic structure based on screw calculus
Certificate № 2018665381
| Авторы: | Shamil Mamedov (RU), Ramil Husainov (RU) |
| Подача заявки: | 26.10.2018 |
| Реферат: | The program is designed to calculate the kinematics and dynamics of robots of a tree-like kinematic structure based on screw calculus, which allows compact expressions to be obtained compared to classical methods due to the fact that the angular and linear components of motion are considered together. A key feature of the program is that it can calculate the high-order derivatives of the Jacobian, the inertia matrix, the gravitational force vector, and the matrix of Coriolis and centrifugal forces. The program can be used to simulate any systems of a tree-like kinematic structure, as well as for control, especially for robots with elastic joints. This is due to the fact that for accurate control of robots with elastic joints, high derivatives of the dynamics equations are necessary, which can be provided by the proposed system. The program was developed at the Center for Technologies in Robotics and Mechatronics Components. |
Simulation program for variable stiffness drives
Certificate № 2018664436
| Авторы: | Mikhail Ivanou (BY) |
| Подача заявки: | 26.10.2018 |
| Реферат: | When configuring the given lines in the urdf description of the robot, the program changes the type of joint in the robot to a joint with a variable stiffness drive. After changing the type of joint, when filling in the command_topic and pos_topic fields, the program creates two new message flows in ROS that you can subscribe to. The first thread gives commands to set the desired position. The second stream gives the current position of the joint and internal motors. The program implements the dynamics of internal motors, which adapts to different types of drives. The program was developed at the Center for Technologies in Robotics and Mechatronics Components. |
The program provides complex scenarios for the interaction of the robot with the environment and humans
Certificate № 2018664435
| Авторы: | Dmitriy Popov (RU), Stanislav Mikhel (RU), Alexandr Klimchik (BY) |
| Подача заявки: | 26.10.2018 |
| Реферат: | The program is intended for use in conjunction with an industrial collaborative robot and performs the selection and execution of behavior scenarios depending on the current phase of physical interaction. In the absence of physical interaction, the robot performs its main function. As soon as the robot software detects a collision with an external object by means of force sensors, this collision is localized, i.e. the collision point on the surface of the robot is determined and classified. The program determines in parallel the following collision classes: random or targeted; collision with a hard or soft object; duration of the collision in time, i.e. single or continuous. Depending on the position of the point and its type of collision, the program selects the appropriate reaction of behavior. The program was developed at the the Center for Technologies in Robotics and Mechatronics Components |
The car control system, taking into account its dynamics and the assessment of the cost of the path
Certificate № 2018663709
| Авторы: | Aleksandr Buyval (RU), Ajdar Gabdullin (RU), Sozykin Konstantin (RU), Alexandr Klimchik (RU) |
| Подача заявки: | 15.10.2018 |
| Реферат: | The program is designed to calculate the control actions on the car system - brake, steering, engine. Control signals are calculated based on a model of a machine having non-linear dynamic characteristics. The input to the control algorithm is the image from the vehicle’s on-board camera, which estimates the vehicle’s position on the road and generates a control signal from it, so as not to get off the lane. The image from the camera is segmented by a neural network, and then transformed into a "top view" projection. The projection is then converted into a cost map, which evaluates the route to the available planning horizon. |
A system for comparing maps obtained using various mapping algorithms with reference maps
Certificate № 2018663403
| Авторы: | Rauf Yagfarov (KZ) |
| Подача заявки: | 27.09.2018 |
| Реферат: | The program is intended for comparing cards obtained using SLAM (simultaneous localization and mapping) algorithms with reference cards. Maps are presented in the form of an Occupancy Grid, where each cell in the grid is a plot in the physical world, and the cell can take one of two values (busy or free). The program builds a reference map obtained using high-precision measurements, then maps are constructed using SLAM algorithms and saved as an Occupancy Grid. After that, the ICP algorithm (iterative nearest point algorithm) is used to compare two-dimensional point clouds and the error is calculated as the sum of the distances to the nearest neighbor. |
A control system for a mobile robotic platform with a differential drive
Certificate № 2018663251
| Авторы: | Rauf Yagfarov (KZ) |
| Подача заявки: | 27.09.2018 |
| Реферат: | The program is designed for interaction and control of a mobile robotic platform with a differential drive. The program is implemented on the basis of ROS and interacts with sensors and engines by sending messages through ROS nodes. Software control of motors and sensors is performed on the controller. The interaction between the computer and the controller, which includes receiving data from the sensors and sending control commands, is performed through the serial port. Received data from the serial port is parsed and converted into useful data. |
A stochastic control system with a predictive model that takes into account the dynamic matrix of the complexity of the path
Certificate № 2018612314
| Авторы: | Aleksandr Buyval (RU), Il’ya Shimchik (RU), Ruslan Mustafin (RU), Ajdar Gabdullin (RU) |
| Подача заявки: | 27.12.2017 |
| Реферат: | Destination program for trajectory planning and control of an unmanned vehicle in a complex dynamic environment. The program generates a large set of random vehicle trajectories based on random fluctuations of control signals. Then each random trajectory is evaluated by complexity and efficiency, after which the best achievable trajectory is formed and control signals are sent to the actuators. When forming the trajectory, a nonlinear mathematical model of the car is used. Each trajectory is calculated on a separate core of the Nvidia video accelerator. The system is based on CUDA technology and the ROS framework. |
The car control system based on a non-linear predictive model, taking into account its dynamic characteristics and non-linear characteristics of tires
Certificate № 2017664339
| Авторы: | Aleksandr Buyval (RU), Ajdar Gabdullin (RU), Ruslan Mustafin (RU), Il’ya Shimchik (RU) |
| Подача заявки: | 14.11.2017 |
| Реферат: | The program is intended for calculating control actions on a motor vehicle (hereinafter - AS). Control actions are calculated on the basis of a nonlinear AC model. The mathematical model used in the calculation takes into account the following characteristics: kinematics, dynamics, non-linear behavior of the tires, moments of inertia, engine characteristics, adhesion to the road surface and air resistance. The program is implemented using the ROS framework and a library for optimizing non-linear ACADO equations systems. The result of the calculation are commands to the AC control system. |
System for automatic recognition of lung pathologies by X-ray images
Certificate № 2016614293
| Авторы: | Ramil’ Kuleev (RU), Aleksandr Vladimirov (RU), Adel’ Zakirov (RU) |
| Подача заявки: | 16.12.2015 |
| Реферат: | The software package is intended for the automatic diagnosis of pathologies of the organs of the chest cavity, including tuberculosis and lung cancer, regardless of their shape and location, and is a research computer program that allows conducting an experimental study of the effectiveness of the developed algorithms for the automatic diagnosis of diseases of the organs of the chest cavity using images. |
