2687-0517 10 2 2017

REV RUS 7-21 Kharuzin Sergey skharuzin@yandex.ru Shmakov Oleg shmakov@rtc.ru Main Trends and Promising Solutions in Haptics The main objective of this paper is to provide a comprehensive and highly structured review of promising research and commercial solutions in haptics. The subject of the presented review is small- and human-sized haptic devices, emerged mainly in the past ten years. This paper consists of three main sections. First section provides classification of haptic systems. Two classification criteria are considered. The first criterion is the kinematics type of the haptic device and the other is the principle of interaction of the device's mechanical parts and human operator. Based on the suggested classification, four categories of haptic devices is presented: continuous devices, parallel devices, exoskeleton devices and combined devices. The second section provides a review of research and commercially available haptic devices developed for general and special usage. The final section provides generalized conclusions. 10.18721/JCSTCS.10201 621.865.8 manipulator haptic feedback master-slave systems mechatronics robotics exoskeleton https://infocom.spbstu.ru/article/2017.53.1/ 01.pdf

RAR RUS 22-31 Kharuzin Sergey skharuzin@yandex.ru Ivanov Aleksandr al_ivanov@rtc.ru Shmakov Oleg shmakov@rtc.ru Autonomous Control System for a Vehicle with Actively Transformable Frame In this paper we suggest a structure of autonomous control system for a sixwheeled vehicle with an actively transformable frame. A control system of the suggested structure allows the vehicle to move effectively on uneven terrain. Furthermore, we describe algorithms for control of vehicle configuration while it overcomes a random sequence of obstacles belonging to three classes: step, canal and descent from step. These algorithms utilize information about the instant configuration of the vehicle provided by proprioceptive sensors and the predicted height of the obstacle and range from it provided by exterioceptive sensors. Therefore, the algorithms switch vehicle movement modes depend on the instant situation in which it is involved. Stages of vehicle frame transformation are described for each mode. Hereafter the patterns of each feasible switching between modes and the dependency between the desired frame configuration and obstacle height are discussed. The suggested structure and algorithms are then realized and tested in a complex virtual model of control system and vehicle dynamics. Results of virtual modelling ensured the efficiency of the suggested structural and algorithmical decisions. 10.18721/JCSTCS.10202 621.865.8 mobile robot all-terrain vehicle situational control autonomous movement vechicle with transformable frame https://infocom.spbstu.ru/article/2017.53.2/ 02.pdf

RAR RUS 32-44 Motorin Dmitrii d.e.motorin@gmail.com Peter the Great St.Petersburg Polytechnic University Popov Sergey popovserge@gmail.com

Polytechnicheskaya, 29, St.Petersburg, 195251, Russia

Peter the Great St.Petersburg Polytechnic University Kurochkin Leonid kurochkinl@spbstu.ru

Polytechnicheskaya, 29, St.Petersburg, 195251, Russia

An Algorithm for Collision Avoidance in Path Planning   for a Group of Robots in a Spatio-Situational Indeterminacy The paper considers a collision avoidance path-planning algorithm for a group of robots in a spatio-situational indeterminacy. When moving a group of robots to the target paths, crossing is the cause of collision. The authors compared three approaches to collision avoidance: ignoring collisions, resolution of all collisions for pairs of robots, resolution of collisions by expanding the group of robots. The effectiveness of the algorithm is evaluated based on the completeness of the solution of the problem and the collision resolution rate while minimizing each robot path. Collision avoidance is achieved by extension of the trajectory of the robots in the free space around the collision area. The algorithm consists of three parts: searching for the space free of obstacles around the collision area for each robot, exclusion from the resulting field areas of possible conflicts and minimizing the elongation paths in the obtained field. The algorithm was studied by simulation modeling, which implemented a model of the environment and the group of robots. The result of this work was to determine the limits of applicability and recommendations for the choice of the operating modes of the collision avoidance path-planning algorithm. The proposed algorithm can be used in case of path planning for a group of robots in a spatio-situational indeterminacy. 10.18721/JCSTCS.10203 519.876.5, 004.023:896 control group of robots collision dynamic environment path planning spatiosituational indeterminacy https://infocom.spbstu.ru/article/2017.53.3/ 03.pdf

RAR RUS 45-57 Egorov Egor egorkin.e@list.ru Malyshev Victor uhmal@mail.ru Oscillating System of a Reference Microwave Generator with Screened   Dielectric Resonator Excited from an End Face The paper considers the simulation results of an oscillating system with a dielectric resonator at 10 GHz. The model was designed using CAD simulation in HFSS. The oscillating system with a dielectric resonator in a metal cavity is considered.  To minimize the phase noise of the oscillator, the resonator must be designed to have a high quality factor. The high quality factor is obtained by using the dielectric resonator in a metal cavity. Three types of metal cavities are analyzed and the parameters affecting their quality factor and losses are identified. The compact design of the resonator excited from the end face for the oscillator in hybrid form and the results of modeling and measuring the characteristics of the oscillating systems are given. Using these results, the phase noise level which can be reached in oscillators was assessed. With the dimensions of the aluminum cavity of the oscillating system of 28×8 mm and the inherent Q-factor of the DDR equal to 10000, using low-noise SiGe bipolar transistors in the self-excited oscillator, it is possible to reach the phase noise level of –130 dB/Hz at the analyzed frequencies of 10 kHz. 10.18721/JCSTCS.10204 621.37 oscillating system oscillator dielectric resonator phase noise Lison’s formula https://infocom.spbstu.ru/article/2017.53.4/ 04.pdf

RAR RUS 58-74 U-4200-2017 6506501810 0000-0002-6916-9061 Peter the Great St.Petersburg Polytechnic University Igor A. tsikin@mail.spbstu.ru

Polytechnicheskaya, 29, St.Petersburg, 195251, Russia

Poklonskaya Ekaterina catherine091@mail.ru Secondary Surveillance Radar Signals Processing at the Remote Analysis Station The paper considers a method of remote control for Secondary Surveillance Radar (SSR) systems based on using a Remote Analysis Station (RAS), which analyzes the request and response signals for the purpose of locating aircraft and comparing the results with the performance of the controlled systems. We have identified the sources of the errors that affect the accuracy of the Remote Analysis Station (RAS) and established the level of these errors acceptable for ensuring the required accuracy. The degree of influence that each of the considered types of errors has on the performance of the RAS is determined. The statistics of aircraft position errors by the RAS is explored. The accuracy of the RAS and the controlled monostatic and bisatic SSR for different aircraft position depending on the SSR and receiver positions is compared. The comparison provides recommendations about the RAS location to provide maximum remote control system (RCS) accuracy. 10.18721/JCSTCS.10205 621.396 secondary surveillance radar signal processing remote analysis station radiolocation position determination https://infocom.spbstu.ru/article/2017.53.5/ 05.pdf

RAR RUS 58-84 Shishigin Dmitry shishigind@yandex.ru Shishigin Sergey ctod28@vologda.ru Step Algorithms for Wave Processes Calculation in Problems of Lightning Protection at Electric Power Substations When lightning strikes into an overhead transmission line, a voltage surge occurs that can be dangerous for electrical equipment at electric power substations. Wave processes modeling is usually carried out in the EMTP program which is based on circuit models. The problem is the voltage oscillations caused by short front impulse current due to the use of trapezoid formula for differential equations integration. The combination of trapezoid and implicit Euler formulas, suggested in EMTP, does not solve the problem. The idea of this paper is adaptation and application of well-developed hybrid (EM field-circuit) models, methods and programs of the grounding theory for lightning protection problems. This way, wave processes are simulated together with current spreading processes in grounding conductors. The evident advantages of Vlach’s and Singhal’s high-order integration formulas compared to the trapezoid formula are shown. As a practical example, we have calculated voltage surges at power and measuring transformers of a substation caused by a lightning strike into a transmission line tower with insulator flashover. The effect of mounting surge arresters is shown. 10.18721/JCSTCS.10206 004.942 lightning protection wave processes EMTP trapezoid formula Vlach method step algorithms voltage surge numerical modeling electric power substation surge arrester https://infocom.spbstu.ru/article/2017.53.6/ 06.pdf