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Smart Innovation, Systems and Technologies 187

Andrey Ronzhin
Vladislav Shishlakov Editors

Proceedings of 15th International

Conference on Electromechanics
and Robotics “Zavalishin’s
Readings”
ER(ZR) 2020, Ufa, Russia, 15–18 April
2020
Smart Innovation, Systems and Technologies

Volume 187

Series Editors
Robert J. Howlett, Bournemouth University and KES International,
Shoreham-by-sea, UK
Lakhmi C. Jain, Faculty of Engineering and Information Technology,
Centre for Artificial Intelligence, University of Technology Sydney,
Sydney, NSW, Australia
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More information about this series at http://www.springer.com/series/8767

Andrey Ronzhin Vladislav Shishlakov
•

Editors

Proceedings of 15th
International Conference
on Electromechanics
and Robotics “Zavalishin’s
Readings”
ER(ZR) 2020, Ufa, Russia, 15–18 April 2020

123
Editors
Andrey Ronzhin Vladislav Shishlakov
St. Petersburg Institute for Informatics Saint Petersburg State University
and Automation of the Russian of Aerospace Instrumentation
Academy of Sciences St. Petersburg, Russia
St. Petersburg, Russia

ISSN 2190-3018 ISSN 2190-3026 (electronic)

Smart Innovation, Systems and Technologies
ISBN 978-981-15-5579-4 ISBN 978-981-15-5580-0 (eBook)
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Organization

General Chair
Yulia Antokhina

Co-chairs
Ramil Bakhtizin
Sergey Emelyanov
Anatoliy Ovodenko
Vladislav Shishlakov

Committees

Chair of Programme Committee

Andrey Ronzhin

Programme Committee
Karsten Berns, Germany
Nikolay Bolotnik, Russia
Yi-Tung Chen, USA
Sergey Chigvincev, Russia
Alexander Danilov, Russia
Vlado Delic, Serbia
Ivan Ermolov, Russia
Naohisa Hashimoto, Japan
Han-Pang Huang, Taiwan
Shu Huang, Taiwan
Viktor Glazunov, Russia

v
vi Organization

Mehmet Guzey, Turkey

Oliver Jokisch, Germany
Airat Kalimgulov, Russia
Alexey Kashevnik, Russia
Marat Khakimyanov, Russia
Regina Khazieva, Russia
Pavel Khlyupin, Russia
Sergey Konesev, Russia
Eugeni Magid, Russia
Roman Meshcheryakov, Russia
Zuhra Pavlova, Russia
Vladimir Pavlovskiy, Russia
Francesco Pierri, Italy
Yuriy Poduraev, Russia
Mirko Rakovic, Serbia
Raul Rojas, Germany
Jose Rosado, Portugal
Vitali Shabanov, Russia
Hooman Samani, Taiwan
Yulia Sandamirskaya, Switzerland
Jesus Savage, Mexico
Valery Sapelnikov, Russia
Robert Sattarov, Russia
Vladimir Serebrenny, Russia
Michail Sit, Moldova
Lev Stankevich, Russia
Tilo Strutz, Germany
Georgi Vukov, Bulgaria
Sergey Yatsun, Russia
Arkadiy Yuschenko, Russia
Milos Zelezny, Czech Republic
Lyudmila Zinchenko, Russia

Co-chair of Organizing Committee

Pavel Khlyupin
Sergey Solyonyj
Sergey Yatsun
Andrey Ronzhin

Organizing Committee
Radmir Aflyatunov
Oksana Emelyanova
Natalia Dormidontova
Maksim Ivanov
Organization vii

Nataliya Jarinova
Ilgiza Kaekberdin
Natalia Kashina
Timur Khabibullin
Boris Lushnikov
Alina Matova
Ekaterina Miroshnikova
Anna Motienko
Margarita Avstriyskaya
Irina Podnozova
Elena Reznik
Anton Saveliev
Ekaterina Savelyeva
Sergei Savin
Oksana Solenaya
Dmitry Tyurin
Andrey Yatsun
Foreword

Dmitry Aleksandrovich Zavalishin (1900–1968)—a Russian scientist, correspond-

ing member of the USSR Academy of Sciences, founder of the school of valve
energy converters based on electric machines and valve converters energy. The first
conference was organized by the Institute of Innovative Technologies in
Electromechanics and Robotics of the St. Petersburg State University of Aerospace
Instrumentation in 2006.
The purpose of the conference is the exchange of information and progressive
results of scientific research work of scientific and pedagogical workers, young
scientists, graduate students, applicants and students in the field of: automatic
control systems, electromechanics, electric power engineering and electrical
engineering, mechatronics, robotics, automation, technical physics and manage-
ment in the electric power industry.
We express our deepest gratitude to all participants for their valuable
contribution to the successful organization of ER(ZR)-2020, hope for and look
forward to your attention to the next International Conference on Electromechanics
and Robotics “Zavalishin’s Readings” in 2021. The conference website is located
at: http://suai.edu.ru/conference/zav-read/.

St. Petersburg, Russia Prof. Yulia A. Antokhina

May 2020 General Chair of 15th International Conference
on Electromechanics and Robotics
“Zavalishin’s Readings”—2020
Rector of the St. Petersburg
State University of Aerospace Instrumentation

ix
Preface

This year, the conference The 15th International Conference on Electromechanics

and Robotics “Zavalishin’s Readings”—2020, ER(ZR)-2020 was organized with
XIV International Conference “Vibration-2020. Vibration technologies, mecha-
tronics and controlled machines” and V International Conference “Electric drive,
electrical technology and electrical equipment of enterprises” during April 15–18,
2020 in Ufa, Russia. The conferences were organized by St. Petersburg State
University of Aerospace Instrumentation (SUAI, St. Petersburg, Russia), St.
Petersburg Institute for Informatics and Automation of the Russian Academy of
Sciences (SPIIRAS, St. Petersburg, Russia), Southwest State University (SWSU,
Kursk, Russia) and Ufa State Petroleum Technical University (USPTU, Ufa,
Russia). The conference is held with the financial support of the Russian
Foundation for Basic Research, project No. 20–08–20030.
Due to the COVID–19 pandemic in the world, for the first time ER(ZR)-2020
was organized as a virtual conference. The virtual conference in the online format
via Zoom service also had a number of advantages including: an increased number
of participants, and no costs for travel and accommodation, comfortable home
conditions, etc.
During the conference the invited talks were given by Prof. Jesus Savage
(National Autonomous University of Mexico, Mexico), Assoc. prof. Lingfei Xiao
(Nanjing University of Aeronautics and Astronautics, China), Ilshat Mamaev
(Karlsruhe Institute of Technology, Germany), Prof. Oleg Darintsev (Ufa State
Aviation Technical University Russia), Prof. Vladimir Fetisov (Ufa State Aviation
Technical University, Russia), Assoc. prof. Sergey Konesev (Ufa State Oil
Technical University, Russia), Prof Robert Sattarov (Ufa State Aviation University,
Russia). More then 173 papers of authors from China, Czech Republic, Mexico,
Russia, Taiwan, Turkey, Uzbekistan, Viet Nam and Japan were submitted to the
conference and each paper was reviewed by several scientists. Around 30% of the
best papers were published in English proceedings by Springer in series Smart
Innovation, Systems and Technologies indexed in SCOPUS, Thomson Reuters
(Web of Science), Inspec, etc. Due to great efforts of reviewers this book was
carefully prepared and consists of 44 contributions.

xi
xii Preface

Special thanks are due to the members of the Local Organizing Committee for
their tireless effort and enthusiasm during the conference organization. Hope for
and look forward to your attention to the ER(ZR)-2021. The conference website is
located at: http://suai.edu.ru/conference/zav-read/.

St. Petersburg, Russia Prof. Andrey L. Ronzhin

May 2020 Chair of Programm Committee
of 15th International Conference
on Electromechanics and Robotics
“Zavalishin’s Readings”—2020
Director of St. Petersburg Institute for Informatics
and Automation of the Russian Academy of Sciences
Prof. Vladislav F. Shishlakov
Co-Chair of 15th International Conference
on Electromechanics and Robotics
“Zavalishin’s Readings”—2020
Vice-Rector for Educational Technologies
and Innovative Activities
St. Petersburg State University of Aerospace Instrumentation
Contents

Part I Keynote Lectures

1 Aerial Robots and Infrastructure of Their Working
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 3
Vladimir Fetisov
1.1 Introduction: What Is AR, UAV, UAS . . . . . . . . . . . . . . . . . . . 3
1.2 Components of Unmanned Aerial System . . . . . . . . . . . . . . . . 4
1.2.1 Main Functional Means . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.2 Supporting Resources . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2.3 Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2.4 Means of Integration with Other Systems . . . . . . . . . . 10
1.2.5 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2.6 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3 Service Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3.2 Classification of Replenishment Service Stations . . . . . 12
1.3.3 Known Solutions Realizing Open Pads Conception.
Classification Criteria . . . . . . . . . . . . . . . . . . . . . . . .. 15
1.3.4 Platforms Based on Intelligent Contact Pads . . . . . . .. 17
1.3.5 Charging Stations Based on Flat Parallel
Electrodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 19
1.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 21
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 21
2 Microgrippers: Principle of Operation, Construction,
and Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........ 25
Oleg Darintsev
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........ 25
2.2 Applications and Specifics of Microgripping Devices ........ 26
2.3 Examples of Microgripper Designs . . . . . . . . . . . . . ........ 29

xiii
xiv Contents

2.4 Information System Architecture . . . . . . . . . . . . . . . . . . . . . . . 32

2.5 Control System of Intelligent Capillary Microgripper . . . . . . . . 33
2.6 Construction Prospects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3 Worm-Like Locomotion Systems for In-Pipe Robots
and Its Fuzzy Sliding Mode Controller Design . . . . . . . . . ....... 39
Robert Sattarov, Xinhao Huang, Cong Lin, and Lingfei Xiao
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.2 The Principle and Mathematical Model of WLLS . . . . . . . . . . . 41
3.2.1 Composition and Motion Principle . . . . . . . . . . . . . . . 41
3.2.2 The Mathematical Description . . . . . . . . . . . . . . . . . . . 42
3.2.3 State-Space Model of WLLS . . . . . . . . . . . . . . . . . . . . 43
3.3 The Design of Sliding Mode Controller . . . . . . . . . . . . . . . . . . 44
3.4 The Design of Fuzzy Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.5 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Part II Robotics and Automation

4 Tactical Level of Intelligent Geometric Control System
for Unmanned Aerial Vehicles . . . . . . . . . . . . . . . . . . . . . . . . .... 55
Mikhail Khachumov
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.1.2 Related Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.1.3 Main Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.2 The Principles of Intelligent Geometric Control . . . . . . . . . . . . 58
4.2.1 The Purpose of Intelligent Geometric
Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.2.2 Hierarchical System to Control a Dynamic Object . . . . 58
4.3 Tactical Control Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.3.1 Trajectory Tracking Problem . . . . . . . . . . . . . . . . . . . . 60
4.3.2 Pontryagin’s Maximum Principle . . . . . . . . . . . . . . . . . 61
4.3.3 A Set of Control Rules for Pursuing a Target . . . . . . . 63
4.4 Executive Control Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.5 Simulation of UAV Movement and Mission Execution . . . . . . . 65
4.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Contents xv

5 Three-Dimensional Consensus-Based Control of Autonomous

UAV Swarm Formations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 69
Tagir Muslimov and Rustem Munasypov
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.2 Preliminary Notes and Used Models . . . . . . . . . . . . . . . . . . . . 70
5.2.1 Multi-UAV System Model and UAV Model . . . . . . . . 70
5.2.2 Statement of Problems . . . . . . . . . . . . . . . . . . . . . . . . 72
5.2.3 Architecture of Interaction in a Decentralized
Multi-UAV System . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5.3 Strategy to Control 3D UAV Swarm Formations . . . . . . . . . . . 74
5.3.1 Formation Control for Horizontal Path Following . . . . . 74
5.3.2 Formation Control for Descending Path Following . . . . 76
5.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
5.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
6 Approach to UAV Swarm Control and Collision-Free
Reconfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...... 81
Valeriia Izhboldina, Igor Lebedev, and Aleksandra Shabanova
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
6.2 UAV Swarm Control Approach . . . . . . . . . . . . . . . . . . . . . . . . 84
6.3 Reconfiguration Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
6.4 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
7 Approach to Robotic Mobile Platform Path Planning Upon
Analysis of Aerial Imaging Data . . . . . . . . . . . . . . . . . . . . . . . . ... 93
Egor Aksamentov, Konstantin Zakharov, Denis Tolopilo,
and Elizaveta Usina
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
7.2 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
7.3 Orthomosaic Image Stitching Using Georeferencing to GPS . . . 95
7.4 Building 3D Map of Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
7.5 Path Planning Algorithm for a Robotic Vehicle . . . . . . . . . . . . 97
7.6 Navigation Grid Building . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.7 Experiments and Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
7.8 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
8 Improving Methods of Objects Detection Using Infrared Sensors
Onboard the UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Peter Trefilov, Mark Mamchenko, Maria Romanova, and Igor Ischuk
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
8.2 Problem Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
xvi Contents

8.3 Approach to Solving the Problem . . . . . . . . . . . . . . . . . . . . . . 107

8.4 Earth Remote Sensing Data Processing . . . . . . . . . . . . . . . . . . 108
8.5 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
8.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
9 Integrated Sensor System for Controlling Altitude–Velocity
Parameters of Unmanned Aircraft Plane Based on the Vortex
Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Elena Efremova and Vladimir Soldatkin
9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
9.2 Formation of Primary Information on the Basis of the Vortex
Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
9.3 Algorithms for Determining the Altitude–Velocity Parameters
of the Unmanned Aircraft Plane . . . . . . . . . . . . . . . . . . . . . . . 119
9.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
10 Synthesis of SimMechanics Model of Quadcopter Using
SolidWorks CAD Translator Function . . . . . . . . . . . . . . . . . . . . . . 125
Sergey Jatsun, Boris Lushnikov, Oksana Emelyanova,
and Andres Santiago Martinez Leon
10.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
10.2 Basic Concepts of 3D Model Export Process (Integration
of SolidWorks and MATLAB/Simulink Environments) . . . . . . . 126
10.3 UAV Simulator Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
10.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
10.5 Conclusions and Further Work . . . . . . . . . . . . . . . . . . . . . . . . 135
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
11 Technology for Constructing Multifunctional Controlling
System of Motion’s Parameters of Unmanned Single-Rotor
Helicopter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Aleksandr Nikitin, Vyacheslav Soldatkin, and Vladimir Soldatkin
11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
11.2 Theoretical Bases of Construction of System . . . . . . . . . . . . . . 140
11.3 Variants of Construction of Sensor System . . . . . . . . . . . . . . . . 141
11.4 Algorithms Information Processing at Various Modes
of Operating of Helicopter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
11.5 Analysis of Instrumental Errors of the System . . . . . . . . . . . . . 146
11.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Contents xvii

12 Mathematical Modeling of Stable Position of Manipulator

Mounted on Unmanned Aerial Vehicle . . . . . . . . . . . . . . . . . . . . . . 151
Vinh Nguyen, Quyen Vu, and Andrey Ronzhin
12.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
12.2 Modeling Aerial Manipulation System . . . . . . . . . . . . . . . . . . . 154
12.3 Mathematical Modeling of Stable Position of Manipulator
Mounted on UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
12.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
13 Active Phased Antenna Arrays for Long-Range Mobile Radars
Based on Quadcopters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Denis Milyakov, Vladimir Verba, Vladimir Merkulov,
and Andrew Plyashechnik
13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
13.2 Literature Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
13.3 Problem Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
13.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
14 Collaborative Robots: Development of Robotic Perception
System, Safety Issues, and Integration of AI to Imitate
Human Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Rinat Galin and Roman Meshcheryakov
14.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
14.2 Collaborative Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
14.3 Development of Intelligent Robotic Perception System . . . . . . . 179
14.4 Safety Zone of a Collaborative Robot in a Shared Space . . . . . . 181
14.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
15 Hand Gestures Recognition Model for Augmented Reality
Robotic Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Youshaa Murhij and Vladimir Serebrenny
15.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
15.1.1 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
15.1.2 Hardware and Software . . . . . . . . . . . . . . . . . . . . . . . 189
15.2 Methodology and Main Procedure . . . . . . . . . . . . . . . . . . . . . . 189
15.2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
15.2.2 General Neural Network Structure . . . . . . . . . . . . . . . . 189
15.2.3 Applied Loss Functions . . . . . . . . . . . . . . . . . . . . . . . 191
15.2.4 Custom Dataset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
15.2.5 Augmented Reality in Robotics . . . . . . . . . . . . . . . . . . 192
15.2.6 Concept of Programming . . . . . . . . . . . . . . . . . . . . . . 193
15.2.7 Unity Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
xviii Contents

15.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

15.4 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
16 An Experimental Analysis of Different Approaches
to Audio–Visual Speech Recognition and Lip-Reading . . . . . . . . . . 197
Denis Ivanko, Dmitry Ryumin, and Alexey Karpov
16.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
16.2 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
16.3 Analysis and Implementation of State-of-the-Art
Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
16.3.1 GMM-CHMM Model . . . . . . . . . . . . . . . . . . . . . . . . . 201
16.3.2 DNN-HMM Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
16.3.3 End-to-End Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
16.4 Data and Evaluations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
16.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
17 The Concept of Robotics Complex for Transporting Special
Equipment to Emergency Zones and Evacuating Wounded
People . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Mark Mamchenko, Pavel Ananyev, Alexander Kontsevoy,
Anna Plotnikova, and Yuri Gromov
17.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
17.2 Analysis of the Current State in the Field of EMERCOM
of Russia Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
17.3 The Purpose and Composition of the Promising Robotics
Complex, as Well as the Imposed Requirements . . . . . . . . . . . . 214
17.3.1 The Purpose and Composition of the Promising
Robotics Complex . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
17.3.2 Requirements for the Promising Robotics
Complex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
17.4 Promising Robotics Complex Engagement Concept . . . . . . . . . 216
17.4.1 Robotic System Deployment and Moving
to the Emergency Zone . . . . . . . . . . . . . . . . . . . . . . . . 216
17.4.2 Safe Evacuation of the Wounded . . . . . . . . . . . . . . . . 217
17.5 Electronic Components of the Robot . . . . . . . . . . . . . . . . . . . . 218
17.6 Conclusion and Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . 220
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Contents xix

18 Implementation of Robot–Human Control Bio-Interface When

Highlighting Visual-Evoked Potentials Based on Multivariate
Synchronization Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Sergey Kharchenko, Roman Meshcheryakov, Yaroslav Turovsky,
and Daniyar Volf
18.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
18.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
18.3 Methods and Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
18.3.1 Multivariate Synchronization Index Method . . . . . . . . . 229
18.3.2 Single-Channel Mode . . . . . . . . . . . . . . . . . . . . . . . . . 231
18.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
19 Human–Machine Interface of Rehabilitation Exoskeletons
with Redundant Electromyographic Channels . . . . . . . . . . . . . . . . 237
Andrey Trifonov, Sergey Filist, Sergey Degtyarev,
Vadim Serebrovsky, and Olga Shatalova
19.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
19.2 Biotechnological Rehabilitation System with Medical
Exoskeleton . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
19.3 Non-invasive Electromyography in Implementation
of Human–Machine Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . 239
19.4 Method for Classifying Electromyography Signals . . . . . . . . . . 240
19.5 Results of Technical Solution . . . . . . . . . . . . . . . . . . . . . . . . . 243
19.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
20 Neuro Sliding Mode Control for Exoskeletons with 7 DoF . . . . . . . 249
Haci Mehmet Güzey
20.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
20.2 Exoskeleton Dynamics and Saturated Controller Design . . . . . . 250
20.3 Neuro-Sliding-Mode Controller . . . . . . . . . . . . . . . . . . . . . . . . 252
20.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
20.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
21 Modeling of the Exoskeletal Human-Machine System Movement
Lifting a Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Andrey Karlov, Ekaterina Saveleva, Andrey Yatsun,
and Aleksey Postolny
21.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
21.2 BTWS Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
21.3 Mathematical Model of BTWS . . . . . . . . . . . . . . . . . . . . . . . . 261
21.4 The BTWS V1 Kinematic Model . . . . . . . . . . . . . . . . . . . . . . . 264
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21.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
22 Mathematical Modeling of Load Lifting Process
with the Industrial Exoskeleton Usage . . . . . . . . . . . . . . . . . . . . . . 269
Sergey Jatsun, Andrei Malchikov, Andrey Yatsun,
and Ekaterina Saveleva
22.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
22.2 Scheme Justification of Investigated Structure . . . . . . . . . . . . . . 270
22.3 Kinematical Analysis of Load Lifting Process . . . . . . . . . . . . . 273
22.4 Dynamical Analysis of Load Lifting Process . . . . . . . . . . . . . . 275
22.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
23 Deep Q-Learning Algorithm for Solving Inverse Kinematics
of Four-Link Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Dmitriy Blinov, Anton Saveliev, and Aleksandra Shabanova
23.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
23.2 Reinforcement Learning Approach for Solving Inverse
Kinematics of Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
23.3 Deep Q-Learning Algorithm for Solving Inverse Kinematics
of Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
23.3.1 Dynamic Exploration Coefficient . . . . . . . . . . . . . . . . . 284
23.3.2 Q-Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
23.4 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
23.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
24 Linearization-Based Forward Kinematic Algorithm
for Tensegrity Structures with Compressible Struts . . . . . . . . . . . . 293
Sergei Savin, Oleg Balakhnov, and Alexander Maloletov
24.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
24.2 Mathematical Model of a Tensegrity Robot . . . . . . . . . . . . . . . 295
24.3 Local Linearization of the Elastic Forces . . . . . . . . . . . . . . . . . 296
24.3.1 Fixed-Center Approximation . . . . . . . . . . . . . . . . . . . . 296
24.3.2 Fixed-Direction Approximation . . . . . . . . . . . . . . . . . . 298
24.3.3 Compound Linear Approximation . . . . . . . . . . . . . . . . 299
24.4 Three-Link Tensegrity Structure . . . . . . . . . . . . . . . . . . . . . . . . 300
24.4.1 Forward Kinematics with Local Linearization . . . . . . . 301
24.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
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25 Continuum Manipulator Motion Model Taking into Account

Specifics of its Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
Dinar Bogdanov
25.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
25.2 The Design of the Manipulator and Its Kinematics . . . . . . . . . . 307
25.3 The Dynamics of the Manipulator Link’s Bend Formation . . . . 310
25.4 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
25.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
26 Modeling Wireless Information Exchange Between Sensors
and Robotic Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Alexander Denisov and Oleg Sivchenko
26.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
26.2 Sensor Complex Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
26.3 Set-Theoretic Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
26.4 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
26.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
27 Multi-robot Coalition Formation for Precision Agriculture
Scenario Based on Gazebo Simulator . . . . . . . . . . . . . . . . . . . . . . . 329
Nikolay Teslya, Alexander Smirnov, Artem Ionov,
and Alexander Kudrov
27.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
27.2 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
27.2.1 Cooperation in Multi-agent Systems . . . . . . . . . . . . . . 331
27.2.2 Robot Interaction Modelling Methods . . . . . . . . . . . . . 331
27.3 An Approach to Multi-robot Coalition Formation Modelling
and Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
27.3.1 Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
27.3.2 Level of a Charge . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
27.3.3 Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
27.4 Scenario Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
27.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
28 Comparative Analysis of Monocular SLAM Algorithms
Using TUM and EuRoC Benchmarks . . . . . . . . . . . . . . . . . . . . . . . 343
Eldar Mingachev, Roman Lavrenov, Evgeni Magid,
and Mikhail Svinin
28.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
28.2 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
28.2.1 Slam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
28.2.2 Benchmarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
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28.3 Benchmark Comparisons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

28.4 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
28.4.1 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
28.4.2 Datasets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
28.4.3 Metrics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
28.5 Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
28.6 Further Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
28.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
29 Laser Rangefinder and Monocular Camera Data Fusion
for Human-Following Algorithm by PMB-2 Mobile Robot
in Simulated Gazebo Environment . . . . . . . . . . . . . . . . . . . . . . . . . 357
Elvira Chebotareva, Kuo-Hsien Hsia, Konstantin Yakovlev,
and Evgeni Magid
29.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
29.2 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
29.3 Problems of Human-Following Algorithms
Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
29.4 Proposed Solution and Its Evaluation in Gazebo
Simulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
29.4.1 Evaluation of Human-Following Algorithms
in Gazebo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
29.4.2 Human Detection and Tracking . . . . . . . . . . . . . . . . . . 363
29.4.3 Joint Use of LRF and a Monocular Camera
in a Human-Following Algorithm . . . . . . . . . . . . . . . . 365
29.4.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
29.5 Conclusion and Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . 367
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
30 Evaluation of Visual SLAM Methods in USAR Applications
Using ROS/Gazebo Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
Ramil Safin, Roman Lavrenov, and Edgar Alonso Martínez-García
30.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
30.2 SLAM Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
30.3 VSLAM Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
30.4 Proposed Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
30.4.1 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
30.4.2 Robot Model and Sensors . . . . . . . . . . . . . . . . . . . . . . 377
30.4.3 Dataset Collection . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
30.4.4 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
30.5 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Contents xxiii

31 Mathematical Model for Evaluating Fault Tolerance of On-Board

Equipment of Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Eugene Larkin, Tatiana Akimenko, Alexey Bogomolov,
and Konstantin Krestovnikov
31.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
31.2 The Approach to Simulation of Fault-Tolerant Systems . . . . . . . 384
31.3 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
31.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
32 Unmanned Transport Environment Threats . . . . . . . . . . . . . . . . . . 395
Maxim Kolomeets, Ksenia Zhernova, and Andrey Chechulin
32.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
32.2 Unmanned Vehicle Environment Overview . . . . . . . . . . . . . . . 396
32.3 Unmanned Vehicle Environment Threats . . . . . . . . . . . . . . . . . 399
32.4 Summarized Threat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
32.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
33 Cloud-Based Task Distribution System Infrastructure for Group
of Mobile Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
Airat Migranov
33.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
33.2 Decomposition of Tasks for Distribution in Cloud . . . . . . . . . . 411
33.3 Genetic Task Distribution Algorithm . . . . . . . . . . . . . . . . . . . . 414
33.4 Interaction of Robots in Cloud . . . . . . . . . . . . . . . . . . . . . . . . . 418
33.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
34 Environment Classification Approach for Mobile Robots . . . . . . . . 421
Petr Neduchal and Miloš Železný
34.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
34.2 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
34.2.1 Semantic Localization and Mapping . . . . . . . . . . . . . . 422
34.2.2 Environment Change Detection Based on Image
Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
34.2.3 Environment Change Detection Based
on One-Dimensional Signal . . . . . . . . . . . . . . . . . . . . 423
34.3 Environment Detection and Classification System . . . . . . . . . . . 424
34.3.1 Environment Change Detection . . . . . . . . . . . . . . . . . . 425
34.3.2 Image-Based Environment Classification . . . . . . . . . . . 425
34.3.3 Robot Behavior Adaptation Module . . . . . . . . . . . . . . 426
xxiv Contents

34.4 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

34.4.1 Dataset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
34.4.2 Triggers Generation Using Non-visual
Sensor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
34.4.3 Image-Based Classification Experiment . . . . . . . . . . . . 429
34.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
35 Architecture and Algorithms of Geospatial Service for Navigation
of Robotic Complexes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Dmitriy Levonevskiy, Evgenii Karasev, and Egor Aksamentov
35.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
35.2 Related Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
35.3 Service Architecture for Robotic Platform Control . . . . . . . . . . 436
35.4 Data Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437
35.5 Front-End Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
35.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

Part III Electromechanics and Electric Power Engineering

36 Quarter-Wave Symmetric Space Vector PWM with Low Values
of Frequency Modulation Index in Control of Three-Phase
Multilevel Voltage Source Inverter . . . . . . . . . . . . . . . . . . . . . . . . . 445
Nikolay Lopatkin
36.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
36.2 Quarter-Wave Symmetric Space Vector PWM . . . . . . . . . . . . . 446
36.2.1 Vectors’ Switching Sequence . . . . . . . . . . . . . . . . . . . 447
36.2.2 Voltage Space Vector PWM of Two Delta
Voltages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
36.3 MLVSI Load Current’s THD Assessment and Distinction
of Amplitude Modulation Index Ranges . . . . . . . . . . . . . . . . . . 454
36.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
37 Analysis of Resource Availability of Production Enterprise Based
on Fuzzy Neural Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
Vladimir Bocharov, Alexander Danilov, Victor Burkovsky,
Konstantin Gusev, and Pavel Gusev
37.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
37.2 Literature Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
37.3 Methodology for Obtaining Initial Data . . . . . . . . . . . . . . . . . . 460
37.4 Fuzzy Neural Network for Analysis and Prediction . . . . . . . . . . 464
37.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
Contents xxv

38 Synthesis of Nonlinear Impulse Systems . . . . . . . . . . . . . . . . . . . . . 469

Vladislav Shishlakov, Elizaveta Vataeva, Nataliia Reshetnikova,
Dmitriy Shishlakov, and Oksana Solenaya
38.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
38.2 Mathematical Description of the Synthesis Problem . . . . . . . . . 470
38.3 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476
39 Hidden Markov Model Based on Signals from Blocks
of Semi-Markov System’s Elements and Its Application
for Dynamics Analysis Energy Systems . . . . . . . . . . . . . . . . . . . . . . 477
Yuriy Obzherin, Mikhail Nikitin, and Stanislav Sidorov
39.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477
39.2 Construction of the Merged Semi-Markov Model . . . . . . . . . . . 479
39.3 Hidden Markov Model of a Merged Semi-Markov Model
Based on Signals from Blocks of the Elements . . . . . . . . . . . . . 481
39.4 Dynamics Analysis and Prediction of the States for the Merged
Semi-Markov Model Based on Signals from Blocks
of the Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
39.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
40 Robot for Inspection and Maintenance of Overhead
Power Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
Sergej Solyonyj, Oksana Solenaya, Aleksandr Rysin,
Vladimir Kuzmenko, and Evgeny Kvas
40.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
40.2 Problem Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
40.3 Research Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
40.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
41 Construction of Land Base Station for UAV Maintenance
Automation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Igor Lebedev, Anton Ianin, Elizaveta Usina, and Viktor Shulyak
41.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
41.2 Interaction of UAV with Base Station . . . . . . . . . . . . . . . . . . . 501
41.3 Base Station for Automated UAV Maintenance . . . . . . . . . . . . 503
41.4 Storage and Positioning Modules of Base Station . . . . . . . . . . . 505
41.4.1 Retractable Roof . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
41.4.2 ArUco-Marker with Backlight . . . . . . . . . . . . . . . . . . . 506
41.5 Experiments and Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
41.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
xxvi Contents

42 Combined Capacitive Pressure and Proximity Sensor

for Using in Robotic Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
Konstantin Krestovnikov, Ekaterina Cherskikh, and Eldar Zimuldinov
42.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
42.2 Related Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
42.3 Electrical Circuit and Principle of Operation . . . . . . . . . . . . . . . 517
42.4 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
42.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
43 Piezoelectric Micropumps for Microrobotics: Operating Modes
Simulating and Analysis of the Main Parameters of the Fluid
Flow Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
Ildar Nasibullayev, Oleg Darintsev, Elvira Nasibullaeva,
and Dinar Bogdanov
43.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
43.2 Problem Statement and Basic Equations . . . . . . . . . . . . . . . . . . 528
43.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
43.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
44 Vibration Amplitude and Frequency Parameters
of Technological Equipment Drives . . . . . . . . . . . . . . . . . . . . . . . . . 537
Dmitry Ershov and Irina Lukyanenko
44.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
44.2 Dynamic Model of the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . 538
44.3 Motor Torque Variance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
44.4 Vibration Amplitude and Frequency Parameters
of Motor Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
44.5 Drive Angular Velocity Variance . . . . . . . . . . . . . . . . . . . . . . . 542
44.6 Vibration Amplitude and Frequency Parameters of Drive
angular Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
44.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549

About the Editors

Prof. Andrey Ronzhin is Director of St. Petersburg Institute for Informatics and
Automation of the Russian Academy of Sciences (SPIIRAS) and Head of the
Department of Electromechanics and Robotics Systems at St. Petersburg University
of Airspace Instrumentation. His research focuses on the interaction of autonomous
robotic systems and users in a cyber-physical environment. He is a member of
Scientific Board of Robotics and Mechatronics of the Russian Academy of
Sciences, the Academy of Navigation and Motion Control, Co-Chairman of
International Conference Interactive Collaborative Robotics – ICR. He is Deputy
Editor-in-Chief of SPIIRAS Proceedings Journal.

Prof. Vladislav Shishlakov is Vice-Rector for Educational Technologies and

Innovative Activities, St. Petersburg State University of Aerospace Instrumentation
(SUAI) and Head of the Department of Management in Technical Systems. He is
Honorary Worker at the Ministry of Education and Science of the Russian
Federation since 2009. His research interests are related to the development of
methods of synthesis of nonlinear systems of automatic control systems, which are
continuous, and with different types of signal modulation, as well as the develop-
ment and research of electromechanical and electric power systems and complexes
based on the effects of high-temperature superconductivity.

xxvii
 Part I
Keynote Lectures
Chapter 1
Aerial Robots and Infrastructure
of Their Working Environment

Vladimir Fetisov

Abstract Aerial robots (also known as UAVs—unmanned aerial vehicles) are

increasingly being introduced into our life. Today, we can see aerial robots in agri-
culture, building industry, delivery services, security and monitoring systems and
so on. More frequently not single UAVs but their groups are used. And it would be
reasonable to control such groups at all functioning stages, including on-ground main-
tenance, in automatic mode. Development of infrastructure for automatic service and
maintenance of aerial robots has appeared on the agenda of many companies special-
izing in unmanned aerial systems. Some aspects of such infrastructure creation are
discussed in this paper with special emphasis on charging stations for UAVs with
electrical propulsion system.

1.1 Introduction: What Is AR, UAV, UAS

In robotics the term “aerial robot” (AR) is known from 1998, when Michelson [1]
described a new class of highly intelligent, small flying machines. Now the sense
covered under the term AR extends much further. In the field of aviation, robotic
flying machines are referred to as “unmanned aerial vehicles” (UAVs), or drones, by
simply saying.
Unmanned aerial vehicle (UAV) is defined as a pilotless aircraft, which is flown
without a pilot-in-command on-board and is either remotely and fully controlled
from another place (ground, another aircraft, ship, space) or programmed and fully
autonomous [2].
On the other hand, it is known for the following definition of AR: “An aerial
robot is a system capable of sustained flight with no direct human control and able to
perform a specific task” [3]. According to this definition, any contemporary UAV is
AR because UAV’s on-board flight controller with embedded navigation equipment

V. Fetisov (B)
Ufa State Aviation Technical University, Ufa, Russia
e-mail: [email protected]

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer 3
Nature Singapore Pte Ltd. 2021
A. Ronzhin and V. Shishlakov (eds.), Proceedings of 15th International Conference
on Electromechanics and Robotics “Zavalishin’s Readings”, Smart Innovation, Systems
and Technologies 187, https://doi.org/10.1007/978-981-15-5580-0_1
4 V. Fetisov

provides sustainable flight without an operator’s participation. Such minimal on-

board intelligence of the robot allows to sustain itself in the air with no human
intervention.
So notions of UAV and AR are often considered as equivalent. But in recent years,
a new trend has appeared to consider AR as an UAV designed to perform special
operations in autonomous mode.
In other words, AR is a big class of mobile robots based on UAV for special
tasks that can be performed with different degree of autonomy, i.e., AR has a lot of
intelligence and self-sufficiency for its special function implementation. However,
the UAV operator, as a rule, can control the AR remotely, switching from automatic
to manual mode if the situation requires it.
There are many types of UAVs based on different flight principles. This work deals
primarily with the rotary-wing type of aerial vehicles (helicopters, multicopters)
and other aircraft (convertiplanes and other hybrids) capable of vertical takeoff and
landing (VTOL). VTOL UAVs are the closest to common notion of “robots” because
of their capability of hovering, which has huge advantages, in comparison with fixed-
wing aircrafts, for general versatility. For example, VTOL UAVs can implement
various repairs and building-up operations under the object by means of on-board
manipulators. VTOL UAVs are capable of hovering and agile at the same time.
Their rich sensory and motor abilities allow them to move and work in very different
environments: open skies, confined environments, on the ground, on vertical surfaces,
in swarms and near humans [4].
ARs are designed for various useful functions: aerial photography, monitoring,
construction operations, agricultural works, delivery of small packages and so on.
More and more frequently not single UAVs but their groups are used. And it would
be reasonable to control such groups at all functioning stages, including on-ground
maintenance, in automatic mode. Development of infrastructure for automatic service
and maintenance of ARs have appeared on the agenda of many companies special-
izing in UAS—unmanned aerial systems (or unmanned aircraft systems). UAS is a
widely used notion, which is a more complex term than UAV [5, 6]. UAS comprises
one or more UAVs, along with the technical equipment necessary to operate them
and other components. Full composition of UAS is shown in Fig. 1.1. When UAVs
are considered as ARs, UAS provides an infrastructure for working environment of
ARs. Let us take a detailed look at all components of UAS.

1.2 Components of Unmanned Aerial System

1.2.1 Main Functional Means

Main functional means of UAS include all components that are closely connected
with flights: UAVs, control station (CS), start and landing equipment, means of
transportation, navigation and communication equipment and service stations.
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