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Intelligent Robust Control of Redundant Smart Robotic Arm Pt II: Quantum Computing KB Optimizer Supremacy

Artificial Intelligence Advances 2020年第2期2卷 32-67页

作者： Alena v.Nikolaeva sergey v.ulyanov Dubna State University Russia INESYS LLC(EFKO GROUP) Russia Physical and Mathematical Sciences JINRRussia LIT JINR INESYS LLC(EFKO GROUP)Russia

This article is a continuation of the work“Intelligent robust control of redundant smart robotic arm Pt I:Soft computing KB optimizer-deep machine learning IT”.In the first part of the paper,we examined control systems with constant coefficients of the conventional PID controller(based on genetic algorithm)and intelligent control systems based on soft computing *** demonstration,MatLab/Simulink models and a test benchmark of the robot manipulator *** and limitations of intelligent control systems based on soft computing technology *** main element of the control system based on soft computing is a fuzzy controller with a knowledge base in *** the first part of the article,two ways to implement fuzzy controllers *** way applyied one controller for all links of the manipulator and showed the best ***,such an implementation is not possible in complex control objects,such as a manipulator with seven degrees of freedom(7DOF).The second way use of separated control when an independent fuzzy controller controls each *** control decomposition due to a slight decrease in the quality of management has greatly simplified the processes of creating and placing knowledge *** this Pt II,to eliminate the mismatch of the work of separate independent fuzzy controllers,methods for organizing coordination control based on quantum computing technologies to create robust intelligent control systems for robotic manipulators with 3DOF and 7DOF *** supremacy of developed end-to-end IT design of robust intelligent control systems demonstrated.

关键词： Quantum computing supremacy Quantum-classical correlation Knowledge base Fuzzy controller Quantum fuzzy inference

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Intelligent Robust Control of Redundant Smart Robotic Arm Pt I: Soft Computing KB Optimizer - Deep Machine Learning IT

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Artificial Intelligence Advances 2020年第1期2卷 31-58页

作者： Alena v.Nikolaeva sergey v.ulyanov Dubna State University Universitetskaya Str.19DubnaMoscow Region141980Russia ISESYS LLC(EFKO GROUP) Naberezhnaya Ovchinnikovskaya Str.20 Bld.2MoscowRussia

Redundant robotic arm models as a control object *** of computational intelligence IT on soft computing optimizer of knowledge base in smart robotic manipulators *** computing optimizer is the sophisticated computational intelligence toolkit of deep machine learning SW platform with optimal fuzzy neural network *** methods for development and design technology of control systems based on soft computing introduced in this Part 1 allow one to implement the principle of design an optimal intelligent control systems with a maximum reliability and controllability level of a complex control object under conditions of uncertainty in the source data,and in the presence of stochastic noises of various physical and statistical *** knowledge bases formed with the application of soft computing optimizer produce robust control laws for the schedule of time dependent coefficient gains of conventional PID controllers for a wide range of external perturbations and are maximally insensitive to random variations of the structure of control *** robustness is achieved by application a vector fitness function for genetic algorithm,whose one component describes the physical principle of minimum production of generalized entropy both in the control object and the control system,and the other components describe conventional control objective functionals such as minimum control error,*** application of soft computing technologies(Part I)for the development a robust intelligent control system that solving the problem of precision positioning redundant(3DOF and 7 DOF)manipulators *** of quantum soft computing in robust intelligent control of smart manipulators in Part II described.

关键词： Intelligent control system Knowledge base Soft computing technology Decomposition Redundant robotic manipulator

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Robust PID Controller Design on Quantum Fuzzy Inference: Imperfect KB Quantum Self-Organization Effect-Quantum Supremacy Effect

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Artificial Intelligence Advances 2020年第1期2卷 59-70页

作者： L.v.Litvintseva v.S.ulyanov sergey v.ulyanov INESYS LLC(EFKO GROUP) Russia Dubna State University Universitetskaya Str.19DubnaMoscow Region141980Russia

The new method of robust self-organized PID controller design based on a quantum fuzzy inference algorithm is *** structure and mechanism of a quantum PID controller(QPID)based on a quantum decision-making logic by using two K-gains of classical PID(with constant K-gains)controllers are *** intelligence toolkit as a soft computing technology in learning situations is ***’s simulation results of intelligent robust control are demonstrated and *** supremacy demonstrated.

关键词： PID controller tuning Quantum fuzzy inference Intelligent control Quantum self-organization of imperfect KB Quantum supremacy

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Human Being Emotion in Cognitive Intelligent Robotic Control Pt I: Quantum/Soft Computing Approach

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Artificial Intelligence Advances 2020年第1期2卷 1-30页

作者： Alla A.Mamaeva Andrey v.Shevchenko sergey v.ulyanov Dubna State University Universitetskaya Str.19DubnaMoscow Region141980Russia ISESYS LLC(EFKO GROUP) Naberezhnaya Ovchinnikovskaya Str.20 Bld.2MoscowRussia

The article consists of two *** I shows the possibility of quantum/soft computing optimizers of knowledge bases(QSCOptKB™)as the toolkit of quantum deep machine learning technology implementation in the solution’s search of intelligent cognitive control tasks applied the cognitive helmet as *** particular case,the aim of this part is to demonstrate the possibility of classifying the mental states of a human being operator in on line with knowledge extraction from electroencephalograms based on SCOptKB™and QCOptKB™sophisticated *** of soft computing technologies to identify objective indicators of the psychophysiological state of an examined person *** role and necessity of applying intelligent information technologies development based on computational intelligence toolkits in the task of objective estimation of a general psychophysical state of a human being operator *** information technology examined with special(difficult in diagnostic practice)examples emotion state estimation of autism children(ASD)and dementia and background of the knowledge bases design for intelligent robot of service use is *** of cognitive intelligent control in navigation of autonomous robot for avoidance of obstacles demonstrated.

关键词： Neural interface Computational intelligence toolkit Intelligent control system Deep machine learning Emotions Quantum soft computing optimizer

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Intelligent Control of Mobile Robot with Redundant Manipulator & Stereovision: Quantum / Soft Computing Toolkit

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Artificial Intelligence Advances 2020年第2期2卷 1-31页

作者： Kirill v.Koshelev Alena v.Nikolaeva Andrey G.Reshetnikov sergey v.ulyanov Dubna State University Russia INESYS LLC(EFKO GROUP) Russia

The task of an intelligent control system design applying soft and quantum computational intelligence technologies *** example of a control object as a mobile robot with redundant robotic manipulator and stereovision *** of robust knowledge bases is performed using a developed computational intelligence-quantum/soft computing toolkit(QC/SCOptKBTM).The knowledge base self-organization process of fuzzy homogeneous regulators through the application of end-to-end IT of quantum computing *** coordination control between the mobile robot and redundant manipulator with stereovision based on soft computing *** general design methodology of a generalizing control unit based on the physical laws of quantum computing(quantum information-thermodynamic trade-off of control quality distribution and knowledge base self-organization goal)is *** modernization of the pattern recognition system based on stereo vision technology *** effectiveness of the proposed methodology is demonstrated in comparison with the structures of control systems based on soft computing for unforeseen control situations with sensor *** main objective of this article is to demonstrate the advantages of the approach based on quantum/soft computing.

关键词： Quantum/Soft computing optimizer Knowledge base Fuzzy controller Quantum fuzzy inference Multi-agent systems Mobile robot stereo vision

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Robotic Smart Prosthesis Arm with BCI and Kansei/Kawaii/Affective Engineering *** I: Quantum Soft Computing Supremacy

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Artificial Intelligence Advances 2020年第2期2卷 68-87页

作者： Alexey v.Nemchaninov Alena v.Nikolaeva sergey v.ulyanov Andrey G.Reshetnikov INESYS LLC(EFKO GROUP) Russia Dubna State University Russia

A description of the design stage and results of the development of the conceptual structure of a robotic prosthesis arm is *** a result,a prototype of man-made smart prosthesis on a 3D printer as well as a foundation for computational intelligence *** application of soft computing technology(the first step of IT)allows to extract knowledge directly from the physical signal of the electroencephalogram,as well as to form knowledge-based intelligent robust control of the lower performing level taking into account the assessment of the patient’s emotional *** possibilities of applying quantum soft computing technologies(the second step of IT)in the processes of robust filtering of electroencephalogram signals for the formation of mental commands of robotic prosthetic arm *** supremacy benchmark of intelligent control simulation demonstrated.

关键词： Robotic prosthetic arm Cognitive computational intelligence Brain-computer-device neurointerface Mental commands Quantum soft computing Fuzzy cognitive controller Quantum supremacy benchmark

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Protective Composite Coatings Formed on Mg Alloy Surface by PEO Using Organofluorine Materials

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Journal of Materials Science & Technology 2017年第7期33卷 661-667页

作者： Dmitry v. Mashtalyar Konstantine v. Nadaraia sergey L. Sinebryukhov sergey v. Gnedenkov Institute of Chemistry Far Eastern BranchRussian Academy of SciencesVladivostok 690022Russia Far Eastern Federal University Vladivostok 690950Russia

The results of the surface modification of magnesium alloys by plasma electrolytic oxidation（PEO） and subsequent treatment in suspension of the superdispersed polytetrafluoroethylene（SPTFE） or telomeric solution of tetrafluoroethylene（TFE） are presented. Composite coatings have been obtained by dipping with subsequent heat treatment. Electrochemical, tribological properties and wettability of protective composite coatings have been investigated. Composite coatings formed on PEO-layer by fourfold treatment of samples in SPTFE suspension possess best protective properties. The obtained coatings decrease the corrosion current density（5.4 × 10^（-11） A cm^（-2）） and wear（7.6 × 10^（-7）mm^3（Nm）^（-1））, and increase the polarisation resistance（1.7 × 10~9 cm^2） and impedance modulus（1.9 × 10~9 cm^2） by orders of magnitude in comparison with unprotected magnesium alloy and base PEO-coating. The highest value of contact angle（CA） has been obtained for coatings with triple application in telomeric solution. CA for such composite coatings attains（171 ± 2）？, as the result of multimodal roughness of the composite coating＇s surface.

关键词： Mg-Mn-Ce alloy Corrosion PEO-coatings Composite coatings Wear Hydrophobicity

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Robotic Unicycle Intelligent Robust Control Pt I: Soft Computational Intelligence Toolkit

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Artificial Intelligence Advances 2020年第1期2卷 71-92页

作者： ulyanov sergey ulyanov viktor Yamafuji Kazuo Dubna State University Institute of system analysis and managementDubnaMoscow141980Russia INESYS LLC(EFKO GROUP) Ovchinnikovskaya naberezhnaya 20Bld 1Business Centre“Central City Tower”Moscow115035Russia NUST MISIS IYS Lab Leninskiy prospekt 4Moscow119049Russia Dept.of Mechanical and Intelligent Control Eng. University of Electro-Communications1-5-1 ChofuChofugaoka182 TokyoJapan

The concept of an intelligent control system for a complex nonlinear biomechanical system of an extension cableless robotic unicycle discussed.A thermodynamic approach to study optimal control processes in complex nonlinear dynamic systems *** results of stochastic simulation of a fuzzy intelligent control system for various types of external/internal excitations for a dynamic,globally unstable control object-extension cableless robotic unicycle based on Soft Computing(Computational Intelligence Toolkit-SCOptKBTM)technology presented.A new approach to design an intelligent control system based on the principle of the minimum entropy production(minimum of useful resource losses)determination in the movement of the control object and the control system is *** determination as a fitness function in the genetic algorithm is used to achieve robust control of a robotic *** algorithm for entropy production computing and representation of their relationship with the Lyapunov function(a measure of stochastic robust stability)described.

关键词： Robotics unicycle Intelligent control systems Essentially nonlinear model Globally unstable model Stochastic simulation Soft computing

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Analysis of natural vibration of truncated conical shells partially filled with fluid

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International Journal of Mechanical System Dynamics 2024年第2期4卷 142-152页

作者： sergey A.Bochkarev sergey v.Lekomtsev Laboratory of Functional Materials Institute of Continuous Media MechanicsUral Branch of Russian Academy of SciencesPermRussian Federation

In this paper,we study the vibrational behavior of shells in the form of truncated cones containing an ideal compressible *** sloshing effect on the free surface of the fluid is *** dynamic behavior of the elastic structure is investigated based on the classical shell theory,the constitutive relations of which represent a system of ordinary differential equations written for new *** fluid vibrations are described in terms of acoustic approximation using the wave equation for hydrodynamic pressure written in spherical *** transformation into the system of ordinary differential equations is carried out by applying the generalized differential quadrature *** formulated boundary value problem is solved by Godunov's orthogonal sweep *** frequencies of shell vibrations are calculated using the stepwise procedure and the Muller *** accuracy and reliability of the obtained results are estimated by making a comparison with the known numerical and analytical *** dependencies of the lowest frequency on the fluid level and cone angle of shells under different combinations of boundary conditions(simply supported,rigidly clamped,and cantilevered shells)have been studied *** conical straight and inverted shells,a numerical analysis has been performed to estimate the possibility of finding configurations at which the lowest natural frequencies exceed the corresponding values of the equivalent cylindrical shell.

关键词： classical shell theory conical shell Godunov's orthogonal sweep method ideal compressible fluid generalized differential quadrature method natural vibrations

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Flash Lamps as Ignition and Initiation Sources of the vS-2 Pyrotechnic Composition

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含能材料 2022年第4期30卷 370-378页

作者： sergey I.Gerasimov Mikhail A.Ilyushin sergey M.Putis sergey A.Dushenok Irina v.Shugalei Andrey M.Sudarikov Russian Federal Nuclear Center‑All‑Russian Research Institute of Experimental Physics SarovRussia Sarov Institute of Physics and Technology is a Branch of the Scientific Research Nuclear University MEPhI SarovRussia Nizhny Novgorod State Technical University Named after R.E.Alekseev Nizhny NovgorodRussia RAS Institute for Studying Problems in Mechanical Engineering ‑is a Branch of the RAS Applied Physics InstituteNizhny NovgorodRussia "Technologist"Special Design and Technological Bureau St.PetersburgRussia Saint‑Petersburg State Institute of Technology(Technical University) St.PetersburgRussia Russian State Hydro‑meteorological University St.PetersburgRussia

In the present work it is found that the pyrotechnic composition vS⁃2 can be initiated with flash lamps IFC⁃500 and ***⁃2 pyrotechnic composition contains 90%of mercury(Ⅱ)5⁃hydrazinotetrazolate perchlorate and 10%of optically trans⁃parent copolymer of 2⁃methyl⁃5⁃vinyltetrazole and methacrylic acid(PvMT).We have found that the flash lamps make it possi⁃ble to initiate combustion of vS⁃2 composition with its transition to detonation both in cylindrical charges placed in brass caps of 5 mm diameter and 2 mm high,and film charges with 10 mm×80 mm in size and surface weights of 60 mg·cm^(-2)and 90 mg·cm^(-2),showing ignition delay times 10μs and 3μs,*** also measured detonation velocities for vS⁃2 composition film charges,which were 4375-4505 m·s^(-1)(of the charge being surface mass 60 mg·cm^(-2))and 4221-4281 m·s^(-1)(of the charge be⁃ing surface mass 90 mg·cm^(-2))and their blasting action on the aluminum *** depths of the normal shock wave imprints at the charge⁃barrier interface were 0.6-0.7 mm(for surface mass of the film charges 60 mg·cm^(-2))and 1.2-1.3 mm(for surface mass of the film charges 90 mg·cm^(-2))

关键词： vS⁃2 pyrotechnic composition flash lamps ignition transition of combustion to detonation blasting action

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