# Yury KaravaevKalashnikov Izhevsk State Technical University

Yury Karavaev

PhD

## About

46

Publications

12,168

Reads

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316

Citations

Introduction

Additional affiliations

May 2016 - present

**Kalashnikov Izhevsk State Technical University**

Position

- Professor

March 2011 - present

**Udmurt State University**

Position

- Researcher

Description

- http://youtu.be/qDReTsobG3E

January 2007 - April 2016

Education

September 2001 - October 2006

## Publications

Publications (46)

В статье рассматривается кинематическая модель сфероробота, приводимого в движение расположенной внутри платформой с омниколесами. Представлены особенности управления сферороботом с учетом смещения центра масс внутренней омниколесной платформы. Получены как общие алгоритмы управления сферороботом в рамках кинематической квазистатической модели, так...

We consider the kinematic model of a spherical robot actuated by an omniwheel platform located inside. A description of the design and a path planning algorithm based on the kinematic model are presented. Experimental investigations have been carried out for the typical trajectories: in a straight line and in a circle.

This paper is an experimental investigation of a round uniform disk rolling on a horizontal surface. Two methods for experimentally determining the loss of contact of the rolling disk from the horizontal surface before its stop are proposed. Results of experiments for disks having different masses and manufactured from different materials are prese...

This paper deals with research of implementation of artificial neural networks for machining processes monitoring. A microprocessor device, neural network algorithm and program for it were developed. Different neural networks parameters were simulate, and on the example of the real drilling process the artificial neural network was trained to recog...

This article is about application of Matlab for gat hering and saving data from measurement system, consisting of: sensors of axial force and torque, sensors of vibrations, during a high speed drilling process , as well as for processing and analysis obtained data. An application was developed in Matlab for data visualization, comparative evaluatio...

The paper presents the model of rolling resistance and the application of this model for the control of a pendulum actuated spherical robot on a horizontal plane. Control actions are derived in the form of maneuvers (gaits) which ensure the transition between two steady motions of the system. The experiments confirming the applicability of the mode...

In this paper we presents the results of experimental investigations and simulations of the motion of the Roller Racer. We assume that the angle \(\varphi (t)\) between the platforms is a prescribed function of time and that the no-slip condition (nonholonomic constraint) and viscous friction force act at the points of contact of the wheels. The re...

We investigate the model of controlled motion of a pendulum-actuated spherical robot on a horizontal plane, taking rolling resistance into account. We derive equations of motion and obtain partial steady-state solutions. We present algorithms for designing elementary maneuvers (gaits) which ensure transition between two steady motions of the system...

This paper is concerned with the motion of an aquatic robot whose body has the form of a sharp-edged foil. The robot is propelled by rotating the internal rotor without shell deformation. The motion of the robot is described by a finitedimensional mathematical model derived from physical considerations. This model takes into account the effect of a...

In this paper we present a study of the dynamics of a mobile robot with omnidirectional wheels taking into account the reaction forces acting from the plane. The dynamical equations are obtained in the form of Newton – Euler equations. In the course of the study, we formulate structural restrictions on the position and orientation of the omnidirect...

The motion of a spherical robot with periodically
changing moments of inertia, internal rotors and a displaced center of mass is considered.
It is shown that, under some restrictions on the displacement of the center of mass,
the system of interest features chaotic dynamics due to separatrix splitting.
A stability analysis is made of the upper equi...

This article is concerned with developing an intelligent system for the control of a wheeled robot. An algorithm for training an artificial neural network for path planning is proposed. The trajectory ensures steering optimal motion from the current position of the mobile robot to a prescribed position taking its orientation into account. The propo...

The paper is concerned with the problem of stabilizing a spherical robot of combined type during its motion. The focus is on the application of feedback for stabilization of the robot which is an example of an underactuated system. The robot is set in motion by an internal wheeled platform with a rotor placed inside the sphere. The results of exper...

This paper is concerned with the problem of optimal path planning for a mobile wheeled robot. Euler elasticas, which ensure minimization of control actions, are considered as optimal trajectories. An algorithm for constructing controls that realizes the motion along the trajectory in the form of an Euler elastica is presented. Problems and special...

Одним из приоритетных направлений исследования в области мехатроники и робототехники является область научных исследований, связанная с разработкой мобильных манипуляционных роботов. Мобильные манипуляционные роботы представляют собой мобильную платформу, на которой размещаются манипуляционные и захватные механизмы. Статья посвящена обоснованию выб...

In this work we investigate the motion of a homogeneous ball rolling without slipping on uniformly rotating horizontal and inclined planes under the action of a constant external force supplemented with the moment of rolling friction, which depends linearly on the angular velocity of the ball. We systematize well-known results and supplement them w...

In this paper the model of rolling of spherical bodies on a plane without slipping is presented taking into account viscous rolling friction. Results of experiments aimed at investigating the influence of friction on the dynamics of rolling motion are presented. The proposed dynamical friction model for spherical bodies is verified and the limits o...

In this article, a dynamical model for controlling an omniwheel mobile robot is presented. The proposed model is used to construct an algorithm for calculating control actions for trajectories characterizing the high maneuverability of the mobile robot. A description is given for a prototype of the highly maneuverable robot with four omniwheels, fo...

We present the results of theoretical and experimental investigations of the motion of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed inside the robot. The control of the spherical robot is based on a dynamic model in the nonholonomic statement expressed as equations of motion in quasivelocities with indet...

The experimental stand is described and the results of investigation of the motion of a brake shoe are presented. In the noncritical region, the friction coefficient is determined experimentally. It is shown that its value corresponds to the condition of uniqueness of the solution for construction of this brake shoe. The dynamics observed in the pa...

In this paper we describe the results of experimental investigations of the motion of a screwless underwater robot controlled by rotating internal rotors. We present the results of comparison of the trajectories obtained with the results of numerical simulation using the model of an ideal fluid.

Mir Abbas Jalali et al. [Phys. Rev. E 92, 032913(2015)] explained the retrograde turn of rings by aerodynamic phenomena due to the presence of a central hole in the ring as opposed to a disk. The results of our experiments suggest that the drag torque is not the main reason for the retrograde turn of the rings, and the results of theoretical resear...

We present the results of theoretical and experimental investigations of the motion of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed inside the robot. The control of the spherical robot is based on a dynamic model in the nonholonomic statement expressed as equations of motion in quasivelocities with indet...

In this paper we investigate the dynamics of a body with a flat base (cylinder) sliding on a horizontal rough plane. For analysis we use two approaches. In one of the approaches using a friction machine we determine the dependence of friction force on the velocity of motion of cylinders. In the other approach using a high-speed camera for video fil...

This paper deals with the problem of a spherical robot propelled by an internal omniwheel platform and rolling without slipping on a plane. The problem of control of spherical robot motion along an arbitrary trajectory is solved within the framework of a kinematic model and a dynamic model. A number of particular cases of motion are identified, and...

This paper deals with research of implementation of artificial neural networks for machining processes monitoring. A microprocessor device, neural network algorithm and program for it were developed. Different neural networks parameters were simulate, and on the example of the real drilling process the artificial neural network was trained to recog...

This paper deals with research of implementation of artificial neural networks for machining processes monitoring. A microprocessor device, neural network algorithm and program for it were developed. Different neural networks parameters were simulate, and on the example of the real drilling process the artificial neural network was trained to recog...

В статье представлен алгоритм управления мобильным омниколесным роботом по отклонению для движения по траектории. Рассматривается кинематическая модель, а также динамика приводов мобильного робота.

Modern mechatronic machining centers belong to complex technical systems. Existing mathematical models are not capable to describe the fullness and complexity of the processes of dynamic interaction of mechatronic machine elements:"control system - machine - attachment - tool - work material", that affect quality and efficiency of machining. With c...

В статье предложен метод расчета силы резания на главной режущей кромке спирального сверла по известным значениям силы подачи сверла и крутящего момента

In the article represented results of experiments of drilling plastic and fragile materials. Also findings analysis and comparison.

## Questions

Questions (2)

I need something like Paschen curves but for low voltages

The task is to develop a music recognition system (genre, tempo, etc.) and generation of motion for a mobile robot (hexapod, android robot, usual wheeled platform). I would be grateful for any advice or experience in this area.