Control Science of Autonomous Systems

The report presents the priority issues of the development of Autonomous Systems for various purposes: the search for the limits of acceptability of the Deweaponization of such systems and breakthrough technologies; new challenges to international humanitarian law; ethical issues and fundamental human rights issues. In the problems considered, direct attention is focused on the central question: if Autonomy considered here is considered desirable for "friendly" acts, for example, during rescue operations, then to what extent could this affect the acceptability of such systems? [ISSN: 978-5-7281-1862-6 (in Russian), - pages: 73-76].

The author's teaser of the experimental format of organizing and conducting a scientific seminar: "Problems of autonomous robotic complexes control, February 25, 2022, ICS RAS (press release)," - URL: https://www.ipu.ru/en/node/68560 [https://www.researchgate.net/project/Control-Science-of-Autonomous-Systems/update/625760f098661c036e0a089d].

The report discusses the practical experience of presenting problematic issues in the development, creation, and operation of robotic complexes of air, space, sea, and land-based for various purposes in the mass media. The subject of discussion is short stories about robotics, as well as the justification of logical-linguistic models for describing and evaluating the effectiveness of solving management and decision-making tasks in problem-oriented social and economic systems, including using promising methods and models of Artificial Intelligence (AI). For further discussion, the elements of scientific and methodological support for digitalization in the extremely interesting developing field of advanced & breakthrough technologies are indicated with the definition of characteristic features of the so-called advanced development of AI (AGI). A comprehensive study includes the popularization of the potential of promising implementations of advanced technologies in heterogeneous environments (includes Robotics, Intelligent Transport Systems (ITS), and other new elements of heterogeneous platforms introduced in the media).

For discussion, some features of scientific and methodological support in the extremely interesting developing field of breakthrough technologies are proposed, with the definition of characteristic (primary, verifiable, reliable, etc.) features and (also and/or later) elements of the so-called advanced development of “Artificial Intelligence”. From the standpoint of comprehensive research, the additional study is on the popularization of the potential of promising implementations in heterogeneous environments and some trends in updating the nomenclature of specialists of researchers in the areas of research methods and means of intellectualization (includes Intelligent Transport Systems (ITS), Robotic Systems, and others). Directly in this new study, a patentable solution is implemented and developed in a set of integration components.

Report at the Multi-Conference on Control Problems, Conference Control of Aerospace Systems ("UAKS-2021"), section Prospective Control tasks, - (in Russian), - URL: https://www.youtube.com/watch?v=GTyeShN0U14

For discussion, some features of understanding modern concepts in the extremely interesting developing field of breakthrough technologies are proposed, with the definition of characteristic (primary, verifiable, reliable, etc.) features and (also and/or later) elements of the so-called concept of “Artificial Intelligence”. From the standpoint of eliminating administrative restrictions, the main focus is on popularization and some trends in updating the nomenclature of specialists of researchers in the areas of research methods and means of intellectualization.

Original solutions for implementing alternative Drone Networks platforms as basic technologies are offered. Some various for the design of a promising MultiPurpose Convertiplane will allow Public Safety agencies to expand the capabilities of the existing or prospective infrastructure. The results of the study of the characteristics of a MultiPurpose Convertiplane with a conceptually new aeromechanical scheme are presented. Various options for the implementation of a MultiPurpose Convertiplane-Airplane are considered: a Passenger Aircraft with ten seats, a Special Aircraft for rescue operations and ambulances, a Small Unmanned Convertiplane with a long flight duration. The results of the research showed that in all implementation options, the proposed of a MultiPurpose Aircraft Configuration allows you to achieve higher performance than other existing aerial vehicles, including in the interests of Operation Convergent Response (OCR) for first re-sponders and Public Safety specialists. More agile call and alert control with such Drone Networks based on alternative platforms can provide better conditions to predict and detect incidents faster and provide better situational awareness to first responders and citizens. Evaluation of the effectiveness of the joint operation of these advanced tools in various operating environments is a "technological underground" at present. The introduction of similar Unmanned Aerial Vehicles and Small Un-manned Aerial Vehicle technologies also has great potential in other industries , such as telecommunications, utilities, construction, mining, oil gas, nature conservation, agriculture, and others.

Some developments of polysyllabic research in the field of space traffic control and the application of critical scenario modeling tools are proposed for discussion. A retrospective example of information and analytical support of the object of control and monitoring is presented and analyzed. The system integration in the interests of the formation, application and development of the virtual semantic environment of advanced aerospace systems is justified [in Russian].

A multi-stage evaluation of production efficiency using the Free Disposal Hull model is considered. The approach to the management and maintenance of products, as well as some case of data envelopment analysis application in the aerospace industry are presented. /// An adaptation of the idea of the Quality Function Deployment in the context of topical issues of the development of advanced space technologies is proposed. The report includes a brief overview of European projects to reduce the level of man-made contamination of near-Earth space. Selected examples of diversified solutions are shown including a method of increasing the duration of the operation of spacecraft, an instrumental modeling complex, etc. [in Russian]

An adaptation of the idea of the Quality Function Deployment in the context of topical issues of the development of advanced space technologies is proposed. The report includes a brief overview of European projects to reduce the level of man-made contamination of near-Earth space. Selected examples of diversified solutions are shown including a method of increasing the duration of the operation of spacecraft, an instrumental modeling complex, etc.

The instrumental-modeling complex of coordination of the processes of positioning and disposition of a complex dynamic object in the group refers to the means of modeling and evaluating factors that complicate the operational processing of information by promising complexes of heterogeneous robotics. The technical result is to provide preprocessing of information about the disposition of a complex dynamic object in a group in situations of complex (arbitrary) impact of destabilizing factors on the simulated object through the situational use of an intelligent stand when evaluating new capabilities of the cyber-physical infrastructure as a whole for such incorporated (unified) fragments. The device is based on a multi-channel matrix structure with feedback, devices for monitoring and linearizing the transfer characteristics of multi-channel converters in the specified area of research tasks and experiments. The device has a sub-unit for data input and correction, a coordination unit, and a sub-unit for collecting generalized situation data (disposition). 3 illustrations [https://yandex.ru/patents/doc/RU201808U1_20210113].

The report presents recommendations for system integration of modern information and communication technologies and automation tools with transport infrastructure, vehicles and user services based on a prototype of a virtual semantic environment. The accompanying system changes, aimed at providing a set of innovative services for various modes of transport, are presumably designed at achieving sustainable mobility through improving the efficiency, safety and environmental friendliness of the transport process and improving the infrastructure of highly automated and intelligent transport systems. Index Terms—virtual semantic environment prototype, system integration, surrogate model, service support layer protocol, coordination, emergency message, infrastructure of highly automated transport systems.

The Missile Technology Control Regime methodical and terminological aspects presents. The paper focused on the technical and legal norms in the advanced technologies applications for accounting and the improvements. In particular, attention is focused on features of equipment and its elements: "developed", "used", and "modified." [ Rozhnov A.V., Tsypelev V.V., Features of the formation of a somewhat advanced aircraft technology taking into account the regulations of the MTCR: proceedings of the XVIth international youth conference "Systems of design technological preparation of production and management of stages of the life cycle of industrial production (CAD/CAM/PDM-2016)," - Moscow, Publisher LLC "Analyst," 2016, pp. 396-398 - (in Russian) ].

The preconditions of the computing systems and complex for the different purposes development on the stage of Strategic Missile Troops formation are examined. The short description of the several science and technique monuments in Russia - the first special computing complex and computers prototypes for special purposes is performed. Some facts in the context of the explanation of the world priority of the science technical solutions (in the field of the atomization of the complex technical objects management and appropriate computers for special purposes construction) of the domestic scientist in the 50-60 years of the 20th century are performed. Popular science example of the first algorithmic "military" robot is mentioned [Neurocomputers (ISSN 1999-8554), - URL: http://www.radiotec.ru/article/8295#english].

Proceedings of the Permanent Scientific Seminar (Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, ISC RAS): “Control Science of Autonomous Systems,” [item's 1-35]. – Moscow, Russia, 2017-2018, (in Russian). [Online]. Available: http://www.ipu.ru/smart

In a picture: "The beginning of the next seminar: a new speaker comes to the podium..." /// https://www.ipu.ru/en/autonomous_systems ... Proceedings of the Permanent Scientific Seminar (Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, ISC RAS): “Control Science of Autonomous Systems,” [item's 1-35]. – Moscow, Russia, 2017-2018, (in Russian). [Online]. Available: http://www.ipu.ru/smart < Secretary of the Scientific Seminar: @Aleksei_Rozhnov > - last prolongation (April 2020) - URL: [ https://www.ipu.ru/en/node/57010 ] ; - and old (archival) - URL: [ http://www.ipu.ru/smart (in Russian) ] Prolongation of previous discussions in the context of system integration of directions scientific activity, - URL: https://www.researchgate.net/project/Workshop-Maturity-of-artificial-intelligence-system-integration-and-management-problems-Moscow-Russia .

A stratified model of United Information and Control Field (UICF) is described. The field is viewed as a specific environment for operations of a mixed group of manned and unmanned aerial vehicles. A distributed intellectual control system for the mixed group is outlined, it includes both onboard (airborne) and external components. Disposition a mixed group of manned and unmanned aerial vehicles in UICF for preflight planning of the mixed group are discussed, they represent the basis for the external component. New technical solution for switching control modes is proposed.

The device for modeling two-channel converters (in the study of regenerating processes with discrete time) refers to automation and computer technology and can be used to solve research and applied scientific and technical problems that are applicable in principle and focused on modeling and evaluating factors that make it difficult for operators of complex technical systems to perceive information or lead to their fatigue at the required time intervals of activity (for example, in the field of three-dimensional stereoscopic visualization). These tools and methods also consider the Pulfrich effect - a psychophysical perception effect that occurs when an artificial or natural delay in the visual signal of one of the eyes, as a result of which an object moving sideways in the field of view is interpreted by the visual cortex as being located, depending on the direction and speed of movement, closer or further from the real position. FIELD: radioengineering, communication. SUBSTANCE: device uses a multichannel matrix structure with feedback, devices for control and linearisation of transmission characteristics of multichannel converters for the specifiedre search tasks and experiments.The device includes a control unit, a generator of multidimensional sequences, units of interface, commutation, comparison, memory, acounter of number of switch ingoperations of a failure detection subunit. EFFECT: providing preliminary processing of information in situations of complex action on a simulated object of destabilising factors by using single type fragments of a smart bench beingequipped. [RU 2530222 C1. - URL: https://www.fips.ru/registers-web/action?acName=clickRegister&regName=RUPAT <val. (for Parameter "Reg. num."): No. 2530222>].

FIELD: instrument engineering. SUBSTANCE: invention relates to the inertial navigation systems instrument making and can be used to determine the object current angular and linear accelerations. Object movement parameters with the inertial measuring system measuring method, characterized by the arrangement of 9 precision accelerometers in the target object coordinates system, accelerometer readings measurement using the high-speed analog-to-digital converter and computationally effective determination of the object's center of mass angular and linear accelerations in accordance with the calculation formulas. Measuring method implementation system is characterized by fact, that the measuring system mounting frame has box-shaped structure in the form of rectangular parallelepiped with two rigid end plates, on which the accelerometers are installed. Each accelerometer is made in the form of elastic element consisting of two beams-plates of stainless steel. Over the electrical insulation thin layer, on each of beam-plate one side four thin-film strain gauges of nichrome are vacuum deposited, combined into the tensor bridge. At the elastic element free end the inertial mass is fixed. Accelerometer beam-plate shape in the plan is chosen so, that its S-shaped bending under the inertial mass action is provided, which allows to increase the output signal from the strain gauge bridge to reduce the measurement error. By their base the elastic elements are fixed to the common for all accelerometers mounting frame. EFFECT: increase in the object acceleration determining accuracy, resolution and stability with simultaneous expansion of the operating temperatures range.

FIELD: intruder and fire alarms, in particular, devices for imitation protection of objects being monitored, possible use for protecting various objects belonging to national economy. SUBSTANCE: device for imitation protection of objects being monitored consists of transmission block with sensor and signal selection block, translator with information processing block, information receipt block with control block and communication line between transmission block and translator. Sensor comprises: launching sequence memory block, comparison block, generator of second pseudo-random series, block for converting n-bit parallel combination to a serial combination, memory block, block for converting serial combination into n-bit parallel combination, demodulator, modulator, matching device. Information processing block comprises: launching sequence memory block, block for converting n-bit parallel combination to serial combination, modulator, matching device, key generator, generator of first pseudo-random series, control value memory block, generator of second pseudo-random series, first memorizing device, comparison block, second memorizing device, block for converting a serial combination to n-bit parallel combination and demodulator. EFFECT: increased trustworthiness of monitoring of protected objects, expanded functional capabilities of devices for signaling status of objects being monitored.

In this paper the extremum periodic trajectory of the two-dimensional selector-linear differential inclusion (SLDI) is used to estimate boundary of the invariant set of the nonlinear time-varying system arising in the stability analysis of the wheeled robot control. The motion is supposed to be planar without a lateral slippage. The control goal is to drive the target point of the robot plaform to the specified trajectory and to stabilize the motion along it. The trajectory consists of line segments and circular arcs. The current curvature of the trajectory of the target point is taken as control. The control must satisfy two-sided constraints. Given control law, the attraction domain estimation problem is considered. The attraction domain must be inscribed into the certain parallelepiped of the 'distance to the trajectory -orientation' phase space. Time-varying curvature of the target trajectory is considered as arbitrary varying function which takes values from the specified interval. The feedback linearization scheme is used for synthesis of the control low. The 'saturation function' is then used to take into account control constraints. The closed loop system takes form of the nonlinear system with parametric disturbances. The absolute stability approach is explored for stability anal-ysis. Some nonlinearities take values from the interval. Other nonlinearities satisfy sector constraints. Along with the nonlinear time-varying system the uncertain linear time varying system is considered. Every solution of the nonlinear system is also solution of the time varying system for certain set of time-varying disturbances. To estimate the attraction domain of the nonlinear closed loop system, the Lyapunov function for SLDI is constructed. A convex invariant function is known to exist at the boundary of the absolute stability of SLDI. The extremum trajectory, corresponding to the boundary of the absolute stability in the second order case belongs to the level set of the invariant function and is the periodic solution. The periodic solution has finite number of switches on the period. It circumscribes the boundary of the attraction domain estimate. The illustrative example is given.

BIOGRAPHY Lev Rapoport, received the M.Sc. degree in 1976 from the radio-technical department of the Ural Polytechnic Institute, Sverdlovsk, and the PhD degree in 1982 in automatic control from the Institute of System Analysis of the Russian Academy of Science, Moscow. In 1995 he received the DrSc degree in automatic control from the Institute of Control Sciences of the Russian Academy of Science, Moscow, where he holds the position of the head of the non-linear systems control laboratory. Since 1993 till 1998 he worked for Ashtech part time. Since 1998 till 2001 he was with Javad Positioning Systems, since 2001 till 2005 he worked for Topcon Positioning Systems, since 2005 till 2011 he worked for Javad GNSS. Since 2011 till now he is a consultant at Huawei Technologies R&D Center in Moscow. His research interests include navigation and control. Yi Youwen received the B.Sc. degree in 2007 and M.Sc. degree in 2009 from Harbin Institute of Technology and Huazhong University of Science and Technology, respectively. From 2009 till 2011, he was a research assistant at Hong Kong University of Science and Technology. In 2011, he joined Huawei Technologies Co. Ltd as a research engineer. His research interests include indoor navigation, self-organization network, and data mining. Zeng Yanxing received the B.Sc., M.Sc, and PhD degrees in the information and communication department of the Xian JiaoTong University in China. Currently he holds the senior researcher position at the Communication Technology Laboratory of Huawei Technologies. His current research interests include WLAN and 5G cellular technologies. Shen Jianqiang received the M.Sc degree in 2001 from the Automatic control theory and engineering department of South East University in China. Currently he holds the senior researcher position at the Huawei Technologies R&D Center in Moscow. His current research interests include WLAN, LTE,5G cellular technologies. ABSTRACT GNSS is widely used for outdoor location and navigation. GPS was successfully augmented by GLONASS. In future the constellation of navigation satellites will be enhanced by Galileo, Compass, QZSS. Large satellite constellation, improvement of ephemeris quality, and using triple frequency band pseudo-range and carrier phase measurements will potentially make robust standalone solution to converge to the sub decimeter level of accuracy for most part of outdoor navigation applications. Assisted GNSS expands its capabilities to harsh conditions, but nevertheless GNSS is blind in deep indoor environments. So other approaches to positioning have been proposed for indoor navigation. One of most widely used approaches is based on using 802.11 Wi-Fi. It allows for obtaining of low cost location solution using already deployed access points (AP) just modifying firmware part of the system. Received signal strength indicator (RSSI) is widely used in navigation equations as raw measurements the same way as pseudo-ranges are used in satellites navigation equations. But, classic logarithmic loss function connecting distance to AP with RSSI readings can be used only in ideal environments, free of sources of fading and multipath. Understanding of this disadvantage gave rise of using fingerprint-based methods, connecting samples (or fingerprints) of RSSI measurements with certain calibration (or anchor) points whose precise position is stored in the calibration database together with RSSI fingerprint vectors.

The prudent provision of security guarantees, incentives and other means of encouragement and assistance is a key issue in the international community’s elaboration of a non-military response to missile proliferation. For all their extreme sensitivity, the issues of incentives and guarantees were discussed at, and further reflected upon following the first meeting of GCS experts (GCS-1) in Moscow on March 16, 2000. Let us try to summarise, in a preliminary manner, our existing thoughts and ideas and identify the key questions to be addressed. It would appear that a substantive, equal, and frank discussion of this subject should be based on the following fundamental propositions: recognition of the fact that there are no universal international legal mechanisms prohibiting the development of missile-delivered weapons; recognition of the importance of compliance with the main principles of international space law contained in the 1967 Outer Space Treaty, allowing all states to pursue the exploration and use of outer space for peaceful purposes; recognition of the role of the United Nations as the principal guarantor of international security. As a rule, the main motive for obtaining and possessing missiles and missile technologies is a desire to ensure prestige and security. The decision to pursue missile programmes is an internal, sovereign matter for the state concerned. Given this fact, how can one influence such decisions?