Madin Shereuzhev - Academia.edu (original) (raw)

Papers by Madin Shereuzhev

E3S web of conferences, 2020

In this paper, the use of electronic components for automating the care of agricultural crops is ... more In this paper, the use of electronic components for automating the care of agricultural crops is studied. A microprocessor control system has been developed, components of a robotic platform have been selected to ensure stable operation of the complex in the field. This platform combines ease of use and high performance. At the moment, there are few analogous foreign complexes with similar characteristics, therefore, the considered robotic platform is a promising development.

IOP conference series, Mar 17, 2020

The optimal design of the skeleton panel of the solar panels of the spacecraft was designed takin... more The optimal design of the skeleton panel of the solar panels of the spacecraft was designed taking into account the increased physical and mechanical characteristics through the use of composite materials and the method of topological shape optimization.

MATEC web of conferences, 2018

Agriculture is the extremely important and developing economic movement in all times. Automation ... more Agriculture is the extremely important and developing economic movement in all times. Automation of agricultural machines occurs by different ways. One way is through the creation of specialized technical solutions for the required technological processes, another way is the construction of automatic agricultural machines, including mobile ones. The state of modern technology allows to create autonomous machines. The agriculture robotization trends are the high precision and unmanned farming. The article considers the issues of robotization of agricultural machinery. Stages of robotization of agricultural mobile machines were analyzed. The factors affecting the autonomous movement of mobile agrorobots were shown.

IOP conference series, 2020

The article shows the results of creation of a system aimed at reducing the negative impact on th... more The article shows the results of creation of a system aimed at reducing the negative impact on the ecological situation and biological systems while eliminating weeds in beetroot production. Methods of controlling weeds using machine vision technology are examined. For machine vision algorithms a library of images has been prepared. An algorithm and technical device have been developed for cultivating the soil on the early stages of beet growth.

Studies in systems, decision and control, 2020

Nowadays multi-robot systems on the way to find widespread usage in industry, agriculture and oth... more Nowadays multi-robot systems on the way to find widespread usage in industry, agriculture and other fields of human activity. Currently, there is multiple control systems architecture for multi-robot systems. Researches in which was carried out the mathematical description of robots group control systems by analogy with the electromechanical systems are known. E.g., analogies with the motion of charged particles in an electric potential field containing target points, and obstacles to avoid. In this paper, this approach has been developed and generalized. The problems of distributed, centralized and hybrid control of multi-robot systems in the presence of previously unknown environmental factors and changing operating conditions are considered. The main goal of the work is the development of an adaptive control system for a group of robots performing the assigned task regardless of external factors affecting the behavior of an individual robot. Unlike previously published works, a network model with a dynamic structure represents a mathematical model of the distributed control system of the robot group. The control system of an individual robot, including a number of subsystems (information processing, navigation, platform control, the user interface) described as a local network of finite-state machines. Algorithms for control the system as a whole, as well as algorithms for the behavior of each individual robot represented. The dynamic organization of clusters within the group control system, including situations with quantitative composition changing of the robot group, and with the occurrence of unknown obstacles in the working environment are developed. The results of the research can find application in solving various tasks of mobile robot group control, including UAVs in the tasks of exploration and monitoring of the environment; robots for agricultural purposes in the performance of a wide range of fieldwork; in the performance of extreme operations, including rescue operations, taken out after accidents and disasters.

PROCEEDINGS OF THE VI INTERNATIONAL SCIENTIFIC-PRACTICAL CONFERENCE «INNOVATIVE TECHNOLOGIES IN SCIENCE AND EDUCATION» (ITSE-2018), 2018

Possible methods for recognizing and combating weeds are considered. A method, an algorithm and a... more Possible methods for recognizing and combating weeds are considered. A method, an algorithm and a technical device for identification and destruction of weeds in the early stages of beet growth have been developed. The algorithm can be used to study and recognize by means of the technology of machine vision of cultivated plants and weeds.

News of the Kabardin-Balkar Scientific Center of RAS, 2020

Одной из наиболее важных проблем в области кинематики и управления роботами является поиск решени... more Одной из наиболее важных проблем в области кинематики и управления роботами является поиск решения обратной задачи кинематики. Традиционные методы, такие как геометрические, итеративные и алгебраические, не всегда подходят. В этой статье используется адаптивный нейро-нечеткий логический вывод ANFIS, позволяющий выводить решение обратной задачи кинематики для механизма пальца антропоморфной бионической кисти, который структурно представим в виде плоского трехзвенного манипулятора с двумя независимыми степенями свободы. Ключевые слова: манипулятор, обратная задача кинематики, ANFIS, обучающая выборка, тестовая выборка.

AIP Conference Proceedings, 2019

XLIII ACADEMIC SPACE CONFERENCE: dedicated to the memory of academician S.P. Korolev and other outstanding Russian scientists – Pioneers of space exploration, 2019

The article discusses modern solutions of the assembly process automation. The Evolvable Assembly... more The article discusses modern solutions of the assembly process automation. The Evolvable Assembly Systems (EAS) paradigm is described. EAS is aimed at creating the basis for autonomous context-sensitive and adaptable assembly systems that are able to develop with products, processes, as well as with business and social environment. Evolvability is defined as capacity of a system for adaptive evolution. In EAS, this is achieved through contextual adaptation within decentralized multi-agent control system. The features of collaborative multi-agent robotic systems paradigm are highlighted. In such systems, collaborative robots-agents (cobots) of various specialization should interact to optimize overall system performance when solving tasks that are posed by upper control level. Collaboration is considered in the sense of interaction of deterministic agents-cobots and non-deterministic agents-humans in non-deterministic multiagent environment where cobots and humans share the same space and objects when performing joint tasks.

Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms

Nowadays multi-robot systems on the way to find widespread usage in industry, agriculture and oth... more Nowadays multi-robot systems on the way to find widespread usage in industry, agriculture and other fields of human activity. Currently, there is multiple control systems architecture for multi-robot systems. Researches in which was carried out the mathematical description of robots group control systems by analogy with the electromechanical systems are known. E.g., analogies with the motion of charged particles in an electric potential field containing target points, and obstacles to avoid. In this paper, this approach has been developed and generalized. The problems of distributed, centralized and hybrid control of multi-robot systems in the presence of previously unknown environmental factors and changing operating conditions are considered. The main goal of the work is the development of an adaptive control system for a group of robots performing the assigned task regardless of external factors affecting the behavior of an individual robot. Unlike previously published works, a network model with a dynamic structure represents a mathematical model of the distributed control system of the robot group. The control system of an individual robot, including a number of subsystems (information processing, navigation, platform control, the user interface) described as a local network of finite-state machines. Algorithms for control the system as a whole, as well as algorithms for the behavior of each individual robot represented. The dynamic organization of clusters within the group control system, including situations with quantitative composition changing of the robot group, and with the occurrence of unknown obstacles in the working environment are developed. The results of the research can find application in solving various tasks of mobile robot group control, including UAVs in the tasks of exploration and monitoring of the environment; robots for agricultural purposes in the performance of a wide range of fieldwork; in the performance of extreme operations, including rescue operations, taken out after accidents and disasters.

Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”, 2019

Industrial production efficiency grows due full or partial automation of technological processes.... more Industrial production efficiency grows due full or partial automation of technological processes. From a financial and technological point of view, full automation can be impractical for some types of production tasks. However, the collaboration between a human and a robot can significantly speed up the process or will be the most optimal option. There are solutions for collaboration of one robot and one person in a pair. For the team working of groups of people and groups of robots, there are no industrial solutions. The article discusses the main issues associated with the complexities and stages of creating an industrial collaborative multi-agent robotic system.

E3S Web of Conferences, 2020

In this paper, the use of electronic components for automating the care of agricultural crops is ... more In this paper, the use of electronic components for automating the care of agricultural crops is studied. A microprocessor control system has been developed, components of a robotic platform have been selected to ensure stable operation of the complex in the field. This platform combines ease of use and high performance. At the moment, there are few analogous foreign complexes with similar characteristics, therefore, the considered robotic platform is a promising development.

IOP Conference Series: Materials Science and Engineering, 2020

The optimal design of the skeleton panel of the solar panels of the spacecraft was designed takin... more The optimal design of the skeleton panel of the solar panels of the spacecraft was designed taking into account the increased physical and mechanical characteristics through the use of composite materials and the method of topological shape optimization.

MATEC Web of Conferences, 2018

Agriculture is the extremely important and developing economic movement in all times. Automation ... more Agriculture is the extremely important and developing economic movement in all times. Automation of agricultural machines occurs by different ways. One way is through the creation of specialized technical solutions for the required technological processes, another way is the construction of automatic agricultural machines, including mobile ones. The state of modern technology allows to create autonomous machines. The agriculture robotization trends are the high precision and unmanned farming. The article considers the issues of robotization of agricultural machinery. Stages of robotization of agricultural mobile machines were analyzed. The factors affecting the autonomous movement of mobile agrorobots were shown.

Bulletin of Bryansk state technical university, 2017

Рассмотрена задача определения дефектов на поверхности доски и передачи данных на оптимизатор для... more Рассмотрена задача определения дефектов на поверхности доски и передачи данных на оптимизатор для дальнейшей выторцовки дефектов (оптимизации потерь), что является одним из этапов полной автоматизации изготовления клееного бруса. Ключевые слова: техническое зрение, автоматизация, нейронная сеть, сортность пиломатериалов.

IOP Conference Series: Materials Science and Engineering, 2020

The article shows the results of creation of a system aimed at reducing the negative impact on th... more The article shows the results of creation of a system aimed at reducing the negative impact on the ecological situation and biological systems while eliminating weeds in beetroot production. Methods of controlling weeds using machine vision technology are examined. For machine vision algorithms a library of images has been prepared. An algorithm and technical device have been developed for cultivating the soil on the early stages of beet growth.

E3S web of conferences, 2020

In this paper, the use of electronic components for automating the care of agricultural crops is ... more In this paper, the use of electronic components for automating the care of agricultural crops is studied. A microprocessor control system has been developed, components of a robotic platform have been selected to ensure stable operation of the complex in the field. This platform combines ease of use and high performance. At the moment, there are few analogous foreign complexes with similar characteristics, therefore, the considered robotic platform is a promising development.

IOP conference series, Mar 17, 2020

The optimal design of the skeleton panel of the solar panels of the spacecraft was designed takin... more The optimal design of the skeleton panel of the solar panels of the spacecraft was designed taking into account the increased physical and mechanical characteristics through the use of composite materials and the method of topological shape optimization.

MATEC web of conferences, 2018

Agriculture is the extremely important and developing economic movement in all times. Automation ... more Agriculture is the extremely important and developing economic movement in all times. Automation of agricultural machines occurs by different ways. One way is through the creation of specialized technical solutions for the required technological processes, another way is the construction of automatic agricultural machines, including mobile ones. The state of modern technology allows to create autonomous machines. The agriculture robotization trends are the high precision and unmanned farming. The article considers the issues of robotization of agricultural machinery. Stages of robotization of agricultural mobile machines were analyzed. The factors affecting the autonomous movement of mobile agrorobots were shown.

IOP conference series, 2020

The article shows the results of creation of a system aimed at reducing the negative impact on th... more The article shows the results of creation of a system aimed at reducing the negative impact on the ecological situation and biological systems while eliminating weeds in beetroot production. Methods of controlling weeds using machine vision technology are examined. For machine vision algorithms a library of images has been prepared. An algorithm and technical device have been developed for cultivating the soil on the early stages of beet growth.

Studies in systems, decision and control, 2020

Nowadays multi-robot systems on the way to find widespread usage in industry, agriculture and oth... more Nowadays multi-robot systems on the way to find widespread usage in industry, agriculture and other fields of human activity. Currently, there is multiple control systems architecture for multi-robot systems. Researches in which was carried out the mathematical description of robots group control systems by analogy with the electromechanical systems are known. E.g., analogies with the motion of charged particles in an electric potential field containing target points, and obstacles to avoid. In this paper, this approach has been developed and generalized. The problems of distributed, centralized and hybrid control of multi-robot systems in the presence of previously unknown environmental factors and changing operating conditions are considered. The main goal of the work is the development of an adaptive control system for a group of robots performing the assigned task regardless of external factors affecting the behavior of an individual robot. Unlike previously published works, a network model with a dynamic structure represents a mathematical model of the distributed control system of the robot group. The control system of an individual robot, including a number of subsystems (information processing, navigation, platform control, the user interface) described as a local network of finite-state machines. Algorithms for control the system as a whole, as well as algorithms for the behavior of each individual robot represented. The dynamic organization of clusters within the group control system, including situations with quantitative composition changing of the robot group, and with the occurrence of unknown obstacles in the working environment are developed. The results of the research can find application in solving various tasks of mobile robot group control, including UAVs in the tasks of exploration and monitoring of the environment; robots for agricultural purposes in the performance of a wide range of fieldwork; in the performance of extreme operations, including rescue operations, taken out after accidents and disasters.

PROCEEDINGS OF THE VI INTERNATIONAL SCIENTIFIC-PRACTICAL CONFERENCE «INNOVATIVE TECHNOLOGIES IN SCIENCE AND EDUCATION» (ITSE-2018), 2018

Possible methods for recognizing and combating weeds are considered. A method, an algorithm and a... more Possible methods for recognizing and combating weeds are considered. A method, an algorithm and a technical device for identification and destruction of weeds in the early stages of beet growth have been developed. The algorithm can be used to study and recognize by means of the technology of machine vision of cultivated plants and weeds.

News of the Kabardin-Balkar Scientific Center of RAS, 2020

Одной из наиболее важных проблем в области кинематики и управления роботами является поиск решени... more Одной из наиболее важных проблем в области кинематики и управления роботами является поиск решения обратной задачи кинематики. Традиционные методы, такие как геометрические, итеративные и алгебраические, не всегда подходят. В этой статье используется адаптивный нейро-нечеткий логический вывод ANFIS, позволяющий выводить решение обратной задачи кинематики для механизма пальца антропоморфной бионической кисти, который структурно представим в виде плоского трехзвенного манипулятора с двумя независимыми степенями свободы. Ключевые слова: манипулятор, обратная задача кинематики, ANFIS, обучающая выборка, тестовая выборка.

AIP Conference Proceedings, 2019

XLIII ACADEMIC SPACE CONFERENCE: dedicated to the memory of academician S.P. Korolev and other outstanding Russian scientists – Pioneers of space exploration, 2019

The article discusses modern solutions of the assembly process automation. The Evolvable Assembly... more The article discusses modern solutions of the assembly process automation. The Evolvable Assembly Systems (EAS) paradigm is described. EAS is aimed at creating the basis for autonomous context-sensitive and adaptable assembly systems that are able to develop with products, processes, as well as with business and social environment. Evolvability is defined as capacity of a system for adaptive evolution. In EAS, this is achieved through contextual adaptation within decentralized multi-agent control system. The features of collaborative multi-agent robotic systems paradigm are highlighted. In such systems, collaborative robots-agents (cobots) of various specialization should interact to optimize overall system performance when solving tasks that are posed by upper control level. Collaboration is considered in the sense of interaction of deterministic agents-cobots and non-deterministic agents-humans in non-deterministic multiagent environment where cobots and humans share the same space and objects when performing joint tasks.

Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms

Nowadays multi-robot systems on the way to find widespread usage in industry, agriculture and oth... more Nowadays multi-robot systems on the way to find widespread usage in industry, agriculture and other fields of human activity. Currently, there is multiple control systems architecture for multi-robot systems. Researches in which was carried out the mathematical description of robots group control systems by analogy with the electromechanical systems are known. E.g., analogies with the motion of charged particles in an electric potential field containing target points, and obstacles to avoid. In this paper, this approach has been developed and generalized. The problems of distributed, centralized and hybrid control of multi-robot systems in the presence of previously unknown environmental factors and changing operating conditions are considered. The main goal of the work is the development of an adaptive control system for a group of robots performing the assigned task regardless of external factors affecting the behavior of an individual robot. Unlike previously published works, a network model with a dynamic structure represents a mathematical model of the distributed control system of the robot group. The control system of an individual robot, including a number of subsystems (information processing, navigation, platform control, the user interface) described as a local network of finite-state machines. Algorithms for control the system as a whole, as well as algorithms for the behavior of each individual robot represented. The dynamic organization of clusters within the group control system, including situations with quantitative composition changing of the robot group, and with the occurrence of unknown obstacles in the working environment are developed. The results of the research can find application in solving various tasks of mobile robot group control, including UAVs in the tasks of exploration and monitoring of the environment; robots for agricultural purposes in the performance of a wide range of fieldwork; in the performance of extreme operations, including rescue operations, taken out after accidents and disasters.

Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”, 2019

Industrial production efficiency grows due full or partial automation of technological processes.... more Industrial production efficiency grows due full or partial automation of technological processes. From a financial and technological point of view, full automation can be impractical for some types of production tasks. However, the collaboration between a human and a robot can significantly speed up the process or will be the most optimal option. There are solutions for collaboration of one robot and one person in a pair. For the team working of groups of people and groups of robots, there are no industrial solutions. The article discusses the main issues associated with the complexities and stages of creating an industrial collaborative multi-agent robotic system.

E3S Web of Conferences, 2020

In this paper, the use of electronic components for automating the care of agricultural crops is ... more In this paper, the use of electronic components for automating the care of agricultural crops is studied. A microprocessor control system has been developed, components of a robotic platform have been selected to ensure stable operation of the complex in the field. This platform combines ease of use and high performance. At the moment, there are few analogous foreign complexes with similar characteristics, therefore, the considered robotic platform is a promising development.

IOP Conference Series: Materials Science and Engineering, 2020

The optimal design of the skeleton panel of the solar panels of the spacecraft was designed takin... more The optimal design of the skeleton panel of the solar panels of the spacecraft was designed taking into account the increased physical and mechanical characteristics through the use of composite materials and the method of topological shape optimization.

MATEC Web of Conferences, 2018

Agriculture is the extremely important and developing economic movement in all times. Automation ... more Agriculture is the extremely important and developing economic movement in all times. Automation of agricultural machines occurs by different ways. One way is through the creation of specialized technical solutions for the required technological processes, another way is the construction of automatic agricultural machines, including mobile ones. The state of modern technology allows to create autonomous machines. The agriculture robotization trends are the high precision and unmanned farming. The article considers the issues of robotization of agricultural machinery. Stages of robotization of agricultural mobile machines were analyzed. The factors affecting the autonomous movement of mobile agrorobots were shown.

Bulletin of Bryansk state technical university, 2017

Рассмотрена задача определения дефектов на поверхности доски и передачи данных на оптимизатор для... more Рассмотрена задача определения дефектов на поверхности доски и передачи данных на оптимизатор для дальнейшей выторцовки дефектов (оптимизации потерь), что является одним из этапов полной автоматизации изготовления клееного бруса. Ключевые слова: техническое зрение, автоматизация, нейронная сеть, сортность пиломатериалов.

IOP Conference Series: Materials Science and Engineering, 2020

The article shows the results of creation of a system aimed at reducing the negative impact on th... more The article shows the results of creation of a system aimed at reducing the negative impact on the ecological situation and biological systems while eliminating weeds in beetroot production. Methods of controlling weeds using machine vision technology are examined. For machine vision algorithms a library of images has been prepared. An algorithm and technical device have been developed for cultivating the soil on the early stages of beet growth.