Mobile Objects Research Articles

МЕТОД И МАТЕМАТИЧЕСКАЯ МОДЕЛЬ ОЦЕНКИ ЭФФЕКТИВНОСТИ СИСТЕМЫ ЗАЩИТЫ ПОДВИЖНОГО ОБЪЕКТА ОТ МАЛОРАЗМЕРНОГО РОБОТОТЕХНИЧЕСКОГО КОМПЛЕКСА

The purpose of the study is to evaluate the effectiveness of the system for protecting a mobileprotected object from a small unmanned aerial vehicle (UAV). In connection with the peculiarityof the construction of the protection system for a mobile object, associated with the movementsynchronously with the object of the critical zone, into which the UAV should not fall, it was necessaryto develop a method and a mathematical model for assessing the effectiveness of the UAV. As an indicator of efficiency, the probability of diverting the UAV from the critical zone was taken.It is analyzed that the removal of the UAV from the critical zone is carried out due to the timelydetection of the UAV and its transition from navigation using the signals of satellite navigationsystems to the onboard inertial navigation system. The timeliness of detection is determined by thedetection range of the UA. The detection range is determined, first of all, by the parameters of thedetection means themselves, the topology of their placement, the size of the critical zone aroundthe protected object, and the direction of movement of the UAV. The size of the critical zone isdetermined by the danger of video filming from the UAV or payload drop. The direction of movementof the UAV most vulnerable to the protected object is the movement to the meeting point withthe protected object. The results of the analysis and the developed algorithms for the functioningof the protection system against a small UAV were taken into account when developing a mathematicalmodel for assessing the effectiveness of protecting a protected object. Due to the fact thatsome of the parameters of the BVS are not known in advance, their values were played withequiprobability. The method of statistical tests (Monte Carlo method) was used to calculate theefficiency indicator. In each test, random parameters of the UAV were played out, initial datawere set, the processes of movement of the protected object and the UAV, changes in the positionof the critical zone were reproduced, the UAV hitting the viewing areas of the detection tools,moving away from the general course of the UAV and getting into the limits of the critical zonewere evaluated. The developed method and mathematical model for evaluating the effectivenessmade it possible to conduct a numerical experiment aimed at assessing the influence of the UAVspeed on the protection efficiency of a mobile guarded object. The results of the work can be usedin the design and development of a system for protecting a protected object from UA, in a comparativeanalysis of alternative systems for protecting against UA. The proposed method and mathematicalmodel can also be used in the underwater marine environment when evaluating the effectivenessof protecting a protected inhabited / uninhabited object from marine robotic systems.

ПРОГРАММНО-АППАРАТНОЕ МОДЕЛИРОВАНИЕ КОМПЛЕКСИРОВАННОЙ ИНЕРЦИАЛЬНОЙ НАВИГАЦИОННОЙ СИСТЕМЫ НАЗЕМНОГО ОБЪЕКТА

The purpose of this paper is creation of an efficient software and hardware model of a groundmobile object navigation system. Simulation process is one of the key instruments for engineering solutionsdevelopment at all stages of a complex technical system lifecycle. Navigation system model describedin this paper is software-hardware by nature and is implemented as software modules that supporthardware interaction with each other. The described system of ground object navigation systemsimulation has been developed in the course of several design projects and scientific research works.The developed model of a ground mobile object navigation system includes several programming units.Each of these units simulates the operation process as close as possible to the original. Internal andexternal interaction interfaces and navigation system communication protocols are also simulated withthe account for real object operation cyclograms. It should be noted that one of the main advantages ofa software simulation over a developmental testing or breadboarding is the opportunity to perform aprofound analysis of operation algorithms without the use of any additional resources. At the same time,it is often necessary to perform firmware design in order to make the simulation process identical withthe real operation. The process of navigation system architecture simulation allows performing a comparativeanalysis of several base components sets and their interaction patterns. Such comparison resultsin an optimal system structure providing the information user with navigation data in the mostefficient way. The paper determines basic simulation process tasks. The simulation stage may becomecrucial for complex systems design as it may aid achieving the best technical result. The proposed structure,key elements of a ground navigation simulation system and approaches to their interaction arrangementhave been approved in the course of several research and development works. At the sametime, it was found that the validity of developed models and their compliance to simulated units allowsperforming a highly reliable navigation system analysis. The developed software-hardware model allowedprocessing telemetry records obtained under different product operation conditions, performingtheir analysis and developing engineering solutions that increase the efficiency of navigation systems.

Smart Mobile Device to Trace Moving Rogue Objects in Smart City Utilizing Dynamic Source Dynamic Destination Tracking Algorithm

In the present literature, various algorithms are available for computing the shortest path between two objects. The maximum number of these algorithms compute the shortest path either between two static objects or one static object and one dynamic object. This article presents an insight to integrated Mobile Edge Computing (MEC) based smart devices for tracking mobile rogue objects based on dynamic source and dynamic destination optimal cost estimation. This device considers any two mobile objects to estimate the shortest path between them. The proposed Ant Colony Optimization (ACO) based algorithm considers the property of dead-end removal and nth path exploration with efficient self-loop removal strategy. To review the performance of the proposed algorithm, experimentations are carried out and compared with several well-established shortest cost estimation techniques available in the literature – Floyd Warshall, Bellman Ford, Dijkstra, A* algorithms and the only dynamic shortest path algorithm. The detailed algorithmic comparisons clearly indicate the superiority of the proposed one over the existing dynamic and present state-of-the-art shortest path estimation methodologies.

Lidar and AI Based Surveillance of Industrial Process Environments

Abstract The paper describes a system approach to use LiDAR sensors for capturing dynamic point cloud data in industrial process environments and to interpret the captured scenes with AI based object detection. The object detection is used to distinguish between humans and other mobile objects in safety relevant workspaces. Several AI methods relevant for such application are analysed. One method is applied with annotated test data and evaluated concerning its accuracy.

A STUDY OF SLEEP QUALITY IN ADOLESCENTS: THE IMPACT OF OVER USE OF MOBILE CELL PHONE IN URBAN SETTING: A CROSS SECTIONAL STUDY

Background: The increase in the number of mobile phone users has increased worldwide . Excessive use of the mobile phone among adolescents often led to later poor sleep quality , which is important for the development for the psychophysiological capabilities. The study assessed the relationship between mobile phone addiction and sleep quality among adolescents Aim: To study the prevalence of mobile phone addiction and sleep quality. To know the role of socio-demographic factors on mobile phone Objective of the study: over use and sleep quality among adolescents. A cross sectional study using convenient sampling method, wit Methodology: Study design: h a study sample consisting of 110 adolescents recruited from under graduate students and people who residing in area of Andhra medical college .Bivariable and multivariable logistic regression analyses were used for the study (1) Semi structured Performa Study tools: for sociodemographic data,(2) Pittsburgh Sleep Quality Index (PSQI), (3) Mobile Phone Addiction Scale (MAPS) – 37 items. High M Results: obile Phone Addiction Scale (MAPS)were associated with a high prevalence of sleep disturbance in both boys and girls . These ndings persisted after controlling for other factors in the multiple regression model. Adolescents with mobile phone addiction were more prone Conclusion: to suffer from poor sleep quality. It is recommended that aware the adolescents on adverse effects of excessive use including poor sleep quality. These ndings are implications for adolescents, parents, authorities and researchers

Self scale estimation of the tracking window merged with adaptive particle filter tracker

Tracking a mobile object is one of the important topics in pattern recognition, but style has some obstacles. A Reliable tracking system must adjust their tracking windows in real time according to appearance changes of the tracked object. Furthermore, it has to deal with many challenges when one or multiple objects need to be tracked, for instance when the target is partially or fully occluded, background clutter, or even some target region is blurred. In this paper, we will present a novel approach for a single object tracking that combines particle filter algorithm and kernel distribution that update its tracking window according to object scale changes, whose name is multi-scale adaptive particle filter tracker. We will demonstrate that the use of particle filter combined with kernel distribution inside the resampling process will provide more accurate object localization within a research area. Furthermore, its average error for target localization was significantly lower than 21.37 pixels as the mean value. We have conducted several experiments on real video sequences and compared acquired results to other existing state of the art trackers to demonstrate the effectiveness of the multi-scale adaptive particle filter tracker.

The concept of limited mobile objects: civil-legal aspects

The right of ownership and the possibility of using his property for purposes that do not contradict the law, in particular, for entrepreneurial and other activities not prohibited by regulatory and legal acts has been guaranteed to every person. The prescriptions of the legislation regulating public and private relations, in their totality, have created legal limits of the turnover of objects of civil rights, which have been implemented on the main principles and legal principles. At the same time, the issue of limited turnover objects remains an understudied domestic science.
 Only the state, represented by its legislative body, is the subject authorized to determine which objects of civil rights are subject to restriction in civil turnover. At the same time, it should be taken into account that the definition of limited turnover objects is the quintessence of maintaining a balance between public and private interests, and therefore the establishment of special conditions for the turnover of a specific object must be considered and justified.
 In the article, it has been proposed to understand limited movable objects as an independent variety of objects of civil rights, which are capable of passing from one person to another, but due to their specific properties and/or special characteristics, combined with the need for protection from the state, can belong only to certain traffic participants or to be in civilian traffic only under the condition of obtaining a special permit. Also, in view of the provisions of the Civil Code of Ukraine, it seems incorrect to define the types of limited turnover objects at a normatively lower level than the law. Considering this, we support the approach according to which, in order to ensure the certainty of legal regulation, it is necessary to adopt a special law, which will establish a list of restricted objects or bodies that will determine their belonging to restricted circulation.

Energy-Efficient Object Detection and Tracking Framework for Wireless Sensor Network

Object detection and tracking is one of the key applications of wireless sensor networks (WSNs). The key issues associated with this application include network lifetime, object detection and localization accuracy. To ensure the high quality of the service, there should be a trade-off between energy efficiency and detection accuracy, which is challenging in a resource-constrained WSN. Most researchers have enhanced the application lifetime while achieving target detection accuracy at the cost of high node density. They neither considered the system cost nor the object localization accuracy. Some researchers focused on object detection accuracy while achieving energy efficiency by limiting the detection to a predefined target trajectory. In particular, some researchers only focused on node clustering and node scheduling for energy efficiency. In this study, we proposed a mobile object detection and tracking framework named the Energy Efficient Object Detection and Tracking Framework (EEODTF) for heterogeneous WSNs, which minimizes energy consumption during tracking while not affecting the object detection and localization accuracy. It focuses on achieving energy efficiency via node optimization, mobile node trajectory optimization, node clustering, data reporting optimization and detection optimization. We compared the performance of the EEODTF with the Energy Efficient Tracking and Localization of Object (EETLO) model and the Particle-Swarm-Optimization-based Energy Efficient Target Tracking Model (PSOEETTM). It was found that the EEODTF is more energy efficient than the EETLO and PSOEETTM models.

Unified Power Systems Engineering of Mobile Technical Objects

Currently, the focus on the integration of technical objects is one of the recognized trends in the development of most areas of technical sciences. The ideas of horizontal and vertical integration tested in shipbuilding are considered. In particular, the ideas laid down in the concept of electric propulsion, a unified power systems engineering and an electric ship, which have a high scientific potential and should become a theoretical and practical basis for improving the power systems engineering of various mobile technical objects. Taking into account political realities and market conditions, first of all, it is suggested to use the expressed proposals for creation and improvement of on-board power systems engineering for a line of unmanned uninhabited objects (in the future covering the needs of aircraft, marine underwater and surface vehicles).

Aperture-dynamic properties of the sensor information in mobile object management systems

This article discusses the aperture-dynamic properties of sensor devices used in control systems for unmanned devices, in particular, automatic manipulators operating as part of robotic complexes (RTCS). The effects of interference affecting the software control systems of automatic manipulators using high-speed algorithms with interference-resistant coding under operating conditions in production are considered. It is known that in production conditions, there are sources of network interference, interference of an informational nature through communication channels, wired channels, radio engineering channels in a large radio engineering range, from vibration processes, interference and distortion in optoelectronic networks, interference that violates the safe working conditions of radioelectronic equipment. Examples of implemented algorithms based on aperture operators for controlling automatic manipulators with various program cycles, taking into account the peculiarities of production, are given. A comparative analysis was carried out with analogues having similar technological characteristics. control of automatic manipulators operating as part of robotic complexes.

Оценка влияния формы простого микрополоскового излучателя на его широкополосность

Microstrip antennas are one of the most common types of antennas for mobile objects. Compactness, lightness and conformity make their use convenient and in fact the only solution for the rapidly developing industry of wire-less telecommunications. The key disadvantage of such antennas is their narrow bandwidth inherent in all resona-tor type antennas, microstrip antennas being a particular case. Basically, the narrowband nature of such antennas is due to a pronounced frequency dependence of the input impedance, as a result of which a satisfactory quality of natural matching can be achieved in a frequency band measured in units of percent. The paper considers mi-crostrip radiators of simple geometry: rectangular, square, rhombic, triangular, round, elliptical, located on a sub-strate of fixed geometry with the same dielectric. For each shape of the strip geometry, numerical optimization of the strip dimensions and the position of the excitation point is performed in order to obtain the maximum bandwidth of natural matching in VSWR of no more than 2 when con-nected to a 50-ohm feeder. The frequency of 2 GHz was chosen as the central frequency in numerical studies. Cal-culations of the directional characteristics of the most successful variants of microstrip radiators within the matching band are given. It is shown that for a given ge-ometry and parameters of filling the substrate, the most broadband is a microstrip elliptical radiator, the matching bandwidth of which is from 1900 to 2100 MHz, i.e. +/- 5% of the center frequency. The results obtained can be use-ful both in the design of microstrip antenna arrays and in the construction of microstrip multiband antennas, which is especially important for new generation mobile com-munication systems.

ROBUST NONLINEAR FILTERING OF NAVIGATION SATELLITE MEASUREMENTS

A novel approach to processing satellite navigation measurements with high-precision positioning of mobile objects is considered. For its implementation, at the first stage, stochastic nonlinear differential equations of spatial coordinates of a mobile object were obtained from Doppler satellite measurements and their observer's equations were obtained from pseudo-range measurements. The form of the obtained equations allows one to use the methods of the theory of nonlinear and, in particular, robust filtering to estimate the coordinate vector of an object. As a rule, the nature of the type of interference distributions of Doppler and code measurements is uncertain. Therefore, a dynamic robust algorithm was developed to estimate the spatial coordinates of an object. This algorithm is optimal in terms of the minimum criterion of a nonlinear positive determined function from measurement inconsistency determined by the class of interference distributions of Doppler measurements and pseudo-range measurements. The comparative effectiveness of this algorithm with the conventional approach is illustrated by a numerical example.

The use of machine learning tools for modeling the countermeasure environment of robotic means and mobile objects of monitoring

In this article, an analysis of research related to the problems and areas of application of machine learning was carried out and it becomes clear that reinforcement learning is an important tool for the development of highly effective and adaptive control systems. This approach opens perspectives for the development of intelligent systems that can effectively adapt to changes in the environment and provide a reliable and optimal level of control under conditions of uncertainty and variability. In the course of the research, a complex environment modelling technique was developed for the task of searching and chasing moving objects by robotic means as part of reinforcement learning. The methodology includes defining goals and objectives, modelling the environment, defining states, actions, and rewards, formulating the state transition function, defining the reward function, modelling completion criteria, using convolutional neural networks to analyse the environment, and integrating the model into reinforcement learning algorithms. A feature of the developed methodology is its ability to adapt to various environmental conditions and dynamic changes occurring in it. The use of graphical representation of the environment allows you to reproduce in detail the real conditions in which the robotic means operate, including obstacles, areas of visibility and different types of surfaces. The use of convolutional neural networks for environmental analysis is an innovative approach that allows you to automate the process of determining the impact of the environment on the parameters of robotic vehicles and moving objects. CNN training on the collected data about the environment provides accurate prediction of influence coefficients in different areas, which allows optimizing strategies of robot behaviour depending on changes in conditions. In general, the developed environment modelling technique allows not only to accurately reproduce the real conditions in which robotic means operate, but also provides flexibility and adaptability when environmental conditions change. This opens up vast opportunities for training and improving reinforcement learning algorithms, increasing the effectiveness of robots in performing their tasks in various real-world scenarios.

How the accuracy of mobile objects positioning with GNSS affects the energy characteristics of the communication channel in 5G networks

The analytical relations determining the dependence between the accuracy of positioning objects-subscribers on the GNSS signals and the accuracy of pseudorange measurements were obtained. Based on these relationships, the relationship between positioning accuracy and the distribution of power radiated by the antennas into the space is revealed, which allows us to estimate the error of pointing the antenna beams in space. The correlations are based on the assumption of a Rayleigh channel for GNSS signal propagation. It is shown that the positioning accuracy of objects at the pseudo range error of 1 m and a beam width error of 2 degrees determines the average reduction in signal power in the radio channel, due to errors in positioning objects, not more than 0,25 dB, the normalized value of the standard deviation is equal to 13,5 dB. Due to positioning errors it is possible to reduce the signal strength in the radio channel by up to 1 dB.

Measuring of rotating shafts angular deformation by means of ultrasonic vibration meter

The task of measuring of rotating shafts angular deformation by means of ultrasonic vibration meter is considered in the article. Measurement of vibration parameters of rotating objects is an urgent task in the technical diagnostics of electromechanical units, turbines, drilling rigs and metal-cutting machines subject to vibration disturbances. The measured vibration parameters of rotating shafts include their angular deformation and torques arising from torsional vibrations of shafting of machines in the stationary and mobile objects. Timely monitoring of the torsional vibrations of the shafting and other factors of vibration disturbances by the frequency of shaft beats makes it possible to identify defects at an early stage and eliminate breakdowns that threaten the life and safety of personnel. It was found out that the reflected acoustic signal phase measurement relative to the reference one incident onto the investigated shaft surface can be carried out with error at 0.6 % at velocities not more than 0.5 m/s. This article is intended for mechanical engineers involved in the development and operation of rotating machines of stationary and mobile objects.

Computational approach to the structure spectral analysis of GERT-network models of mobile object monitoring systems

The paper considers the application of the computational approach to the structure spectral analysis of GERT-network models of mobile object monitoring systems. The structure of the system for monitoring mobile objects using satellite communication channels is presented, in particular, the structure of the system for monitoring the flight path of aircraft. It is shown that the structure of monitoring systems can be represented as a GERT-network model, which allows at the initial stage to consider various options for the formation of interaction between a mobile object, for example, a manned or unmanned aerial vehicle, and a ground control complex. The main idea of the approach is to transform a known graph into a graph with the desired spectrum, which corresponds to a valid implementation of the GERT network graph. Obviously, the set of admissible implementations also includes a graph with the maximum probability of completing the process in a given time. The results are presented, which allow, when analyzing the GERT-network structure of a monitoring system, to assess, by fairly simple methods, the compliance of a structure variant with a number of requirements that apply to the system as a whole.

Identifying interfacial mechanisms limitations within aqueous Zn-MnO2 batteries and means to cure them with additives

Li-ion batteries are playing a key role within the field of electrical mobility, grid applications and related objects owing to their high energy densities and long lifetime, but their sustainability remains to be improved. Pushing in this direction, there is a rising interest towards rechargeable aqueous batteries. Great efforts are devoted to turn the primary alkaline zinc-manganese dioxide batteries that have dominated the primary battery applications into rechargeable systems. This turns out to be a colossal task owing to the complexity of the Zn-MnO 2 chemistry that is not yet fully rationalized, thus causing delay in practical deployment. In this work we revisit this chemistry by combining fundamental solution chemistry considerations and complementary analytical techniques (TEM, Raman spectroscopy and EQCM) together with the assembly of cells using either MnO 2 or MnO 2 -free initial positive electrodes. We confirm the key role of the electrolyte together with the inseparable link between its pH and the system's electrochemical response. Moreover, during discharge and charge, we provide experimental evidence for the occurrence of MnO 2 electrodissolution and back electrodeposition conjointly with the formation of soluble zinc hydroxides up to chemical precipitation and back dissolution of a Zn 4 SO 4 (OH) 6 .xH 2 O phase. We show that this phase is essential in the buffering of the system's pH and demonstrate the beneficial role of its initial presence in the positive electrode composite. Further pushing the idea of buffering the pH of the electrolyte, we propose the use of additives such as ZnO, Mg(OH) 2 or La(OH) 3 that enhance the capacity retention upon cycling, while slightly penalize the cell capacity. These insights provide missing links regarding the interplay between the conjoint electrochemical-chemical reactions ruling the functioning of rechargeable Zn-MnO 2 batteries, hence providing a step forward towards their development.

The method of adaptive signal reception with adaptive antenna arrays from moving sources

Spatial signal processing in adaptive antenna arrays should provide optimal signal reception from some desired source, this requires maximizing the signal-to-noise ratio at the output of adaptive antenna arrays. This task is well studied for the case when the signal source is fixed and point, and for mobile objects often have to use complex algorithms for controlling adaptive antenna arrays. The relevance of this study is that one of the most promising approaches to solving the problem is to increase the efficiency of signal reception is the use of adaptive antenna arrays and appropriate methods of spatial signal processing.The angular dispersion of the signal is assumed to be due to its multipath propagation in the communication channel. The configuration of adaptive antenna arrays is assumed to be arbitrary. This method allows to reduce the amount of calculations compared to the method when the weight vector with adaptive antenna arrays is optimal and is selected as the eigenvector of the signal correlation matrix and it is possible to maintain the efficiency of the signal is quite high, which determines its novelty.The article analyzes the method of adaptive reception of signals from moving sources using adaptive antenna arrays which is also called the method of quasi-optimal signal processing received by adaptive antenna arrays from a moving source with unknown angular coordinates, the possibility of its reception by mobile subscribers in angular variance. quasi-optimal signal processing with other known methods of signal processing.

Comparative Study of Visual Odometry Performance Based on Road Classifications

Accuracyand robustness are among the main concerns in vehicle positioning systems andautonomous applications. These concerns are crucial in GNSS-deniedenvironments; thus, we need an alternative technology to overcome this problem.In recent years, vision-based localization known as visual odometry has gainedconsiderable attention among researchers. Visual odometry is a vision-basedpose estimation and it has been developed for mobile object localization suchas robots and vehicles while perceiving their environment. Within the lastdecade, researchers have been immersed in developing techniques to achievehighly accurate and precise localization based on visual odometry. The visualodometry performances are evaluated using anonline dataset for benchmarking. Based on the benchmarking, this study reviewsand compares the robustness of the recent visual odometry techniques forapplication, especially in vehicle localization in various road conditions. Evaluation methods for the selectedtechniques are presented and a thorough analysis of each driving sequence isconducted. The analysis shows that for all visual odometry techniques,localization for high-speed drive suffers higher translation error even thoughthe surrounding has less image noise. Despite that, visual odometry thatimplements careful feature Selection and Tracking (SOFT) proves to be morerobust compared with other techniques with 0.7% relative translation error anda relative rotation error of 0.2 deg/hm.

Determination of USV's Direction Using Satellite and Fluxgate Compasses and GNSS-RTK.

The measurement of a mobile object’s movement direction is performed by means of various analogue and digital devices, including both autonomous and non-autonomous ones. They represent different measuring qualities, dimensions, weights and tolerance to ambient disturbances. They allow measuring the course of heading and course over ground (COG) in sea navigation. They are used for the determination of motion vectors on the water’s surface and with respect to the sea bed, in integrated systems, DP and autopilots. Results of dynamic tests of three heading meters: electronic and satellite compasses, and Global Navigation Satellite Systems (GNSS) determining COG are presented in this paper. The measurements were conducted in good measuring conditions, in an open upper hemisphere for satellite receivers and at no or minimal disturbances of the magnetic field. Sensors were mounted on an unmanned survey vessel (USV) that was moving straight, performing quick turns and circulations. Each of them has some limitations with respect to its use in the water area in which a hydrographic sounding is to be performed; attention was paid to the possibility of using a given compass on board a small autonomous ship navigating automatically.