Control System Software Research Articles

Multi-point optical fiber hydrogen detection system based on light polarization modulation

A hydrogen sensing system including 8 sensors based on light polarization modulation is developed and demonstrated for simultaneous multi-point hydrogen sensing with high sensitivity. Each sensor is composed of a polarizer, a polarization control, and a short segment of polarization maintaining fiber (PMF) coated with Pt-loaded WO3. Due to the exothermic reaction between hydrogen and WO3 with the help of catalyst Pt, the local temperature of PMF increases and the reflective spectrum of the sensor shift accordingly. The self-developed control system software achieves the sequential scanning and recording of the reflection spectra of each sensor by programable controlling a light switch, and then gives the measured hydrogen concentration of each channel in real-time according to the spectrum shift by using an automatic dip finding algorithm with Gaussian fitting. The experimental results show that the proposed type of sensor has ultra-high hydrogen sensitivity, with a maximum value of −20.22 nm/% (vol %); packaging with foam substrate helps to reduce the response time of the device; the hydrogen sensor is almost unaffected by environmental relative humidity. Moreover, the hydrogen sensing system is experimentally proved having good stability and repeatability.

Using FPGA-Based AMC Carrier Boards for FMC to Implement Intelligent Data Acquisition Applications in MTCA Systems Using OpenCL

The Micro Telecommunications Computing Architecture (MTCA) standard is widely used in developing advanced data acquisition and processing solutions in the big physics community. The number of applications implemented using commercial Advanced Mezzanine Cards (AMC) using AMD-Xilinx and Intel® Field Programmable Gate Array (FPGA) systems on chips is growing due to the flexibility and scalability of these reconfigurable hardware devices and their suitability to implement intelligent applications using artificial intelligence and machine learning techniques. The paper presents the specific design methodologies for hardware acceleration proposed by both FPGA manufacturers. Comparative results are obtained from two different software/hardware setups using two different AMCs, one based on Intel® FPGA Arria 10 and another based on Xilinx ZynqMP. The paper illustrates the process of how to modify the board support package, required by the hardware acceleration methodology, to implement the JESD204B and Low-Voltage Differential Signaling (LVDS) interfaces with the FPGA Mezzanine Card (FMC) modules containing the ADCs, to prepare the AMC cards to implement such kind of applications. The data acquisition and processing implementation inside these reference designs, with both languages OpenCL and High-Level Synthesis (HLS), is described. An important feature, needed for many applications in the big physics field, is the interface with the Experimental Physics and Industrial Control System (EPICS) software framework using the ITER Nominal Device Support framework, which is briefly described.

Design of a decentralized Internet-based control system for industrial robot robotic arms

Abstract To meet the needs of small and medium-sized processing plants by establishing a software and hardware platform for a robotic arm control system with a hierarchical structure and designing a robot robotic arm motion control system that is adaptable to multiple environments and cost-effective. In this paper, the industrial robot robotic arm motion control system is designed based on the consistent fusion tracking algorithm under the decentralized Internet. While using the VisualC++ development environment for writing human-machine interface programs using the MFC framework, the device controls the robotic arm body to complete predetermined movements or operational tasks based on command information, sensing information, and the robot controller. The AMS1086CD-3.3 low-voltage differential linear regulator chip used in this design effectively implements the circuit design from 4.8V to 3.4V and successfully meets the 3.4V voltage supply required by the controller. The industrial robot robotic arm control system adopts an adaptive backstepping algorithm controller, and the error of the tracking system at 0 seconds in the simulation results is always kept within the range of [-1~1] that meets the requirements, which effectively reduces the control error of the robotic arm position. Therefore, the robotic arm control studied in this paper is composed of a complete control system in hardware and software, and the designed adaptive backstepping algorithm controller achieves the demand for good control performance of the robotic arm proper.

Vacuum booster control system design and fault self-check strategies

In this paper, the software and hardware design of the vehicle vacuum pump control system was carried out based on single-chip microcomputer technology. Combined with the vacuum pump structure and control principle, the hardware design of the power supply, barometric pressure sensor, vacuum pressure sensor, current detection, and motor drive is carried out with the HS08 series single-chip microcomputer as the core. The software strategy design for barometric pressure signal acquisition, vacuum pressure signal acquisition, and vacuum pump driving has been completed, and the dual pressure vacuum pump control system for electric vehicles has been developed. The system can diagnose the common faults of the vacuum power system. Finally, the functional test of the control system is carried out. The results show that the system can work normally and that the design meets the expected requirements.

Автоматизация технологического процесса балансировки кварцевых резонаторов твердотельных волновых гироскопов

The paper discusses the main issues that arise while developing and implementing automatic process control systems (APCS) in relation to the technological operations of balancing quartz hemispherical resonators of solid-state wave gyroscopes. For this, the article gives a general algorithm for performing the technological process of resonator balancing; block diagrams of the automatic process control system of balancing and the general algorithm for balancing the resonators. The latter discloses internal algorithms for determining the physical parameters of the gyroscope resonator, for making a decision on resonator balancing and controlling the etching process of the gyroscope quartz resonator. The necessary application software (SW) for the automatic process control system for balancing gyroscope resonators is considered separately. The paper states that to build the first version of the automatic process control system for balancing resonators, it is recommended, as an intermediate step, to modernise and work out the “advising” automatic process control system, which, in the development of the existing locally automatic process control system, should be supplemented by solving the following important tasks: increasing the accuracy of determining physical parameters, calculating the efficiency of the ongoing balancing operation and estimating the effective control of the ion-plasma source. In the considered automatic process control system for balancing the resonators of the solid state wave gyroscopes (SSWG), it is not supposed to completely exclude the system operator’s role and importance. He performs the primary check of the stand, the installation of the resonator in the stand, as well as the initial setup. Automation at the first stage will consist of closing the operations of determining the physical parameters, calculating the balancing efficiency and ion-plasma etching of the quartz resonator. The closure of these operations is carried out with the help of application software installed on the central control computer of the automated workplace of the balancing system operator.

A sneak peek into the phenomenology of fuel mist explosions: The key role of vapor fractions

The modern world depends greatly on hydrocarbons, which are ubiquitous, indispensable fuels used in nearly every existing industry. Although important, their use may trigger dangerous incidents, whether in their production, handling, storage, or transporting phase, especially when aerosolized. In light of proposing a standard procedure to assess the flammability and explosivity of fuel mists, a new test method was established based on the EN 14034 standards series. For the previous purposes, a gravity-fed mist generation system was designed and employed in a modified 20 L explosion vessel. This test method allowed the determination of the ignition sensitivity of several fuels. In addition, their explosion severity was represented by the explosion overpressure Pex, and the rate of pressure rise dP/dtex, two thermo-kinetic parameters determined with a specifically developed control system and custom software. Nonetheless, a noticeable difference in the ignition sensitivity and the explosion severity was perceived when changing suppliers or petroleum cuts of some fuels. Moreover, sensitivity studies showed that both the droplet size distribution and the temperature of the droplets play a significant role in fuel mist explosion. These parameters can be directly related to the vapor fraction surrounding a droplet during its ignition. Consequently, this study focuses on the influence of varying the composition of three well-known and abundantly used fuels. Different petroleum cuts were introduced in different fractions into isooctane, Jet A1 aviation fuel, and diesel fuel mixtures, which were then aerosolized into a uniformly distributed turbulent mist cloud and ignited using spark ignitors of 100 J. Subsequently, complementary tests were executed in a vertical flame propagation tube coupled with a high-speed video camera allowing the visualization of the flame and the determination of the spatial flame velocity, and a tentative estimation of the laminar burning velocity. The latter was also estimated from the pressure-time evolution in the 20 L sphere using existing correlations. Indeed, the determination of the laminar burning velocity can be useful in modeling such accidents. Finally, highlighting the essential role of the mist and vapor fraction during their ignition has led to a better understanding of their explosion mechanisms.

Intelligent control System wide-reach Sprinklers circular action

The relevance of the introduction of intelligent control systems for agricultural machinery in the modern world is increasing every year due to the development of more and more global projects in the field of automation and robotics. The purpose of the research was to develop algorithmic software for an intelligent control system for wide-reach sprinkler machines for autonomous operation in the implementation of environmentally safe, high-quality irrigation. The article considers the possibility of matching the irrigation norm issued by the machine to the level of moisture reserves of the field for circular-acting machines, reducing the environmental load on the soil and preserving fertility. The use of an intelligent control system with the proposed algorithm of operation will improve the quality and environmental safety of irrigation, as well as ensure resource savings, in particular irrigation water savings.

Модельно-ориентированное программирование как инструмент инженера-электромеханика

Modern electric drives with microprocessor control are complex technical systems with software that ensures the coordination of various physical processes for automatic motion control. At the same time, electromechanical engineers have a little knowledge about modern microprocessor technology, expressive and convenient programming languages, as well as modern software development and debugging technologies. Thus, it is difficult for them to develop electric drives independently. In addition, there is a professional gap between electromechanical engineers and programmers, which keeps them from cooperation on the software of electric drives. Nowadays, there are model-based programming tools designed to develop software in graphical form with a description of the built-in microcontroller modules in the form of configurable model blocks. However, the theoretical and practical issues of this technology are still limited and require development. Thus, the aim to develop model-based programming as a full-fledged technology for control systems development is relevant. Electromechanical engineers, on the one hand, and software developers, on the other hand, are the target of the research using the method of system analysis of professional competencies. The importance of the software for the electric drive microprocessor control systems is considered. The author assesses the capabilities of an electromechanical engineer who has been trained as a bachelor and master’s degree student in the field of “Electric Power and Electrical Engineering” as a developer of microprocessor-controlled electric drives. The author describes the model-based programming technique as an effective technology to develop software for microprocessor control systems intended for engineers of different spheres, including electromechanical engineers, whose activities are related to the development of electric drives. The author suggests an approach based on the application of model-based programming technology to develop microprocessor control systems for electric drives. The approach makes it possible to improve the competence of electromechanical engineers in the field of software development of control systems. Model-based programming technique contributes to the development of modern microprocessor technology and development technologies as an effective tool for independent development of software of electric drive systems by electromechanical engineers without assistance of programmers.

Шляхи адаптації та модернізації випробувального обладнання для відтворення ударних навантажень виходячи з вимог стандарту MIL-STD-810

The subject matter of the article is the process of testing the objects of general use, aviation and space industry, railway transport, electric power industry, and nuclear industry on the impact of shock loads. The goal is to implement modern international standards, in particular MIL-STD-810, in the practice of testing laboratories. The tasks to be solved are: to study the possibility of using vibration stands in impact testing and to modernize the existing test equipment by developing a new software for control systems based on existing and proven algorithms. To achieve this goal, the analysis of current regulatory documents was carried out and the existing experience in the conformity assessment was adapted. The following results were obtained: a research test stand was created using the technical capabilities of the Test & Certification Center of RPI “HARTRON-ARKOS” LTD. The software was developed using standard library elements from the SCADA system. The capacity of using a vibrating stand during impact testing was taken into account, and an iterative impact control mode was implemented. The operability of the modernized test equipment was confirmed by full-scale verification of all parameters with a positive result, and approbation was passed during real tests in various modes for complex test objects. This paper formulates proposals for expanding the capabilities of the existing laboratory and testing base when implementing MIL-STD-810. The proposed approach to software development allows the replication of the code in any other software environment. A comparative assessment of financial and time costs for the purchase of new and modernization of existing equipment confirms the economic feasibility of the described approach. The perceptiveness of the adoption of the MIL-STD-810 standard as a state standard of Ukraine was defined. It is proposed to use this standard in the practice of testing laboratories to conform the requirements of developers and manufacturers in various industries, as well as a basis for industry standards, which ensures the replacement of outdated and canceled standards.

Design and Experimental Study of a Novel Semi-Physical Unmanned-Aerial-Vehicle Simulation Platform for Optical-Flow-Based Navigation

In the process of unmanned aerial vehicle (UAV) visual-navigation-algorithm design and accuracy verification, the question of how to develop a high-precision and high-reliability semi-physical simulation platform has become a significant engineering problem. In this study, a new UAV semi-physical-simulation-platform architecture is proposed, which includes a six-degree-of-freedom mechanical structure, a real-time control system and real-time animation-simulation software. The mechanical structure can realistically simulate the flight attitude of a UAV in a three-dimensional space of 4 × 2 × 1.4 m. Based on the designed mechanical structure and its dynamics, the control system and the UAV real-time flight-animation simulation were designed. Compared with the conventional simulation system, this system enables real-time flight-attitude simulation in a real physical environment and simultaneous flight-attitude simulation in virtual-animation space. The test results show that the repeated positioning accuracy of the three-axis rotary table reaches 0.006°, the repeated positioning accuracy of the three-axis translation table reaches 0.033 mm, and the dynamic-positioning accuracy reaches 0.04° and 0.4 mm, which meets the simulation requirements of high-precision visual UAV navigation.

Clinical Anatomy of the Chin Evaluated by 3-Dimensional Tomography and Cadaveric Dissection: Implications for Safety and Optimal Injection Techniques in Chinese.

Soft tissue fillers have been widely used for the correction of chin volume loss because of congenital conditions and aging. This study aimed to discuss anatomical concerns for chin filler injections, which may help to reduce the incidence of severe intravascular embolization complications and improve patient satisfaction. We scanned 40 cadaveric heads with a contrast agent using a 64-row spiral computed tomography scanner. The scan was visualized by a Philips IntelliSpace workstation and analyzed by Materialise's interactive m image control system software to measure and quantify the arterial data. Twenty of 40 cadavers were dissected to define the layers of tissue. In total, 221 arteries passed through the sagittal plane of 40 specimens. The number of superficial arteries (163 of 221) was much greater than the number of deep arteries (58 of 221). The number of arteries gradually decreased with distance from the lower lip vermilion border plane, which formed the lower third of the face. This study introduces a safe and effective technique for administering chin filler injections that minimizes risks and improves patient satisfaction.

Turbulent Kinetic Energy of Flow during Inhale and Exhale to Characterize the Severity of Obstructive Sleep Apnea Patient

This paper aims to investigate and present the numerical investigation of airflow characteristics using Turbulent Kinetic Energy (TKE) to characterize the upper airway with obstructive sleep apnea (OSA) under inhale and exhale breathing conditions. The importance of TKE under both breathing conditions is that it show an accurate method in expressing the severity of flow in sleep disorder. Computational fluid dynamics simulate the upper airway’s airflow via steady-state Reynolds-averaged Navier-Stokes (RANS) with k–ω shear stress transport (SST) turbulence model. The three-dimensional (3D) airway model is created based on the CT scan images of an actual patient, meshed with 1.29 million elements using Materialise Interactive Medical Image Control System (MIMICS) and ANSYS software, respectively. High TKE were noticed around the region after the necking (smaller cross-sectional area) during the inhale and exhale breathing. The turbulent kinetic energy could be used as a valuable measure to identify the severity of OSA. This study is expected to provide a better understanding and clear visualization of the airflow characteristics during the inhale and exhale breathing in the upper airway of patients for medical practitioners in the OSA research field.

ОПТИМИЗАЦИЯ СИСТЕМЫ УПРАВЛЕНИЯ ПРОГРАММНО-АППАРАТНОГО КОМПЛЕКСА ДЛЯ УЧЕТА ЭЛЕКТРОЭНЕРГИИ

The presented article explores the topic of optimizing the control system software and hardware complex for electricity metering. The control system plays a crucial role in accurately measuring and monitoring electricity consumption. The main objective of this research is to identify and implement optimization techniques that enhance the performance and efficiency of the control system. Aim. Based on the analysis of existing electrical complexes, to develop an architecture, simulation digital models, effective control al-gorithms and methods of operation of an electrical complex based on three-phase digital measuring trans-formers with a control system of domestic production for electricity metering in high-voltage AC networks, ensuring operability and quality of functioning in various modes under various external influences. Mate-rials and methods. The scientific tasks have been solved using the general theory of electrical complexes and systems, the control systems theory, methods of physical, mathematical, simulation and computer modeling of components of electrical complexes and systems. Results. The article reflects the development of the general theory of electrical complexes, including digital combined measuring transformers and a control system in the form of a stand-alone integration module, in terms of optimizing system connections of components of electrical power metering complexes. Conclusion. The main practical result of the con-ducted research is the production of a prototype of an electrical complex based on prototypes of adaptive digital current and voltage transformers and an electrical complex control system for electricity metering based on a universal platform for measuring transformers. Such a construction of a digital three-phase measuring transformer and a universal terminal block (unification module) make it relatively easy to de-velop similar devices with other current and voltage ranges based on the developed prototype. In existing combined measuring transformers, such a combination of primary converters is not used.

Development of the CYCLOPS CubeSat payload

The number of CubeSat satellites launched has been increasing over the past decades. These satellites have a number of advantages: short development time, low cost, possibility of modifications for certain scientific tasks and testing of technical solutions and new developments. This article describes payloads of a small spacecraft: CubeSat 3U CYCLOPS designed by D.F.Ustinov Baltic State Technical University "Voenmeh within grant under Space-Pi program. The purpose of the study: is to create, test and study the performance of payload modules of the vehicle, built using commercially available components, under space flight conditions. The text describes the structure of interaction between the payload and the OrbCraft-Pro 3U platform from Sputnix LLC. The process of development of payload control board is considered. The control system software for mechatronic and multi axis actuator modules with logging and error correction is described. Ln addition to the above-mentioned modules, the payload control system was also developed to carry out a series of experiments in die presence of a small spacecraft in orbit. The paper explains how the spacecraft communicates with the ground via special software Houston control application and Houston Telnet. The results describe tests performed on the mechanical components of the spacecraft. Examples of telemetry packets received from on-board the spacecraft are given. The article also reflects further plans for the project and the prospects of using the developed hardware for implementation in large-scale space systems and complexes. Also as part of the project students were able to gain engineering experience in the development of devices designed to work in space conditions.

Результати експериментальних досліджень селекційно-насінницького трієра

The goal is experimental substantiation of the main parameters and modes of operation of the selection and seed trier of small-seeded crops, development of the work algorithm and software of the corresponding mechatronic system. For conducting experimental research, a laboratory selection and seed trier was developed and created. To change the rotation frequency of the cylinder and the direction of rotation, the Arduino UNO control board and the L298N DC motor driver were used. The frequency and direction of rotation of the cylinder can be controlled manually using a potentiometer and automatically using the Arduino IDE monitor port. The working body of the trier is a cylinder, which consists of plates with shells. As a result of experimental studies of the process of separation of small-seeded crops on a laboratory cylindrical shell trier, the dependences of the change in the minimum θmin and maximum θmax angles of seed exit from the cylinder shell of the trier on the mass of the seed material M0, the rotation frequency of the cylinder n and the content of impurities f0 were obtained. The resulting dependencies are fed into the mechatronic control system software, which allows the position of the seed tray to be adjusted as a result of servo control.

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.

PATTERNS IN INTELLIGENT CONTROL SYSTEMS FOR AUTONOMOUS ENTITIES

Nowadays, the process of integrating autonomous robotic systems (ARS) and military personnel formation is actively underway. Such a new object in the armed forces (AF) should have the property of self-sufficient behavior that guarantees mission fulfillment. The problem is in the construction of information processes in control systems that ensure a predictable behavior of an autonomous artificial system within the Armed Force subdivisions similar to a human one. Currently, the solution for this problem is the development of artificial entities that use symbolic or neural network methods and models for acquiring and formalizing “knowledge”. Ontologies made it possible to make these methods and knowledge models interpretable in natural language semantics and to bring the problem of human-machine interaction to a new level, which was noted by a number of researchers. Nevertheless, it should be noted that as long as there is no cognition process model, the theoretical results obtained are not in demand in practice and are only of theoretical interest. There is a gap between primitive behavior models of artificial entities, their interaction models and expectations from practice. The purpose of this work is to propose an approach to the intellectualization of the artificial entities’ behavior by revising the logical and mathematical abstractions underlying the construction of their onboard control systems based on the pattern theory development. Such approach ensures the transfer of effective human experience to the control systems of artificial entities, as well as the compatibility of the theological and causal approach. It is shown that the choice under severe time constraints is based on behavioral patterns that reflect effective experience. Patterns form both the information structure of representations and a set of possible variants of representations. Subject’s assessments of satisfaction with the current choice situation lead to a change in a subject's interest structure, and he can choose it. There is a developed formal model of the behavioral pattern and a method of logical inference on patterns. The paper considers the problems of identification and construction of pattern models. It proposes to use four positions of information processing for these purposes. The paper proposes an approach to developing software for intelligent control systems for autonomous systems based on the pattern theory. There are the results of behavioral pattern identification solutions that use new generation training systems with voice control. The paper considers the issues of constructing the architecture of unmanned undersea vehicles with an onboard control system that uses pattern models and a pattern inference system. It also solves the problem of the behavior tactics of the node - autonomous unmanned vehicle based on the onboard sensor system data.

Development of top-level software for the process control system for bentonite-containing bipolar membranes

An approach to automating the technological process of obtaining bentonite-containing ion-exchange bipolar membranes is considered. The structures of automated systems are given, both with the use of local automation tools, and with the use of industrial controllers and workstations. The advantages and disadvantages of each of the structures are described. A two-level control system with the use of sensors, actuators, and an industrial controller at the lower level and a workstation at the upper level is suggested. The scheme of the complex of technical means is implemented. The information model of the upper level software of the control system taking into account the peculiarities of the technological process is developed. The data flow diagram is described and functioning principles of the upper level software are proposed. A software module, that is designed both to calculate control actions for the lower control level and to simulate periodic laboratory bipolar electrodialysis of a sodium sulfate solution with experimental bentonite-containing bipolar membranes to produce acid and alkali, has been developed in C++. During the operation of the software module, it is possible to trace the dependence of technological parameters of electrodialysis (ion flux, current efficiency, energy costs for the production of the target product) on the type of bentonite modifier used (alkyldimethylbenzylammonium chloride (surfactant) and stearic acid) and its quantity in membranes (1, 2, 3% wt.) at different current densities. The software module can be used in existing industries within the framework of functioning process control systems in order to optimize operating parameters during control of electrodialysis processe.

The MUSCAT Readout Electronics Backend: Design and Pre-deployment Performance

MUSCAT is a new large-format 1.1 mm continuum camera for local and extra-galactic astronomy currently being installed at the 50 m Large Millimetre Telescope Alfonso Serrano, LMT. The focal plane is populated with 1458 feedhorn coupled Aluminium LEKIDs, cooled to 130 mk, and read out with 6 frequency division multiplexed RF readout chains, each with a 500 MHz bandwidth. The nominal mux ratio is sim 250 resonators per chain with an average spacing of 2 MHz between resonators. In each RF chain, the multiplexed waveform generation/decomposition is performed with the BLAST-TNG firmware on a ROACH2 FPGA board with a MUSIC DAC/ADC. The quadrature modulated IF signals are mixed to and from the LEKID readout band on a custom card that houses IQ mixers, a programmable synthesizer, and additional programmable input and output gain control and filtering. Within the cryostat, the RF signals are attenuated prior to reaching the focal plane array and then amplified at 4K. A novel software system controls all the programmable hardware and handles instructions from the LMT instrument control system to record and store observation data, as well as performing automated resonator retuning and providing results of quick look analysis to the telescope operators. In this paper, we present the detailed design and in-lab performance of the cryogenic and room temperature electronics, and the software control system.

Development of a gesture-based system of interaction with the interface of adaptive information systems

The implementation of gesture control is an actual direction in the field of organizing interaction with adaptive information systems. This study considers the development of a neural network-based gesture control system for hand recognition and gesture classification. When implementing such systems, it is necessary to ensure the maximum accuracy of gesture recognition, as well as high performance (video stream processing speed). At the first stage of the study, the task of optimizing gesture control system was posed, including analysis of the information processing algorithms used for optimization according to the criteria of classification accuracy and performance. In the course of solving the optimization problem, the structure and parameters of the neural network were determined that provide the best accuracy indicators, and the necessary changes were made in the software of the gesture control system to achieve the required level of performance. The developed software for the gestural interaction system was tested when integrating with the interface of adaptive information systems implemented on the basis of the Unity game engine. The results obtained can be used in the implementation of interfaces for interaction with virtual reality with a high level of immersion.