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Мисюрин, Сергей Юрьевич

Организационные подразделения

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Институт интеллектуальных кибернетических систем

Цель ИИКС и стратегия развития - это подготовка кадров, способных противостоять современным угрозам и вызовам, обладающих знаниями и компетенциями в области кибернетики, информационной и финансовой безопасности для решения задач разработки базового программного обеспечения, повышения защищенности критически важных информационных систем и противодействия отмыванию денег, полученных преступным путем, и финансированию терроризма.

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Мисюрин

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Сергей Юрьевич

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Autonomous Robotic Response Systems: Effective Strategies Based on Mean Values
(2024) Misyurin, S. Y.; Nelyubin, A. P.; Мисюрин, Сергей Юрьевич
Только метаданные
Genetic-Memetic Relational Approach for Scheduling Problems
(2022) Nelyubin, A. P.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.A general approach to the construction and optimization of schedules is proposed, based on the representation of schedules in the form of a set of binary relations. The description of the schedule in the language of relations is natural and reflects its essential characteristics. It allows us to formalize a lot of flexible constraints involving different priorities, requests, wishes of the schedule participants. It also brings us closer to solving the problem of schedule recognition arising in the process of regular rescheduling. To optimize the schedules, we use a hybrid algorithm scheme that includes genetic, memetic, greedy algorithms, and heuristic rules. The proposed relations are used to encode key scheduling features within the genetic and memetic routine. The relational approach allows us to derive new information maintaining the consistency. As an example of the application of the approach, the formulation of the problem of distribution of objects among a group of autonomous mobile robots during emergency rescue or exploration work is proposed.
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Similarity and analogousness in dynamical systems and their characteristic features
(2019) Kreinin, G. V.; Misyurin, S. Y.; Nosova, N. Y.; Мисюрин, Сергей Юрьевич
© 2019 Institute of Computer Science Izhevsk. All rights reserved.Mathematical models describing technically oriented dynamical systems are generally rather complex. Very time-consuming interactive procedures have to be used when selecting the structure and parameters of the system. Direct enumeration of options using such procedures can be avoided by applying a number of means, in particular, dimension methods and similarity theory. The use of dimension and similarity theory along with the general qualitative analysis of the system can serve as an effective theoretical research method. At the same time, these theories are simple. Using dimension and similarity theory, it is possible to draw conclusions when considering phenomena that depend on a large number of parameters, but so that some of them become insignificant in certain cases. The combined method of using the theory of similarity, analogousness and methods developed by the authors for testing the drive model provides insight into its dynamics, controllability and other properties. The proposed approach is based on systematization and optimization of the process of forming a dimensionless model and similarity criteria, its focus on solving the formulated problem, as well as on special methods of modeling and processing of simulation results. It improves the efficiency of using similarity properties in solving analysis and synthesis problems. The advantage of this approach manifests itself in the ultimate simplification of the dimensionless model compared to the original model. The reduced (dimensionless) model is characterized by a high versatility and efficiency of finding the optimal and final solution in the selection of parameters of the real device, as it contains a significantly smaller number of parameters, which makes it convenient in solving problems of analysis and, in particular, synthesis of the system. Dimension methods and similarity theory are successfully applied in the study of dynamical systems of different classes. The problems that arise are mainly related to the selection of a rational combination of the main units of measurement of physical quantities, the transition to dimensionless models and the formation of basic similarity criteria. The structure and the form of the dimensionless model depend on the adopted units of measurement of the variables appearing in the equations of the model and on the expressions assigned to its coefficients. Specified problems are solved by researchers, as a rule, by appealing to their intuition and experience. Meanwhile, there exist well-known systematized approaches to solving similar problems based on the method of the theory of analogousness.
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Designing Robotic Groups Under Incomplete Information About the Dominance of Many Goals
(2020) Potapov, M. A.; Misyurin, S. Y.; Nelyubin, A. P.; Мисюрин, Сергей Юрьевич
© 2020, Springer Nature Switzerland AG.The article presents an approach to solving the problems of choosing the best designs of robots and their combinations in the presence of incomplete information on potential goals. Such information is modeled using binary relations of preference (dominance) on the set of robots and goals. An analytical review of various definitions of optimality and dominance of robots is given. Based on the proposed models, a number of typical problems of designing groups of robots are formulated and recommendations are given for their solution. The advantage of our approach is that it allows you to find the best solutions for maximizing the achievement of many goals with limited resources. This is achieved through the use of all available information about potential goals and preferences when choosing robots designs, building them into a group that covers as many goals as possible, and choosing an appropriate strategy. The ideas of the methods are illustrated by examples.
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Kinematics and Dynamics of the Spider-Robot Mechanism, Motion Optimization
(2021) Kreinin, G. V.; Misyurin, S. Y.; Nosova, N. Y.; Nelyubin, A. P.; Мисюрин, Сергей Юрьевич
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.In this paper, we consider the kinematics and dynamics of a spider robot mechanism with 18 degrees of freedom (six legs). The equations of kinematics and dynamics are written out; and the issue of optimizing the robot’s movement is considered. The robot’s gait is analyzed, in which part of the legs is on the ground and supports the robot, and part of the legs moves in the air. At the first stage for solving this problem, one leg is considered separately, as a kinematic system with open kinematics and with three degrees of freedom. The kinematics equations were presented in matrix form using the principle of rotation of the coordinate system. The dynamics equations are based on Lagrange equations of the second kind. The mass of the legs, reduced to the center of gravity, moments of inertia, moments developed by engines were taken into account, and etc. The conclusions were made about the optimal movement of the leg based on the obtained equation of kinetic energy of the robot’s leg based on the obtained equation of the kinetic energy of the robot leg.
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The effect of friction on the positioning processes of intelligent executive devices (actuators)
(2022) Misyurin, S. Y.; Kreinin, G.V.; Nosova, N. Yu.; Nelyubin, A. P.; Semenova, E. B.; Rybak, L. A.; Gaponenko, E. V.; Мисюрин, Сергей Юрьевич
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Visualization of the interconnection between dynamics of the system and its basic characteristics
(2020) Kreinin, G. V.; Misyurin, S. Yu.; Nelyubin, A. P.; Nosova, N. Yu.; Мисюрин, Сергей Юрьевич
© 2020 National Research Nuclear University. All rights reserved.The paper presents a dimensionless mathematical model of the dynamics of the drive complex and the visualization of the solution of this model, which allows to obtain comparative estimates (characteristics) of the solutions obtained in the first approximation. The authors proposed an original control system for the drive complex of two hydraulic actuators to lift the load in parallel mode. A distinctive feature is the adopted control circuit of the complex through three hydraulic switchgears, which are responsible for regulating the overall object lifting (and/or lowering) speed and maintaining the horizontal position of the object within the specified accuracy in the presence of disturbing factors of different nature. The difference in displacements of the hydraulic actuator rods from some initial (basic) position at a given time is a sign of deviation of the object from the horizontal position. The mathematical model of the object obtained is investigated in dimensionless variables, which greatly simplifies the visual synthesis of the object.
Только метаданные
Applications and design methodology of mobile robotic manipulators
(2025) Zhao,D.; Ji, J.; Zhao, J. -S.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
Только метаданные
Parameter identification for mathematical model of vane air motor
(2022) Ivlev, V. I.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
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ПРОГРАММА ВИЗУАЛИЗАЦИИ И ОПТИМИЗАЦИИ ДИНАМИЧЕСКИХ ПРОЦЕССОВ ПНЕВМАТИЧЕСКОЙ ПОЗИЦИОННОЙ СИСТЕМЫ НА ОСНОВЕ БЕЗРАЗМЕРНОЙ МАТЕМАТИЧЕСКОЙ МОДЕЛИ С УЧЕТОМ СИЛ ТРЕНИЯ
(Федеральное государственное бюджетное учреждение науки Институт машиноведения им А.А. Благонравова Российской академии наук, 2023) Крейнин, Г. В.; Мисюрин, С. Ю.; Нелюбин, А. П.; Носова, Н. Ю.; Мисюрин, Сергей Юрьевич
Программа предназначена для моделирования и визуального анализа динамической позиционной системы с пневматическим приводом, а также выбора оптимальных структуры и значений параметров системы. Основой программы является специально разработанная трансформированная безразмерная математическая модель взаимодействия энергетического и управляющего блока с учетом влияния на процесс всех основных факторов - параметров системы, окружающей среды, сил сопротивления, сжимаемости воздуха, закона управления и др. Отличительные особенности программы: оптимальная трансформированная безразмерная математическая модель с минимальным числом безразмерных параметров и критериев; численный расчет динамических характеристик системы методом Рунге-Кутта с возможностью менять шаг сетки; графический интерфейс, позволяющий варьировать значения безразмерных параметров системы; настройка параметров отображения графиков динамических характеристик системы; интеграция численной модели с программным комплексом MOVI, позволяющим выполнять многокритериальную и многопараметрическую оптимизацию системы; визуально-аналитические инструменты для поиска оптимального решения и анализа получаемых результатов в виде сравнительных оценок в первом приближении. Все это позволяет широкому кругу разработчиков проводить исследования, позволяющие корректировать параметры пневматической позиционной системы для оптимизации ее динамических характеристик, таких как точность позиционирования, плавность перемещения, быстродействие и т.д.