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Мисюрин, Сергей Юрьевич

Организационные подразделения

Организационная единица

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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Digital Twin of the Drive System, Considering the Forces of Various Nature
(2021) Kreinin, G. V.; Nosova, N. Y.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
© 2020 Elsevier B.V.. All rights reserved.Among the factors limiting the use of sliding seal actuators in robotic positioning systems, the main ones are two the compressibility of the working fluid (air or liquid) and friction. This article discusses the problem of choosing a friction model for solving problems of controlling positional systems, primarily with a pneumatic drive based on a digital twin - a detailed mathematical model. Friction is usually described as the process of mechanical interaction of touching bodies at their relative displacement in the plane of contact (external friction), or at the relative displacement of parallel layers of a liquid, gas, or deformable solid (internal friction, or viscosity). In most cases, friction is a useful phenomenon, making many common things possible, such as walking and braking on a car. On the other hand, friction can also cause undesirable consequences. For example, for high-precision mechanical systems, friction can degrade the overall performance of the system. The influence of friction is manifested by undesirable effects in the form of limit cycles, deviations in movement from a given trajectory, a decrease in positioning accuracy, etc. As one of the models a rather complex dynamic model of friction - the LuGre model was analyzed, which is widely used in many works. However, the authors stopped in this case with the simpler Karnopp model, which has the advantage of describing the interaction with the friction forces in the processes of transition from a state of rest to motion and vice versa. A general approach to the study of the dynamics and accuracy of the positional system is proposed, based on the use of a rationalized dimensionless mathematical model of the drive. Several numerical experiments were carried out on the obtained model, considering friction forces. Numerical experiments are shown in graphs.
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On the Possibility of Using the Vibration Displacement Theory in the Analysis of Ship Accident Rate Using Artificial Intelligence Systems
(2022) Semenov, Y. A.; Semenova, E. B.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.The problem of transportation of unfixed cargo by ships in sea conditions is considered. As one of the influencing factors in order to predict the accident rate, it is proposed to use the results of applying the theory and vibration displacement (transportation). The effective roll angle model is considered as the simplest model of this theory. Used model makes it possible to determine the speed of the body’s “slow” motion and its direction - to the vessel plane of symmetry or to its sides. The latter case is associated with a shift in the center of gravity of the vessel, leading to increased roll or even overturning. The estimation of critical roll angle – angle, upon reaching which breakaway and movement of unfixed cargo to the ship's side occurs. The possibility of applying the model when using artificial intelligence systems is noted.
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Multicriteria Approach to Control a Population of Robots to Find the Best Solutions
(2020) Nelyubin, A. P.; Potapov, M. A.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
© 2020, Springer Nature Switzerland AG.A bio-inspired and multicriteria approach to the design of promising robotic systems consisting of groups of robots and able to rebuild and adapt to changing goals and operating conditions is proposed.
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Multicriteria search for preferred configurations of modular robots for cargo transportation
(2022) Misyurin, S. Y.; Nelyubin, A. P.; Мисюрин, Сергей Юрьевич
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Friction Model Identification for Dynamic Modeling of Pneumatic Cylinder
(2021) Ivlev, V. I.; Nelyubin, A. P.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.Friction is one of the main nonlinear properties that makes pneumatic actuators difficult to control and reduces their energy efficiency. Many phenomenological friction models are used to describe pneumatic cylinders dynamic behavior, including in pre-sliding zone. These models maintain many unknown empirical parameters (maybe 7 or more). Expensive test equipment and special mathematical methods are required to define the parameters of friction model. But the results may vary significantly for one size cylinders of various manufactures. This paper presents the results of determination the Stribeck friction model parameters based on limited experimental data and procedure of vector identification which implemented in the software complex MOVI (Multicriteria Optimization and Vector Identification). Results were obtained for two types of piston seals materials: NBR and PTFE composite. The minimal value of the piston stable speed for single action cylinders with these seals was estimated.
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Mathematical Model, Experimental Verification and Control of Actuators Based on Metal – Hydrogen System
(2024) Ivlev, V. I.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
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Scroll airmotor properties in comparison with piston and vane analogue
(2019) Ivlev, V. I.; Yu, Misyurin, S.; Yu, Nosova, N.; Мисюрин, Сергей Юрьевич
© 2019 Published under licence by IOP Publishing Ltd.The experimental results of testing scroll machine in air motor mode, such as mechanical and flow performance; leakage coefficient; specific volume and weight power are presented. These results analyzed and compared with the same properties of radial-piston and vane air motors with equal power.
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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