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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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Мисюрин

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Сергей Юрьевич

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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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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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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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Selection of a Friction Model to Take into Account the Impact on the Dynamics and Positioning Accuracy of Drive Systems
(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.The problem of choosing a friction model for solving the problems of controlling positional systems, primarily with a pneumatic drive, is discussed. Due to their high dynamics, good towing capacity and relatively low price, pneumatic positioning systems are an attractive alternative to electric drives. However, the use of pneumatic systems involves some difficulties caused by the nonlinearities of its individual elements, in particular the flow characteristics of the servo valve, the compressibility of the working fluid, and also the friction acting on the piston. The main goal of this work is to analyze the stability in the interaction of the energy and control units under the influence of friction forces represented by various models. The Karnopp model was considered as one of the models, which has the advantage in describing the interaction with the friction forces in the transition from the state of rest to motion and vice versa.
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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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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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Hexabot Robot: Derivation of the dynamics equations
(2022) Misyurin, S. Y.; Nosova, N. Yu.; Nelyubin, A.P.; Zhao, J.S.; Martins, D.; Мисюрин, Сергей Юрьевич
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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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Parameter identification for mathematical model of vane air motor
(2022) Ivlev, V. I.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
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Dynamics of a parallel mechanism of the Orthoglide type with three degrees of freedom: Frequency analysis
(2022) Nosova, N. Y.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич