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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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Теперь показываю 1 - 10 из 18

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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.
Только метаданные
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.
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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.
Только метаданные
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.
Только метаданные
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.
Только метаданные
Multicriteria search for preferred configurations of modular robots for cargo transportation
(2022) Misyurin, S. Y.; Nelyubin, A. P.; Мисюрин, Сергей Юрьевич
Только метаданные
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
Только метаданные
Multicriteria Optimization of a Hydraulic Lifting Manipulator by the Methods of Criteria Importance Theory
(2022) Nelyubin, A. P.; Kreinin, G. V.; Nosova, N. Y.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.The article describes the procedure for multicriteria optimization and choosing the best parameter values of a manipulator designed to lift a heavy, bulky load using two parallel and synchronously operating hydraulic drives. Information about the dynamics of the system was obtained by computer simulation of a sufficiently complete dimensionless model. Three characteristics of the system are considered as optimality criteria: imbalance of mass loads on drives, power (size) of drives and synchronization of their operation. To search for feasible solutions to the optimization problem in the parameter space, a sequence of uniformly distributed points was generated. The sets of feasible and Pareto optimal solutions are analyzed using visualization tools in the MOVI program. Within the framework of the mathematical criteria importance theory, expert information on preferences regarding criteria was formalized and refined. In the course of this iterative procedure, the set of feasible solutions was narrowed down to 67, then to 4 alternatives, and in the end one best solution was chosen.
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.