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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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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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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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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
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Exploring the Workspace of a Robot with Three Degrees of Freedom
(2022) Nosova, N. Y.; Misyurin, S. Y.; Мисюрин, Сергей Юрьевич
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.In this paper, we consider the mechanical part of the robot controlled by artificial intelligence according to three independent coordinates. The solution of kinematics problems is considered. The task is set to determine the size and shape of the workspace of the robot mechanical part based on solving the inverse kinematics under given initial conditions. This is important for solving the planning problem, since all the trajectories of the output link with the working tool (end-effector) of the robot must remain within the obtained working area. It is possible to create quite complex mechanisms of both sequential and parallel structures, but if the working area of this mechanism is small, then their scope of application is significantly reduced. Each kinematic chain of the developed mechanism includes spatial four-links (hinged parallelograms). They are a flat mechanism in which the axes of rotation of the kinematic pairs are located in a plane perpendicular to the axes of their rotation, and all the points of the links describe the trajectories of movement in parallel planes. Thus, the spatial four-link mechanism can be used to transmit both translational motions and to transmit rotation to the output link and/or the working tool.
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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.
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The Hexabot Robot: Kinematics and Robot Gait Selection
(2022) Nelyubin, A. P.; Kreynin, G. V.; Nosova, N. Y.; Misyurin, S. Y.; Chistiy, A. S.; Khokhlov, N. M.; Molchanov, E. M.; Мисюрин, Сергей Юрьевич
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.The article is devoted to the problems of movement and control of a six-legged walking spider-robot. The direct and inverse problems of kinematics of a spatial mechanism are solved. The motion of a walking six-legged robot Hexabot (robot “spider”) with possibility of realization of different motions is considered. The task is to increase the speed of the robot's movement from one position to another by reducing the dynamic loads on the robot leg, as well as by choosing a more rational dynamically balanced gait. In solving the first part of the work, at the first stage, one leg is considered separately as an open kinematic system with three degrees of freedom. Equations of direct and inverse kinematics are obtained. The motion of the platform (the “body” of the spider) is not considered in this work.
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Six-Legged Walking Robot (Hexabot), Kinematics, Dynamics and Motion Optimization
(2021) Kreinin, G. V.; Nosova, N. Y.; Misyurin, S. Y.; Nelyubin, A. P.; Мисюрин, Сергей Юрьевич
© 2020 Elsevier B.V.. All rights reserved.The movement of a walking six - legged robot hexabot (a "spider" robot) with the possibility of implementing various movements is considered. The equations of kinematics and dynamics of a separate robot leg with three degrees of freedom are written out, and the question of optimizing the robot movement is considered based on the study of dynamic equations. 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 ets. 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. This paper doesn't consider the movement of the entire platform (the spider's "body"), nor does it consider the influence of the friction force that occurs in kinematic pairs and when the robot's legs touch the surface during movement.
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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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Parametric and Structural Optimization of Pneumatic Positioning Actuator
(2020) Kreinin, G. V.; Prozhega, M. V.; Misyurin, S. Y.; Nosova, N. Y.; Мисюрин, Сергей Юрьевич
© 2020, Springer Nature Switzerland AG.Linear positioning actuators are widely used in industry as a convenient means of positioning objects directly without the use of additional motion conversion mechanisms. A significant place among them is occupied by piston-type hydraulic and pneumatic systems. Their application areas are different due to the difference of their power to weight ratio, as well as performance characteristics. One of the most popular applications of pneumatics is in material and small mass object transportation over short distances. In this sphere pneumatics has obvious advantages in power density, speed output response, ecology, cost and other factors. On the other side, the pneumatic actuator is difficult to control due to the compressibility of the working fluid (air), the nonlinearity in the flow phenomenon, sensitivity to changes in parameters, friction forces and other factors. This work is aimed at finding a compromise solution to the problem of harmonization of the contradictions mentioned above. The task is to find the optimal correlation between the systems parameters, compensating for negative properties and allowing the full use of available opportunities. The solution of the problem is based on the results of modeling the dynamics of the positioning pneumatic actuator, presented in a dimensionless form, including the model of the power drive itself, the control system (controller) and the external effects.