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.

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.

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.

2024, Ivlev, V. I., Misyurin, S. Yu., Nelyubin, A. P., Мисюрин, Сергей Юрьевич

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.

2024, Ivlev, V. I., Misyurin, S. Y., Мисюрин, Сергей Юрьевич

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.

2022, Misyurin, S. Y., Nelyubin, A. P., Мисюрин, Сергей Юрьевич

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.

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