Proceedings of 15th International Conference on Electromechanics and Robotics 'Zavalishin's Readings' : ER(ZR) 2020, Ufa, Russia, 15–18 April 2020

This book features selected papers presented at the 15th International Conference on Electromechanics and Robotics “Zavalishin's Readings” – ER(ZR) 2020, held in Ufa, Russia, on 15–18 April 2020. The contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. The Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900–1968) – a Russian scientist, corresponding member of the USSR Academy of Sciences and founder of the school of valve energy converters based on electric machines and valve converters energy. The first conference was organized by the Institute of Innovative Technologies in Electromechanics and Robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006. Front Matter ....Pages i-xxvii Front Matter ....Pages 1-1 Aerial Robots and Infrastructure of Their Working Environment (Vladimir Fetisov)....Pages 3-23 Microgrippers: Principle of Operation, Construction, and Control Method (Oleg Darintsev)....Pages 25-37 Worm-Like Locomotion Systems for In-Pipe Robots and Its Fuzzy Sliding Mode Controller Design (Robert Sattarov, Xinhao Huang, Cong Lin, Lingfei Xiao)....Pages 39-51 Front Matter ....Pages 53-53 Tactical Level of Intelligent Geometric Control System for Unmanned Aerial Vehicles (Mikhail Khachumov)....Pages 55-67 Three-Dimensional Consensus-Based Control of Autonomous UAV Swarm Formations (Tagir Muslimov, Rustem Munasypov)....Pages 69-80 Approach to UAV Swarm Control and Collision-Free Reconfiguration (Valeriia Izhboldina, Igor Lebedev, Aleksandra Shabanova)....Pages 81-92 Approach to Robotic Mobile Platform Path Planning Upon Analysis of Aerial Imaging Data (Egor Aksamentov, Konstantin Zakharov, Denis Tolopilo, Elizaveta Usina)....Pages 93-103 Improving Methods of Objects Detection Using Infrared Sensors Onboard the UAV (Peter Trefilov, Mark Mamchenko, Maria Romanova, Igor Ischuk)....Pages 105-114 Integrated Sensor System for Controlling Altitude–Velocity Parameters of Unmanned Aircraft Plane Based on the Vortex Method (Elena Efremova, Vladimir Soldatkin)....Pages 115-124 Synthesis of SimMechanics Model of Quadcopter Using SolidWorks CAD Translator Function (Sergey Jatsun, Boris Lushnikov, Oksana Emelyanova, Andres Santiago Martinez Leon)....Pages 125-137 Technology for Constructing Multifunctional Controlling System of Motion’s Parameters of Unmanned Single-Rotor Helicopter (Aleksandr Nikitin, Vyacheslav Soldatkin, Vladimir Soldatkin)....Pages 139-149 Mathematical Modeling of Stable Position of Manipulator Mounted on Unmanned Aerial Vehicle (Vinh Nguyen, Quyen Vu, Andrey Ronzhin)....Pages 151-164 Active Phased Antenna Arrays for Long-Range Mobile Radars Based on Quadcopters (Denis Milyakov, Vladimir Verba, Vladimir Merkulov, Andrew Plyashechnik)....Pages 165-174 Collaborative Robots: Development of Robotic Perception System, Safety Issues, and Integration of AI to Imitate Human Behavior (Rinat Galin, Roman Meshcheryakov)....Pages 175-185 Hand Gestures Recognition Model for Augmented Reality Robotic Applications (Youshaa Murhij, Vladimir Serebrenny)....Pages 187-196 An Experimental Analysis of Different Approaches to Audio–Visual Speech Recognition and Lip-Reading (Denis Ivanko, Dmitry Ryumin, Alexey Karpov)....Pages 197-209 The Concept of Robotics Complex for Transporting Special Equipment to Emergency Zones and Evacuating Wounded People (Mark Mamchenko, Pavel Ananyev, Alexander Kontsevoy, Anna Plotnikova, Yuri Gromov)....Pages 211-223 Implementation of Robot–Human Control Bio-Interface When Highlighting Visual-Evoked Potentials Based on Multivariate Synchronization Index (Sergey Kharchenko, Roman Meshcheryakov, Yaroslav Turovsky, Daniyar Volf)....Pages 225-236 Human–Machine Interface of Rehabilitation Exoskeletons with Redundant Electromyographic Channels (Andrey Trifonov, Sergey Filist, Sergey Degtyarev, Vadim Serebrovsky, Olga Shatalova)....Pages 237-247 Neuro Sliding Mode Control for Exoskeletons with 7 DoF (Haci Mehmet Güzey)....Pages 249-258 Modeling of the Exoskeletal Human-Machine System Movement Lifting a Load (Andrey Karlov, Ekaterina Saveleva, Andrey Yatsun, Aleksey Postolny)....Pages 259-268 Mathematical Modeling of Load Lifting Process with the Industrial Exoskeleton Usage (Sergey Jatsun, Andrei Malchikov, Andrey Yatsun, Ekaterina Saveleva)....Pages 269-278 Deep Q-Learning Algorithm for Solving Inverse Kinematics of Four-Link Manipulator (Dmitriy Blinov, Anton Saveliev, Aleksandra Shabanova)....Pages 279-291 Linearization-Based Forward Kinematic Algorithm for Tensegrity Structures with Compressible Struts (Sergei Savin, Oleg Balakhnov, Alexander Maloletov)....Pages 293-303 Continuum Manipulator Motion Model Taking into Account Specifics of its Design (Dinar Bogdanov)....Pages 305-316 Modeling Wireless Information Exchange Between Sensors and Robotic Devices (Alexander Denisov, Oleg Sivchenko)....Pages 317-327 Multi-robot Coalition Formation for Precision Agriculture Scenario Based on Gazebo Simulator (Nikolay Teslya, Alexander Smirnov, Artem Ionov, Alexander Kudrov)....Pages 329-341 Comparative Analysis of Monocular SLAM Algorithms Using TUM and EuRoC Benchmarks (Eldar Mingachev, Roman Lavrenov, Evgeni Magid, Mikhail Svinin)....Pages 343-355 Laser Rangefinder and Monocular Camera Data Fusion for Human-Following Algorithm by PMB-2 Mobile Robot in Simulated Gazebo Environment (Elvira Chebotareva, Kuo-Hsien Hsia, Konstantin Yakovlev, Evgeni Magid)....Pages 357-369 Evaluation of Visual SLAM Methods in USAR Applications Using ROS/Gazebo Simulation (Ramil Safin, Roman Lavrenov, Edgar Alonso Martínez-García)....Pages 371-382 Mathematical Model for Evaluating Fault Tolerance of On-Board Equipment of Mobile Robot (Eugene Larkin, Tatiana Akimenko, Alexey Bogomolov, Konstantin Krestovnikov)....Pages 383-393 Unmanned Transport Environment Threats (Maxim Kolomeets, Ksenia Zhernova, Andrey Chechulin)....Pages 395-408 Cloud-Based Task Distribution System Infrastructure for Group of Mobile Robots (Airat Migranov)....Pages 409-420 Environment Classification Approach for Mobile Robots (Petr Neduchal, Miloš Železný)....Pages 421-432 Architecture and Algorithms of Geospatial Service for Navigation of Robotic Complexes (Dmitriy Levonevskiy, Evgenii Karasev, Egor Aksamentov)....Pages 433-442 Front Matter ....Pages 443-443 Quarter-Wave Symmetric Space Vector PWM with Low Values of Frequency Modulation Index in Control of Three-Phase Multilevel Voltage Source Inverter (Nikolay Lopatkin)....Pages 445-457 Analysis of Resource Availability of Production Enterprise Based on Fuzzy Neural Network (Vladimir Bocharov, Alexander Danilov, Victor Burkovsky, Konstantin Gusev, Pavel Gusev)....Pages 459-467 Synthesis of Nonlinear Impulse Systems (Vladislav Shishlakov, Elizaveta Vataeva, Nataliia Reshetnikova, Dmitriy Shishlakov, Oksana Solenaya)....Pages 469-476 Hidden Markov Model Based on Signals from Blocks of Semi-Markov System’s Elements and Its Application for Dynamics Analysis Energy Systems (Yuriy Obzherin, Mikhail Nikitin, Stanislav Sidorov)....Pages 477-486 Robot for Inspection and Maintenance of Overhead Power Lines (Sergej Solyonyj, Oksana Solenaya, Aleksandr Rysin, Vladimir Kuzmenko, Evgeny Kvas)....Pages 487-497 Construction of Land Base Station for UAV Maintenance Automation (Igor Lebedev, Anton Ianin, Elizaveta Usina, Viktor Shulyak)....Pages 499-511 Combined Capacitive Pressure and Proximity Sensor for Using in Robotic Systems (Konstantin Krestovnikov, Ekaterina Cherskikh, Eldar Zimuldinov)....Pages 513-523 Piezoelectric Micropumps for Microrobotics: Operating Modes Simulating and Analysis of the Main Parameters of the Fluid Flow Generation (Ildar Nasibullayev, Oleg Darintsev, Elvira Nasibullaeva, Dinar Bogdanov)....Pages 525-536 Vibration Amplitude and Frequency Parameters of Technological Equipment Drives (Dmitry Ershov, Irina Lukyanenko)....Pages 537-548 Correction to: Three-Dimensional Consensus-Based Control of Autonomous UAV Swarm Formations (Tagir Muslimov, Rustem Munasypov)....Pages C1-C2 Back Matter ....Pages 549-551