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Research of Graph-analytical Methods for a Vehicle Motion Planning
Igor Shapovalov,Victor Soloviev,Valeriy Finaev,Evgeny Kosenko,Jury Zargaryan 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper we present the results of research on the efficiency of graph-analytical methods for vehicle motion trajectory planning under uncertainties. The three most common graph-analytical methods were considered: potential fields, algorithms based on Voronoi diagrams, and A*-algorithm combined with the method of dynamic window. We proved the applicability of the considered methods to the problems of trajectory planning for complex dynamical objects on the example of the quadrotor flight control. The testing of the considered graph-analytical methods efficiency was carried out by simulation of the quadrotor horizontal flight through four maps with different number and location of obstacles. Moreover, initially the control system of the vehicle does not have any information about obstacles. The trajectories are created during the motion on the basis of new information about the map. As a result, it was concluded that all methods can be used in uncertain environments for the control of complex dynamical objects of quadrotor type.
High Temperature Oxidation of WC-ZrN Superhard Nanocomposite Film
Lee, Dong Bok,Shapovalov, Y.A. Trans Tech Publications, Ltd. 2006 Materials science forum Vol.510 No.-
<P>The high-temperature oxidation behavior of WC-ZrN superhard nanocomposite film was studied in air between 500 and 700oC. The WC-ZrN film displayed poor high-temperature oxidation resistance, because of the formation of the nonprotective W-oxide scale and the less-protective, nonstoichiometric ZrO2-x oxide scale. The scale was prone to cracking and spallation. During oxidation, C and N escaped from the film into the air, while oxygen from the air diffused into the film.</P>
Adsorption of Nickel from aqueous solution by the use of low-cost adsorbents
Yasser Hannachi,Nicola Affanacivich Shapovalov,Aymen Hannachi 한국화학공학회 2010 Korean Journal of Chemical Engineering Vol.27 No.1
The removal of Ni(II) from aqueous solution by different adsorbents was investigated. Calcined phosphate,red mud, and clarified sludge (a steel industry waste material) were used for the adsorption studies. The influence of pH, contact time, initial metal concentration, adsorbent nature and concentration on the selectivity and sensitivity of the removal process was investigated. The adsorption process was found to follow a first-order rate mechanism and rate constant was evaluated at 30 oC. Langmuir and Freundlich adsorption isotherms fit well in the experimental data and their constants were evaluated. The thermodynamic equilibrium constant and the Gibbs free energy were calculated for each system. The adsorption capacity (qmax) calculated from Langmuir isotherm and the values of Gibbs free energy obtained showed that calcined phosphate has a higher capacity and affinity for the removal of Ni(II) compared to the other adsorbents used in the study.
D. Devitt, R. Morozov,М. Medvedev,I. Shapovalov,G. Konovalov 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
This paper represents the results of development and research of the autonomous control system for the UAV. Existing control systems do not provide flight performance necessary for successful operations in non-deterministic environments. So, we propose hybrid intelligent technology based on unstable modes and the conception of a virtual goal. The main feature of our approach is the efficient integration of global and local path planning providing smooth and quick correction of trajectories for the avoidance of obstacles detected by the quadrotor vision system. Moreover, our local planning approach gives the tool for passing areas with complex obstacles where other local path planning algorithms fail. The hardware-software architecture of the control system based on client-server model with the loose coupling in ROS is presented. The results of simulation and real test flights confirming the efficiency of the proposed technology are shown. We used the commercially available quadcopter and flight controller. That proves absence of necessity in special hardware tools for autonomous flight in environments with uncertainties.
High Temperature Oxidation and Sulfidation of Ni-15at.%W Coatings
Chanwou Kim,Teayoul You,Yuriy Shapovalov,Jaehwang Ko,Dongbok Lee,Kyuhwan Lee,Doyon Chang,Dongsoo Kim,Sikchol Kwon 한국표면공학회 2005 한국표면공학회지 Vol.38 No.1
Ni-15at. %W coatings with film thicknesses of 20-40 ㎛ were electroplated on a steel substrate, and their oxidation behavior was investigated at 700 and 800℃ in air. For comparison, a pure Ni coating and a bulk Ni were also oxidized. The Ni-15at. %W coating displayed the worst oxidation resistance, due to the formation of less-protective NiO, Fe₂O₃, NiFe₂O₄and NiWO₄. The corrosion behavior Ni-15at.%W coatings electroplated on a steel substrate was similarly investigated at 700 and 800℃ in the Ar-1%SO₂ atmosphere. For comparison, the uncoated steel substrate was also corrosion-tested in the Ar-1%SO₂ atmosphere. Severe scale spallation and the internal corrosion of the steel that occurred in the uncoated substrate were not observed in the coated specimen. However, it seemed that the Ni-15at.%W coating cannot be a potential candidate as a sulfidation-resistant coating, due to the formation of less-protective NiO, NiS, WO₃ and NiWO₄.
Group robot control in non-deterministic environments using the potential field method
D.A. Beloglazov,V.I. Finaev,A.E. Titov,I.O. Shapovalov,V.V. Soloviev 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
The main purpose of this paper is to describe the method of group robot control in non-deterministic environments. Here the group structure is proposed for creation with the use of space lattice concept minimizing the computational cost for robot to determine its spatial position in the ranks of the structure. The stages of the solution of two interrelated tasks of robot group motion organization using the method of potential fields are considered: task of trajectory planning of the group considered as a uniform structure in the global coordinate space and the task of planning of the individual trajectory of each mobile robot in the considered structure. As main results, we propose the concept of structure formation for the robot groups using the space lattice and the algorithm of group robot control. To confirm the efficiency of our method we presented some simulation results with the groups including up to five autonomous mobile robots.
KTM Tokamak Operation Scenarios Software Infrastructure
V. PAVLOV,K. BAYSTRUKOV,YU. GOLOBOKOV,A. OVCHINNIKOV,A. MEZENTSEV,S. MERKULOV,A. LEE,I. TAZHIBAYEVA,G. SHAPOVALOV 한국원자력학회 2014 Nuclear Engineering and Technology Vol.46 No.5
One of the largest problems for tokamak devices such as Kazakhstan Tokamak for Material Testing (KTM) is theoperation scenarios’ development and execution. Operation scenarios may be varied often, so a convenient hardwareand software solution is required for scenario management and execution. Dozens of diagnostic and control subsystemswith numerous configuration settings may be used in an experiment, so it is required to automate the subsystemconfiguration process to coordinate changes of the related settings and to prevent errors. Most of the diagnostic andcontrol subsystems software at KTM was unified using an extra software layer, describing the hardware abstractioninterface. The experiment sequence was described using a command language. The whole infrastructure was brought together by a universal communication protocol supporting various media,including Ethernet and serial links. The operation sequence execution infrastructure was used at KTM to carry outplasma experiments.
KTM TOKAMAK OPERATION SCENARIOS SOFTWARE INFRASTRUCTURE
Pavlov, V.,Baystrukov, K.,Golobokov, Yu.,Ovchinnikov, A.,Mezentsev, A.,Merkulov, S.,Lee, A.,Tazhibayeva, I.,Shapovalov, G. Korean Nuclear Society 2014 Nuclear Engineering and Technology Vol.46 No.5
One of the largest problems for tokamak devices such as Kazakhstan Tokamak for Material Testing (KTM) is the operation scenarios' development and execution. Operation scenarios may be varied often, so a convenient hardware and software solution is required for scenario management and execution. Dozens of diagnostic and control subsystems with numerous configuration settings may be used in an experiment, so it is required to automate the subsystem configuration process to coordinate changes of the related settings and to prevent errors. Most of the diagnostic and control subsystems software at KTM was unified using an extra software layer, describing the hardware abstraction interface. The experiment sequence was described using a command language. The whole infrastructure was brought together by a universal communication protocol supporting various media, including Ethernet and serial links. The operation sequence execution infrastructure was used at KTM to carry out plasma experiments.