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The principle of mining machines digital control system simulation is considered. It is shown, that shaft-boring machine is the complex multi-contour object, which include actuators with significant nonlinearities in every control contour. When control the machines with Von Neumann type controllers it is necessary to take into account controller's real performance linked with step-by-step interpretation of a managing algorithm. The shaft-boring machine control system model proposed includes transfer functions matrix equations, describing object under control and semantics of data processing in controller, two delay matrices, describing Von Neumann type controller as a physical device, and description of actuator with nonlinearities by non-linear differential equation in Cauchy form. For estimation of delay matrices parameters semi-Markov process model of control algorithm is used. Initially semi-Markov matrix describes ergodic process, but after proposed transformation it permits to estimate time intervals when wandering between states. [ABSTRACT FROM AUTHOR]

A digital eco-monitoring platform is considered as a control system for a complex multi-circuit object with a Von Neumann-type regulator. Common analytical models of object under control and data processing by digital controller are obtained. It is shown, that transfer functions, obtained from analytical description of discrete data processing by digital controller may be combined with transfer functions, obtained from analytical description of object under control reaction on continual actions. Typical flow-chart and analytical mathematical model of system functioning, which takes into account time delays between transactions, caused by sequential interpretation of control algorithm operators and random character of data processed, is worked out. It is shown, that time lags between transactions adduce to an appearance in transfer function both numerator and denominator of closed through digital controller system, complex exponents, which describes such phenomena as data skew, and pure lag. The method of time intervals between transactions estimation in cyclic algorithms of arbitrary complexity, based on their representation as semi-Markov process, is proposed. Theoretical postulates are confirmed by simulation of two-loop digital control system functioning. [ABSTRACT FROM AUTHOR]

The common analytical model of moving the mobile robot for environmental monitoring. In the model robot is considered as trunk, mounted on two rows of viscous-elastic supports, which in turn, are actuated by bumps of the terrain road. Mechanism of trunk with installed on it TV-module longitudinal and transverse oscillation emerging is described. It is shown, how trunk oscillations are transformed into scene image moving at the TV-module lens focal plane. Dependence of image moving parameters on mechanical parameters of mobile robot, angular coordinates of TV-module installation on the trunk and autocorrelation function, describing a road, is obtained. It is shown, that in photoelectron converters of CCD-type image dynamical blurring emerging, parameters of which depend on velocity of moving image in TV-module lens focal plane and time of charge accumulation in photoelectron converter cells. So in addition to physical element, installed along optical signal path, and defining TV-module response, ones more element with specific properties exists, which narrows bandwidth of TV-module and worsen an image of the scene. The example of forming the scene image by the mobile robot, moving on a rough terrain is given. It is shown, that image dynamic worsening should be taken into account at the stage of general MR configuration design. [ABSTRACT FROM AUTHOR]

The distortion of scene image by the pair «infrared lens/thermo-electronic converter» is investigated. Under the assumption that on the cold scene point heat source is placed randomly in such a way, that probabilities of its appearance at any direction are independent and unformed, the expression for information capacity is obtained. It is shown, that distortion decreases amount of information, when scene signal is transformed into its thermal image. Information losses are linked with changing of cells inverse projection on the observed scene space. Formulae for area of inverse cell projections and for information losses calculation in the IR system with pincushion and barrel type distortions are obtained. The structure of the testing system has been developed, the main element of which are eight IR LEDs, placed along the edges of the scene. The uncomplicated engineering method of IR sensor quality evaluation is proposed. [ABSTRACT FROM AUTHOR]