Vibration-driven locomotion systems are widely used in various industries, particularly, in the form of capsule-type robots, wheeled platforms, worm-like units, etc. Because of the changeable operating conditions, such systems require continuous control of their kinematic and dynamic characteristics. The main purpose of the present paper is to define the optimal excitation conditions (forced frequencies and phase shifts) of a wheeled two-module vibration-driven robot equipped with two unbalanced rotors. The research methodology contains four stages: developing the robot’s dynamic diagram and mathematical model describing its motion; designing the robot’s simulation model in the MapleSim software; numerical modeling of the system locomotion conditions in the Mathematica software; simulating the system dynamic behavior in the MapleSim software. The obtained results show the time dependencies of the system’s kinematic characteristics at different phase shift angles of the unbalanced rotors. The major scientific novelty of this paper consists in substantiating the possibilities of adjusting the system’s operational parameters in accordance with the changeable technological requirements by means of changing the phase shift angles of the unbalanced rotors. The proposed ideas and obtained results can be used while developing new designs of robots based on the two-module vibration-driven systems and while improving the control systems for adjusting their performance in accordance with the changeable operational conditions.

The methods of matching digital filtration of chirp-signa's in time domain are studied in this work. The advantages of this kind of processing in comparison to the processing on fast convolutions in frequency domain are demonstrated. The chirp signal aid smoothing window parameters have been studied to increase the ratio of the main lobe to side lobes of compression radio pulses. To increase the efficiency of the differential processing of location signals in time domain, the use of noise-like signal representation in sign delta modulation format (SignDM) has been proposed. The SignDM codes are determined by comparing the values of differences between signal samples in PCM formats with a differential zone, which is defined apriori. These codes belong to the set {-1, 0, l}. SignDM's sampling rate is equal to Nyquist's frequency. The resolution of matching filtration depending on the changing of differential zone is studied by computer simulations. The peculiarities of creating analog signals on the basis of the noise-like codes have been presented in this work, too. The stmcture of matching filter (MF) with Sign DM is represented, too.

Problem statement. Mobile robots are of significant interest among scientists and designers during the last several decades. One of the prospective drives of such robots is based on pneumatically operated walking (stepping) system with no use of electric, heat, magnetic or other types of energy. This allows the use of pneumatically-driven robots in the cases when the use of other energy sources is prohibited (e.g., in some gaseous or fluid mediums). At the same time, the walking (stepping) type of moving increases the manoeuvrability and cross-country capability of the mobile robot, and decreases the harmful effect of its interaction with the supporting surface (e.g., the fertile soil surface) in comparison with wheeled or caterpillar drives. Purpose. The main purpose of this research consists in substantiation of structure and parameters of pneumatic system of four-degree-of-freedom mobile robot with orthogonal walking drive and turning mechanism. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical experiment is conducted in MathCAD software; the computer simulation of the robot’s motion is performed using SolidWorks software; the modelling of the pneumatic system operation is carried out in Festo FluidSim Pneumatic software. Findings (results) and originality (novelty). The improved structure of the mobile robot with orthogonal walking drive and turning mechanism is proposed. The pneumatically operated system ensuring the robot’s curvilinear motion is substantiated. Practical value. The proposed design of walking robot can be used while designing industrial (production) prototypes of mobile robotic systems for performing various activities in the environments that are not suitable for using electric power or other types of energy sources. Scopes of further investigations. While carrying out further investigations, it is necessary to design the devices for changing motion speed of the robot and the height of lifting of its feet.

In this article, the topical problem of determining the effectiveness of the method of correcting the methodological error of the distributed automatic sound artillery reconnaissance system (SAR) is considered. The information on deviation of values of methodical error obtained during application of the mentioned method from ideal values, which were obtained by means of computer modelling, was compared. The non-excluded measurement error of the target direction angle was used as a measure to evaluate the effectiveness of the correction. Consideration of the dependence of this error on the distance to the target determines the conclusion that the error value is inversely proportional to the ratio of the distance to the target to the length of AB.The results of the comparison showed a significant deviation of the values in cases where the sound receiver of the SAR system is located close to the sound signal source. The latter can often happen in SAR systems built on the basis of cellular communication. The existing methodology for correcting the methodological error of obtaining the angle of direction of the target was analysed. To assess the effectiveness of the correction method for various initial data, a "non-excluded" error of measuring the angle of direction of the target was used. In order to determine the effectiveness of the proposed method of methodical error correction, it is proposed to apply simulation modeling. The results of computer modeling, which justify the need to use more accurate methods of calculating the error with the use of specialized computing tools, are also presented. The proposed research results can be applied to estimate the error of target coordinate measurement results using the SAR system for targets installed close to sound receivers. This assessment can be used as a criterion for selecting both coordinates for installing sound receivers of the distributed system of SAR, and adapting the signal processing algorithm of these sound receivers.

Problem statement. Mobile robots are currently of significant interest among researchers and designers all over the world. One of the prospective drives of such robots is equipped by a pneumatically operated orthogonal system. The processes of development and improvement of orthogonal walking robots are significantly constrained because of the lack of an open-access comprehensive scientific and theoretical framework for calculating and designing of the energy-efficient and environmental-friendly pneumatic walking drives. Purpose. The main purpose of this research consists in the kinematic analysis, motion modelling and pneumatic system simulation of the mobile robot with an orthogonal walking drive. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical modelling of the robot motion is conducted in MathCad software. The computer simulation of the robot kinematics is performed using SolidWorks software. The operational characteristics of the robot’s pneumatic system are investigated in Festo FluidSim software. Findings (results) and originality (novelty). The improved design of the mobile robot equipped by the orthogonal walking drive and turning mechanism is thoroughly investigated. The motion equations of the orthogonal walking drive are deduced, and the graphical dependencies describing the trajectories (paths) of the robot’s feet and body are constructed. The pneumatically operated system ensuring the robot rectilinear and curvilinear locomotion is substantiated. Practical value. The proposed design of the walking robot can be used while developing industrial (production) prototypes of mobile robotic systems intended for performing various activities in the environments that are not suitable for using electric power. Scopes of further investigations. While carrying out further investigations, it is expedient to design the devices for changing the robot locomotion speed and controlling the lifting height of its feet.