Polina Efimova

Bio: Polina Efimova is an academic researcher from Saint Petersburg State University. The author has contributed to research in topics: Remote control & Control system. The author has an hindex of 7, co-authored 8 publications receiving 142 citations.

Methods of remote control over space robots

Abstract: The paper proposes methods for remote control over space robots An advanced and realistic approach to the creation of a system of remote control over space robots is proposed and proved theoretically Considered methods involve using interface-simulator including a model of the robot and its external environment, as well as simulated gravity conditions in the operation area, in particular, conditions of weightlessness However, constructing ideal models of the robot and its external environment is impossible In the paper the methods of correcting erroneous actions of the robot caused by the “nonideal” models of external environment are proposed The results of experimental testing the given theoretical conclusions with the use of a prototype system of control over space robots are given

Modeling and control of robot manipulators with the constraints at the moving objects

Abstract: In this paper a method of constructing a model of control over compliant motion of robot manipulators is considered. In this method the elastic deformations of flexible manipulators elements are used as feedback signals.

Study on the structure of limit invariant sets of stationary control systems with nonlinearity of hysteresis type

Abstract: In this paper both scalar and vector controls are built which solve the problem of relay-stabilizing of the system with hysteresis type nonlinearities. The behavior of closed system solutions in a neighborhood of its invariant set is studied, its structure is researched.

Integrability of nonsmooth one-variable functions

Abstract: In the article the authors state and prove necessary and sufficient conditions for primitive one-variable functions to exist and the ways to find these functions.

Parameters Estimation in Mechanism Design

Abstract: The paper proposes a procedure to estimate the parameters of experimental manipulator robot samples in a series of tests that allows discarding robot samples with parameters being unsuitable for the constructed mechanism. Features of this approach, providing numerical estimates of the parameters are particularly useful in solving the problems of designing space manipulators that require a higher degree of reliability performance. This procedure can also be used in other practice areas, such as analysis of indirect signs of corruption in the socioeconomic, nancial, military, geopolitical and other structures.

Group strategy of robots in game-theoretic model of interception with incomplete information

Abstract: In the paper the problem of a group search and interception by a moving object with incomplete information is considered. Consider two robots located the periscope of a submarine, which immediately went under the water and began moving towards unknown direction with a constant velocity. Robots have information about two sectors where the submarine may move. Their goal is to capture a fleer in a minimum of time. The game-theoretic model of search and interception of a moving object with using the spiral search algorithm is formalized. The problem of calculating a minimum time of interception is solved. The numerical results illustrating the efficiency of the proposed algorithm for calculating the minimum of time for interception are presented.

Modeling and control of robot manipulators with the constraints at the moving objects

Abstract: In this paper a method of constructing a model of control over compliant motion of robot manipulators is considered. In this method the elastic deformations of flexible manipulators elements are used as feedback signals.

Robot master slave and supervisory control with large time delays of control signals and feedback

Abstract: In this paper the methods of remote control over space robots with large delays of the transmission of control signals from the Earth to the local robot control system are theoretically and experimentally substan-