The achieved level of digitalization of modern radar stations (radar) and the availability of a control and diagnostic system that records data on the technical condition of the product and its components in real time allows to move on to solving the problem of forming the structural diagram of the radar. The solution to this problem is possible using Boolean algebra. The possibility of determining the critical elements of the radar based on experimental data, the identification of which provides an increase in the accuracy of the forecast and, accordingly, the readiness coefficient, has been investigated. An algorithm for generating a reliability scheme based on data is proposed, based on the synthesis of a logical function from the unique states of a functioning system. As an example of the synthesis of a logical function from the unique states of the system in a model experiment, we selected short-term self-eliminating failures caused by overheating of the power amplification units from the transmitting sublattice are selected. The proposed methodological apparatus for the formation of the structural diagram of the reliability of the radar based on the search for unique sets of states of its elements allows, as new failures arise, to refine the reliability diagram during the operation of the product.

An algorithm for estimating the position and orientation of an object on the stage using a stereo vision system is presented. The algorithm is reported to be extremely important in modern robotic production when building control systems with elements of artificial intelligence. A feature of the proposed solution is the analysis of three-dimensional geometry of objects based on information obtained from two-dimensional images. The developed algorithm can be applied in the problems of non-destructive testing of pipelines using robotic flaw detectors equipped with video cameras. Such robotic flaw detectors use various diagnostic methods; application of the developed stereo vision algorithm can provide continuous control of the pipeline surface (100 % coverage), as well as autonomous maneuvering and passage of pipeline elements.

An automaton component of the motion control system for a six-legged robot is presented. Hybrid automata for controlling the movement of feet and changing the phases of movement of individual limbs have been constructed. Matrices of the main types of statically stable gait of a robot are presented. Gait automata have been developed that coordinate the operation of hybrid limb automatons to provide a discrete gait mode with a sequential change in the phases of their movement and with continuous combination of the phases of movement of the body and transfer of an idle group of limbs. The specific object of control and modeling is an insectomorphic walking machine being developed at SUAI-JSC "Arsenal-07".

A protocol is proposed for the functioning of a wireless decentralized self-organizing communication network to ensure interaction within a group of intelligent mobile robots in the process of solving their cooperative tasks. A set of requirements is formulated that must be satisfied by the protocols for building networks of this type, and the implementation of a hybrid communication protocol is described. The developed protocol and algorithms allow self-adaptation of a decentralized network and dynamic routing in it when the structure of the network changes in the event of a change in the relative position of nodes when they move in space or a strong deterioration in the parameters of communication channels between individual nodes due to various external influences. The correctness of the proposed protocol is confirmed by experimental studies of the network model operating on its basis. Modeling made it possible to assess the traffic parameters in the network and the load factors of communication channels by transferring applied and service data. Based on the results of the experiments, a rational justification for choosing the value of the time parameter of the HELLO_TIME protocol is proposed, which sets the time interval for polling neighboring nodes by the network nodes for dynamic tracking of changes in its structure. Recommendations are proposed that allow, due to the peculiarities of organizing the movement of mobile robots, to reduce the load on the network for the transmission of service traffic.

The current trends in the creation of integrated navigation systems for pilotless vehicles are considered. Technical requirements for promising domestic navigation systems for unmanned vehicles are substantiated. A four-point inertial navigation system is developed and tested, which makes it possible to increase the accuracy and reliability of the resulting vehicle trajectories. In model experiments, the error in the deviation of the reconstructed trajectory from the true one is reported to be about 2% of the distance traveled. A combined navigation system with a seamless transition from satellite navigation to inertial navigation and vice versa is developed. Algorithms for calibrating odometric data, determining the initial heading of a vehicle, as well as algorithms for compensating for drifts of the inertial system according to satellite navigation data are implemented.

Issues related to the creation of a remote gas analyzer operating in the mid-infrared range are considered, elements of both domestic manufacturers and foreign analogues are analyzed. The working scheme is described, its energy losses are estimated, the dependence of the signal change on the gas concentration at distances of 1 and 2 m is measured, the operation of the sensor at distances of 5 and 10 m is theoretically estimated. The results of calculations and measurements show that at this stage the device is inferior to modern remote gas analyzer, however, it is capable of working with high accuracy with a distance between modules from 5 to 100 m and is best suited for continuous stationary monitoring of industrial facilities for leaks.

A measuring complex is been developed for studying the structure of a water flow, based on the use of the anemometry data from particle images. The description of the main elements of the complex is given and the principle of its operation is presented. Thanks to the use of modern visualization methods, the created complex makes it possible to obtain not only the velocity at a certain point in the water space, but also the distribution of the current velocity in different spatial and temporal ranges.

Results of thin Zn2SnO4 films study are presented. Samples of zinc orthostannate are obtained by the sol-gel method; the gel has been applied by centrifugation on glass substrates. The samples were air dried and annealed to form a crystal structure and remove the solvent. The surface resistance of the samples is measured by the four-probe method, the thickness of the films is measured using a microinterferometer, and the resistivity is obtained by the calculation method. The surface of the samples has been examined using scanning electron microscopy at various stages of annealing. The elemental composition of the films is obtained using X-ray phase analysis. The zinc-to-tin ratio agrees with the theoretical data and is 2:1; a large amount of chlorine is also found in the films due to insufficient annealing time. The transmission spectra of the samples are obtained using a spectrophotometer. In the visible range, the transmittance is 48–75 %. The transmission spectra are used to obtain the data of the band gap of the samples by the graphical method (the intersection of the straight section of the curve with the abscissa axis). The band gap of the samples is 3.72–3.75 eV. Research results show that the Zn2SnO4 material is suitable for use in transparent electronics.

Possibilities of increasing the end overlap coefficient in involute cylindrical gears of external engagement are investigated.