### INFORMATION TECHNOLOGIES AND SYSTEMS, COMPUTER TECHNIQUE

FORECASTING OBSOLESCENCE OF INFORMATION COLLECTION
AND PROCESSING SYSTEMS OF SPACE COMPLEXES ACCORDING TO THE CRITERION
OF INFORMATION SUPPORT EFFICIENCY
Shestopalova O. L.

81

The issues of forecasting obsolescence of information collection and processing systems in space complexes are considered. The features of predicting the indicators of design and residual obsolescence terms are described based on presented model of a decrease in the efficiency of information support in time under conditions of increasing equipment downtime caused by progressive failures of the outdated element base.

JUSTIFICATION OF THE TRANSITION OF THE HADAMARD HYPOTHESIS TO THE THEOREM
Alexander M. Sergeev

90

The validity of Hadamard hypothesis about the existence of orthogonal matrices of the maximum determinant with elements –1 and +1 of all orders of 4t with t being a natural number, which are widely used in problems of information processing, transformation, and encoding, is discussed. The "problematic" orders of Hadamard matrices for calculation by known methods, which do not allow to practically confirm the proof of the hypothesis, are presented. Hadamard matrices and Mersenne matrices are considered as mathematical objects whose search is fundamentally different. The relationship of Mersenne matrices existing for all orders (4t–1) with Hadamard matrices is given, which proves the existence of these matrices for all orders of 4t.

### INSTRUMENTS AND SYSTEMS OF AUTOMATIC CONTROL

STABILIZATION OF A LINEAR NON-STATIONARY SYSTEM UNDER CONDITIONS
OF DELAY AND ADDITIVE SINUSOIDAL PERTURBATION OF THE OUTPUT
Quoc Dat Vo, Bobtsov Alexey A., Nikolaev Nikolay A., Pyrkin Anton Alexandrovich

97

A solution is proposed to the problem of stabilization of a linear non-stationary object controlled by the output, that is, without measuring the object state variables. The solution to this problem is complicated by the fact that the output variable contains a delay, and there is also a disturbance in the measurements in the form of a sinusoidal function of time with unknown constant parameters. Assuming that the parameters of the control object are known non-stationary functions of time, the proposed solution provides for the synthesis of an observer of state variables and is constructed using an approach involving the constant parameters identification.

LANE DETECTION ALGORITHM
Mohamed S. Korium, Ahmed A. Abdelsalam, Svetlana Yu. Perepelkina

104

The solution to the problem of unmanned vehicle control is based on the use of theoretical and practical developments in the field of technical vision and trajectory control. Technical vision methods are used to analyze the surroundings of vehicle movement. The proposed algorithm development applies a global analysis of geometric relationships between image elements: a road lane and a moving car. This algorithm is presented as part of an autonomous vehicle control system using the Lua language and exploiting the generalized Hough transform. Examples of the algorithm implementation are presented.

ANALYSIS OF ALGORITHMS FOR POSITIONAL SEMI-AUTOMATIC CONTROL
OF A ROBOT MANIPULATOR WITH A GIVEN ORIENTATION OF THE WORKING TOOL
Ekaterina N. Rostova

109

The problems of semi-automatic control of a robot manipulator with position and orientation of the working tool set by a human operator are considered. Theoretical methods of setting robot tool orientation are discussed. Inverse kinematic problems solved in position control systems for a 6-link robot are formulated. Ways of solving such problems using iterative numerical methods with and without calculating the Jacobi matrix corresponding to the robot’s mechanism are studied. Examples of joint trajectories calculation for a 6-link robot moving the tool along a helical trajectory using different techniques of setting the tool orientation are presented. Convergence of iterative algorithms for solving inverse kinematic problems are analyzed.

### ELECTRONIC AND ELECTROMAGNETIC DEVICES

RESTORATION OF THE ROTOR GROOVES SHAPE
OF AN ASYNCHRONOUS MOTOR ACCORDING TO THE TEST RESULTS
Silaev Alexey A., Marusina Maria Ya.

119

A method for reconstructing the slots geometry of a short-circuited rotor of an asynchronous motor based on a load stand tests results is presented. The engine simulation was carried out in the Infolytica MotorSolve program, and a quasi-Newtonian optimization method and a genetic algorithm are used to minimize the objective function. The calculated and experimental characteristics of the asynchronous motor with and without taking into account the influence of the test bench are compared.

### OPTICAL AND OPTO-ELECTRONIC INSTRUMENTS AND SYSTEMS

THE USE OF MODERN TECHNOLOGIES IN THE CREATION OF OPTOELECTRONIC SYSTEMS
Georgy G. Gorbunov, Dmitry N. Eskov, Mikhail A. Parpin, Igor V. Rodygin

126

New materials and technologies currently used in the development of new optoelectronic instrumentation and devices are considered. Examples of developments of adaptive optical devices and "structureless" telescopes mounted without rod systems of mutual attachment, implementation of diffraction optical elements, and application of optics based on Fresnel lenses are presented. The design of a telescope of a fundamentally new layout is described, which will be one or two orders of magnitude more compact and cheaper than traditional telescopes. The new layout is a flat panel consisting of a layer of microlenses and arrays of optoelectronic integrated circuits in the board under the lenses for controlling the system, obtaining spectral and spatial information, and image processing.

APPLICATION OF COMPUTER ISOPHOTOMETRIC METHOD IN INTERFEROMETRY
Kirillovsky Vladimir K., Tatiana V. Tochilina

137

The problem of increasing the accuracy of interference measurements is solved by selecting the lines of the centers of interference bands – isophots. The interferogram can be obtained, for example, using a Linnik micro-interferometer. The principles of isophotometry used in computer processing of interferograms are considered. Isophotometry is based on the use of an image receiver – analyzer that performs interference image conversion with the implementation of the comb-type conversion function. Due to the use of this transformation, an increase in the accuracy of interference measurements by a factor of 5–10 is achieved.

OVERCOMING THE CONFLICT OF CONVERGENCE AND ACCOMMODATION
IN VIRTUAL AND AUGMENTED REALITY SYSTEMS
Ngoc Son Nguyen, Romanova Galina Eduardovna

143

Existing options for solving the problem of vergence-accommodation conflict in virtual and augmented reality systems are analyzed. An assessment of convergence and accommodation in virtual reality optical systems is carried out. A new approach based on wedge optics and decentralized lenses is proposed.

### SCIENTIFIC AND PRACTICAL DEVELOPMENTS

VISION REHABILITATION BY COMPUTER EMULATION METHODS
Fedorov Yury V.

153

Variants of computer emulation of vision training apparatus are described. Представлены варианты компьютерных эмуляций зрительных тренажеров. An example of the organization of computer cyclic slideshows used as a simulator to improve the tone of the ciliary (intraocular) and external oculomotor muscles is given. The effect of color pulses corresponding to the biological rhythms of a healthy person in a slide show on the retinal visual cells is shown to be analogous to the effect on the retina produced in devices for correcting the human body functional systems, developed under the guidance of T.P. Teterina, an academician of the RAS.