### INFORMATION TECHNOLOGIES AND SYSTEMS, COMPUTER TECHNIQUE

SYNTHESIS OF SELF-TESTABLE COMBINATIONAL DEVICES
WITH CONTROL OF CALCULATIONS BY TWO DIAGNOSTIC PARAMETERS
Ephanov Dmitry V., Dmitry V. Pivovarov

461

The structure of the organization of integrated control circuits for logic devices of automation and computer technology based on the use of two diagnostic parameters (hybrid structure) is proposed. As the first diagnostic parameter, belonging of the controlled functions in the circuit to a pre-selected redundant code is taken, and as the second diagnostic parameter, the affiliation of each function to a class of self-dual functions is considered. A detailed description of the hybrid structure of the organization of the integrated control circuit is given. Special cases of its implementation are considered — the use of "2 out of 4" constant-weight code codes and standard compression modules for two-rail signals. The possibilities of using specialized circuits for pre-compression of signals from the outputs of the diagnostic object necessary to reduce structural redundancy during the synthesis of the integrated control circuit are demonstrated. An example of the implementation of the integrated control circuit scheme for a hybrid structure is given. The algorithm of step-by-step determination of the functions of the control logic block is considered, taking into account the features of the implementation of a fully self-checking digital device.

COMPLEXITY OF ARBITRARY FUNCTIONS OF THE LOGIC ALGEBRA
OF A SMALL NUMBER OF VARIABLES
Oleg N. Muzychenko

478

A method for evaluating the complexity of arbitrary function of Boolean algebra is examined, based on presenting such a function as a composition of monotone functions. Accurate upper estimates have been received for the complexity of monotone and arbitrary functions depending on a small number of variables.

### INSTRUMENTS AND SYSTEMS OF AUTOMATIC CONTROL

IDENTIFICATION OF NON-STATIONARY PARAMETERS
OF A LINEAR REGRESSION MODEL UNDER ADDITIVE INFLUENCE
OF THE UNMEASURABLE SINUSOIDAL DISTURBANCE
Bobtsov Alexey A., Alexey V. Kaplin, Nikolaev Nikolay A., Olga V. Oskina

492

In the framework of the deterministic approach, an algorithm for identifying nonstationary parameters for the classical linear regression equation is proposed. When synthesizing the algorithm for estimating non-stationary parameters, it is assumed that the dynamic model of their variation is known and is a linear generator with variable coefficients. An additional complication of the problem of estimating parameters for the linear regression equation is the presence of an additive sinusoidal disturbing effect with unknown constant amplitudes, frequencies, and phases. The resulting algorithm provides an accurate estimation of all unknown non-stationary parameters.

SYNTHESIS OF AN ALGORITHM FOR ROBUST CONTROL
OF A MOBILE ROBOT MOVEMENT ALONG A SMOOTH TRAJECTORY
Duc Thinh Hoang, Pyrkin Anton Alexandrovich

500

The problem of trajectory control of the movement of a mobile robot along a given continuous trajectory is considered. Mathematical model of the robot's movement may contain unknown parameters, and the movement trajectory is an arbitrary continuous curve with limited curvature. For presented nonlinear model of robot movement, transformation of the model to the normal form allows for synthesizing a robust controller using the extended observer method. The obtained control algorithm ensures the robot movement along a continuous trajectory with an error limited in the steady state, the maximum value of the error can be adjusted using the tuning parameters.

### OPTICAL AND OPTO-ELECTRONIC INSTRUMENTS AND SYSTEMS

ISOPHOTOMETRIC METHOD FOR DETERMINING LOW-INTENSITY SPECTRUM LINESCARS
Kirillovsky Vladimir K., Tatiana V. Tochilina

513

The possibility of using absorption spectroscopy to study the optical properties of windshield washer fluids "Sintech", "Freeze Way", and "Frozox" for cars of different brands is considered. The optical scheme and external view of the measuring instrument, the UV-2600i spectrophotometer, are shown, as well as the measuring block with attached cuvettes for the substance to be analyzed. The obtained spectral absorption curves differ from each other in shape, the observed shifts of the curves are associated with surfactants, functional additives, and dyes.

ABSORPTION SPECTROSCOPY OF WINDSHIELD WASHER FLUIDS FOR CARS
Yuriy M. Borodyansky, Sergeу V. Kolesnichenko, Majorov Evgeniy E., Anna A. Konstantinova, Ekaterina A. Petrova, Helen V. Popova

520

The possibility of using absorption spectroscopy to study the optical properties of windshield washer fluids "Sintech", "Freeze Way", and "Frozox" for cars of different brands is considered. The optical scheme and external view of the measuring instrument, the UV-2600i spectrophotometer, are shown, as well as the measuring block with attached cuvettes for the substance to be analyzed. The obtained spectral absorption curves differ from each other in shape, the observed shifts of the curves are associated with surfactants, functional additives, and dyes.

520

Рассмотрена возможность применения абсорбционной спектроскопии для изучения оптических свойств стеклоомывающих жидкостей „Sintech“, „Freeze Way“ и „Frozox“ для автомобилей разных марок. Приведены оптическая схема и внешний вид измерительного прибора — спектрофотометра UV-2600i, а также показан измерительный блок, где крепятся кюветы с веществом. Получены спектральные кривые поглощения, отличные друг от друга по форме, наблюдаемые сдвиги кривых связаны с поверхностно активными веществами, функциональными добавками и красителями.

### SCIENTIFIC AND PRACTICAL DEVELOPMENTS

APPLICATION OF ELASTIC ACTUATORS WITH TORSION SPRING OF VARIABLE STIFFNESS
IN ROBOTIC REHABILITATION DEVICES
Mikhail S. Malov, Musalimov Victor M, Sergey Yu. Lovlin

527

The issue of optimal spring elasticity in the actuator is investigated in order to develop efficient and compact flexible joints using physical springs for possible use in wearable robotic rehabilitation devices. An overview of domestic and foreign developments is presented, various approaches to the classification of actuators by the spring location are described. The advantages and disadvantages of alternative solutions are considered; a concept of flat torsion is developed, which allows for assembling several springs on one shaft.

EXPERIMENTAL STUDIES OF HYDROLOGICAL PROCESSES
IN SEA ESTUARIES USING CTD PROBE
Dmitry A. Antonenkov

535

Several features of using CTD probes to study the processes of interaction of river and sea waters in river estuaries are considered. The results of expedition studies of hydrodynamic processes at the estuary of the Chernaya River (Sevastopol) obtained with the help of these technical means are demonstrated. The method of performing experiments and the main characteristics of the equipment used are presented. The use of modern CTD probes allows obtaining information about the distribution of the main hydrological parameters of the aquatic environment (electrical conductivity and temperature) in natural conditions, which is necessary when modeling the hydrological regime of river estuaries.