The problem of synthesizing an adaptive observer of the state variables of a permanent magnet synchronous motor under conditions of parametric uncertainty and noise in stator current measurements is considered. A parameterization of the motor model is proposed, which makes it possible to obtain a regression model with unknown motor parameters and constant offsets in stator current measurements. The Kreisselmeier scheme is applied and devices for identifying unknown parameters are constructed to ensure convergence in a finite time. The generated estimates are used by an adaptive observer to reconstruct the angular position of the engine. A nonlinear dynamic model of a permanent magnet synchronous motor is analyzed. It is assumed that the only measurable signals are stator currents and voltages, while the currents contain unknown constant offsets. The only known parameter of the motor is the inductance of the stator windings. Using dynamic filtering, a linear regression model is derived for several unknown parameters, including the resistance of the stator windings and constant measurement noise. A dynamic extension of the regression model using the Kreisselmeier scheme is caried out. The conditions are formulated under which the constructed devices for identifying unknown parameters ensure guaranteed convergence of estimation errors in a finite time. Using the estimates obtained, an adaptive observer of the total magnetic flux, angular position, and rotational velocity of the rotor is synthesized. The results of the computer simulation demonstrate the proposed observer effectiveness for a typical operation scenario of motor to which an unknown load moment is applied.

According to the Arctic zone development strategy, one of the priorities of the Russian Federation is the intensive development and implementation of unmanned transport systems for operation in the Arctic, therefore, various tasks related to navigation by unmanned objects arise. The influence of increased geomagnetic activity on the operation of navigation systems of unmanned transport systems is considered. Local changes in the electron concentration in the ionosphere, resulting from geomagnetic disturbances, can lead to changes in the signal parameters of global navigation satellite systems, which, in turn, causes positioning errors and signal loss, especially in high-latitude regions. For example, with high values of the planetary geomagnetic activity index, the probability of signal loss exceeds 30%. Based on the results obtained, recommendations are proposed to increase the stability of control of unmanned transport systems in conditions of increased geomagnetic activity: correction of the full electronic content in real time, hybrid navigation with a two-step Kalman filter, taking into account the forecast of geomagnetic activity. Results of mathematical modeling with MatLab used as a software toolkit, confirm the importance of accounting for geomagnetic activity in order to maintain the stability of control of unmanned transport systems by reducing positioning errors.

An approach to restoring information lost during the reading process in a digital angle converter using pseudorandom code scales is presented. An algorithm is proposed that uses linear recurrent sequences generated by shift registers with linear feedback, which provides error correction during dynamic reading of information from the code scale. A distinctive feature of the approach is the use of an odd number of reading windows, which significantly increases the information reliability of the system.

An algorithm for the structural-parametric synthesis of elastic elements in the phalanges of robotic hands is presented, which provides a solution to adaptive grip problems. The use of elastic elements in the executive organs of robotic gripping devices reduces the requirements for precise finger positioning when gripping objects in an unstructured environment. The structural-parametric synthesis algorithm makes it possible to design elastic phalanges that increase the efficiency of capturing objects with different physical properties by mechanically adapting to them. To determine the topologies of phalanges intended for various classes of objects, a procedure is proposed for automating the construction of variants of elastic phalanges and evaluating their elastostatic characteristics. The design is defined by a discrete model of rigid links and elastic elements, which provides a unified representation of different topologies. By directional search for solutions, a variety of configurations with a different number of elastic elements and their location are generated; for each topology, analytical stiffness calculations, deformation modeling, and registration of force and deformation metrics are performed. The results are stored in a database for a posteriori analysis of the dependence of design parameters on functional properties and the selection of optimal solutions based on specified metrics. The algorithm is based on a computationally lightweight simulation model of nonlinear deformations of an elastic phalanx. This makes it possible to solve the optimization problem with constraints about an order of magnitude faster than using commercial engineering design environments, ensuring the reliability of modeling, the sufficiency of which is determined by verification on finite element models. The procedure of computational design of phalanx parameters as part of the finger module is implemented. To ensure physical consistency, the algorithm was validated in three stages: (1) verification of the analytical model of elastic body substitution by comparison with the results of finite element modeling; (2) determination of the initial value of the Young’s modulus on a three-point bending bench; (3) refinement of the Young’s modulus through identification of a simulation model of elastic phalanges based on physical experiments.

Recommendations for optimizing the angular field structure of faceted optoelectronic systems are presented. It is shown that the faceted structure of the angular field makes it possible to change the angular direction of the facets, to sample objects in space with overlapping adjacent angular fields of the facets, thereby making it possible to increase the spatial resolution of the optoelectronic system, increase the entrance pupil of the optical system, realize a variable (spatially variable) angular field resolution of the system, and reduce the amount of information transmitted. and, accordingly, increase the image transfer rate. Mathematical expressions defining the energy relations for image characteristics in faceted optical systems and the information capacity of the image are obtained. Examples of faceted optoelectronic systems are given.

An installation for calibrating the spectral sensitivity of a spectroanalytical instrument (SAP) is presented. The special feature of the installation is that a set of narrow-spectrum radiation fluxes enters the SAP. The developed optical scheme of the calibration radiation source included in the installation makes it possible to obtain a set of such radiation fluxes. The fluxes were measured by a reference photodetector precisely at the SAP inlet, which eliminated the need to take into account the influence of medium transmission on the measurement results.

Experimentally confirmed dependences of the working zones of an electromagnet-magnetometer, i.e. zones with an almost uniform magnetic field, on the distance between the poles and their radius (the opposing magnetic poles are flat, in the form of disks) are given. This justifies the permissible dimensions of the sample being examined in the interpolar space (within the working area) of such a magnetometer. Using such a magnetometer, the values of the magnetic susceptibility of individual particles of powder samples used in flaw detection were obtained. An approach is proposed, which consists in using a step-by-step depleted (sparse) dispersed sample, i.e. with a relatively small volume fraction of the particles contained in it. It was found that the values of the magnetic susceptibility of individual particles of the same type of powders from different manufacturers (at a fixed value of the field strength) differ markedly: 2.6 and 1.5.

An improved version of an electrically conductive liquid ball flow meter with four electrodes is presented, in which the passive balanced circuit is replaced by an active bridge converter of liquid resistance between the electrodes, which leads to a theoretical increase in the dynamic measuring range towards low and ultra-low liquid flow rates, as well as an increase in noise immunity and noise tolerance of the circuit as a whole.

The problem of modeling the tension node of the prepreg tape in automated placement process is solved. It is shown that the feed unit is usually modeled as a mechanical system with a constant moment of inertia of the coil and a constant geometry of the feed section, which does not correspond to the actual unwinding process. A mathematical model is proposed that takes into account the winding of the material on the coil in a spiral, the change in the radius of the coil and the moment of inertia of the system, as well as the dependence of the length of the tape between the coil and the bypass roller on the angle of rotation of the coil. The effect of spring stiffness and the distance between the coil and the bypass roller on the tension force pulsations and the working stroke of the spring is analyzed. It is shown that reducing the spring stiffness reduces the amplitude of the pulsations, but increases the dimensions of the tension unit, and increasing the distance between the coil and the bypass roller reduces the required working stroke of the spring. An approach to choosing the spring stiffness and the distance between the coil and the bypass roller is presented, based on minimizing the dimensions of the tension unit while limiting the maximum allowable tension force pulsations. The developed model can be used in the design of prepreg tape tension systems and the selection of parameters for passive tension compensators.

The change in the arithmetic mean deviation of the estimated profile of the blanks of microchannel plates at the stages of mechanical processing by the semi-contact method on a scanning probe microscope is investigated. A method for controlling changes in the surface roughness of blanks of microchannel plates at the stages of diamond disc cutting, grinding and polishing is presented. It is shown that the proposed method for controlling the structure parameters using AFM image analysis of the surface of microchannel workpieces can be used for quantitative analysis of the morphology and topography of samples in the nano- and micrometer ranges when changing materials or machining technology in order to reduce processing time and increase productivity at the stages of grinding and polishing.

Ground-based mobile robots predominantly exhibit planar motion SE(2), while aerial vehicles and robots navigating irregular terrain require full 3D pose estimation SE(3). Fixed motion model representations lead to either overparameterization during planar operation or under-parameterization during spatial maneuvers, reducing computational efficiency and degrading estimation accuracy. We propose an adaptive switching mechanism for visual-inertial-wheel odometry SLAM that automatically transitions between SE(2) and SE(3) optimization based on real-time motion characteristics. The method monitors vertical trajectory deviation within a sliding keyframe window and employs a sigmoid-based weighting function to smoothly adjust the influence of inertial and wheel odometry measurements. Evaluation on the OpenLORIS dataset demonstrates that the adaptive approach achieves competitive accuracy while reducing computational complexity during planar motion phases, with seamless transitions preserving numerical stability in gradient-based optimization.