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Planning Navigation Routes for Mobile Robots

Kryvyy R., Tkachenko S.

Machine Dynamics Research

2013

Vol. 37, No. 2

55-59

The paper describes peculiarities of route planning for mobile robots. Peculiarities of route planning via neural networks and genetic algorithms are considered.

Efficiency Enhancement of Optimal Reduction Method by Strengthening Parallelism of Structural Models Formation Process

Tkachenko S., Soprunyuk O., Tkachenko V., Solomko I.

Machine Dynamics Research

2013

Vol. 37, No. 2

85-90

In the process of complex objects and systems design the graph and multiple models of their structures are widely applied. Representation of structure models in a form of binary trees is the most economical and optimal for a number of databases designing and creating tasks. Parallel reduction is one of the best methods of binary trees formation. The complexity assessment of basic formation procedure of the reduction binary tree for complex objects (especially with significantly irregular structure) results in О(n3), which causes problems in the process of solving the large dimension tasks, where n is the number of system elements. It is possible to reduce the task complexity artificially increasing parallelism of the reduction process. Several studies have revealed the possibility to reduce the task complexity assessment up to О(n2) without any loss of the result quality.

Verification of Design Decisions

Tkachenko S.

Machine Dynamics Research

2011

Vol. 35, No. 3

74-78

Each level of the design of complex objects and systems requires, as a rule, the verification of the results of design. In the problems of synthesis and optimization of the design object model that represents it, maybe a graph or hypergraph. In this case, the comparison of the results of a design phase with the reference input for the design for this phase can be reduced to establish the isomorphism pair of graphs. Similar problems arise when typing or unifying structure design objects that correspond to models on graph search in a graph or isomorphic subgraphs isomorphic embedding of a graph into a graph of higher dimension. Algorithms for solving these problems, which use the parallel method (optimal reduction), which has polynomial computational complexity. Software implementation of algorithms confirms the possibility of their effective use.