Name of the competition within which the project is being implemented: Competition for program-targeted funding for scientific and (or) scientific-technical programs for 2023-2025.

Project Supervisor: Darya L. Alontseva,  Doctor of Sciences in Physics and Mathematics, Professor of Physics.

Identifiers:

The research group of the project

№ Full name Project position Identifiers (Scopus Author ID, Researcher ID, ORCID, if any) and links to related profiles
 1 Gennady K. Shadrin Leading Researcher Scopus Author ID https://www.scopus.com/authid/detail.uri?authorId=57170401000
ORCID https://orcid.org/0000-0002-4716-8383
2

 

 Alexander L. Krasavin Leading Researcher Scopus Author ID https://www.scopus.com/authid/detail.uri?authorId=57189326266
3 Alyona V. Russakova Senior Researcher Scopus Author ID https://www.scopus.com/authid/detail.uri?authorId=55669597600
Web of Science Researcher ID: O-8504-2017
https://www.webofscience.com/wos/author/record/1774379
4 Almira M. Zhilkashinova Senior Researcher Web of Science  Researcher ID P-5882-2017 https://app.webofknowledge.com/author/record/27689909
Scopus Author ID 55890420000 https://www.scopus.com/authid/detail.uri?authorId=55890420000
ORCID 0000-0003-0948-2280
Young scientists (up to 40 years old + trainees (Undergraduates, Master's students))
№ Full name Project position Identifiers (Scopus Author ID, Researcher ID, ORCID, if any) and links to related profiles Note (teacher, student, undergraduate, doctoral student)
1 Albina T. Kadyroldina Senior Researcher Scopus Author ID https://www.scopus.com/authid/detail.uri?authorId=57202922020
ORCID  https://orcid.org/0000-0001-5572-4792		 faculty
2 Assel T. Kussaiyn-Murat Senior Researcher Scopus Author ID https://www.scopus.com/authid/detail.uri?authorId=57207456820
ORCID https://orcid.org/0000-0001-6867-6638		 faculty
3 Alexandr R. Khozhanov Senior Researcher Scopus Author ID https://www.scopus.com/authid/detail.uri?authorId=57220782525,
ORCID  https://orcid.org/0000-0002-3298-6359		 doctoral student
4 Arailym Zh. Orazova Junior Researcher  ORCID https://orcid.org/0000-0002-3913-4562  
5 Maral B. Tolykbaeva Junior Researcher    doctoral student
6 Gaukhar M. Nazenova Junior Researcher  ORCID https://orcid.org/0000-0002-5415-094X doctoral student
7 Dmitriy A. Porubov Engineer   faculty

 

Project abstract:

Nowadays, the use of MEMS (microelectronic mechanical systems) technology is very promising for the control of mobile robots. MEMS inertia sensors are small, light, and cheap, provide fast measurements, and come with standard digital communications interfaces. However, the use of MEMS technologies for control tasks associated with solving the problem of establishing the spatial orientation of an object and reconstructing its trajectory is limited by the high noise level of inertia sensor data.

The main idea of the project is to integrate the mobile robot’s inertial navigation and the automatic control systems into one using machine learning methods and MEMS inertia sensor data as feedback signals for the robot control and navigation. Machine learning will be carried out using the data archives of the control system for different specified trajectories. The input data for learning will be calculated as the difference between the real and given trajectories of the mobile robot.

The main problem is the precise positioning and orientation for arbitrary types of robot movement and the applicability of MEMS sensor technology with noisy data for industry (robotics). The problem will be solved through the use of machine learning for non-linear automatic control systems and the development of new algorithms for reconstructing the robot's trajectory based on MEMS inertia sensor data.

The goal of the project is to develop algorithms for determining the position and spatial orientation of a mobile robot using MEMS-sensor data as a feedback signal. A distinctive feature of the project is the use of machine learning to solve the tasks of the robot navigation and automatic control.

Expected and achieved results of the project:

Year The results obtained from the research.
Publications (with links to them) and patents; information for potential users.
2023

A comparative analysis of the advantages and disadvantages of modern approaches to the control and navigation of mobile robots will be carried out.
1 review or research article will be written and submitted to a journal recommended by CCSES (presumably to the Bulletin of the D. Serikbayev EKTU)
New control algorithm for the robot manipulator will be developed and implemented on a pilot production site.
1 application for a utility model patent on a robotic spray coating method will be filed with the Kazakhstan Patent Bureau.
    At least 1 presentation will be made at an international conference. An interim brief research report will be prepared.
2024

An environment for computer simulation of determining the position and spatial orientation of a mobile robot based on MEMS sensor data has been developed: two components of the computer simulation environment have been created: a simulator of MEMS sensor data installed on a moving platform and a mobile platform simulator. The MEMS inertia sensor data simulator includes an interface that allows the user to set the trajectory of the mobile platform and the time parameters of its passage, as well as to set the parameters of random and systematic errors simulated by the MEMS inertia sensors. The mobile platform simulator (a wheeled robot, the movement and control of which is carried out by two DC collector motors) includes simulators of engine drives and a simulator of MEMS sensor data mounted on the robot. The MEMS inertia sensor data simulator allows practicing algorithms for the mobile robot navigation system, and the mobile platform simulator provides the ability to work with algorithms for automatic control of the mobile robot.

Algorithms for control and navigation of a mobile robot based on MEMS inertia sensor data have been developed and debugged using computer simulation methods. Algorithms for trajectory control and navigation, as well as control of the speed and course of a four-wheeled mobile robot based on the method of compensation for dynamics and disturbances have been developed. Debugging and testing of the developed control algorithms, in which MEMS inertia sensor data are used to stabilize the trajectory of a mobile wheeled robot, have been carried out. Mathematical modeling and computer simulation have been performed to assess the quality of control. The developed control algorithms ensure the passage of a given trajectory of the mobile platform and the time parameters of its passage.

4 presentations were given at international conferences with publication and/or presentation of abstracts on conference websites, with the aim of disseminating the results of the work among potential users, the scientific community and the general public:

1 speech delivered at the international conference "Engineering Education: Challenges, Trends, Best Practices (EE: CTBP)", October 3-4, 2024 in Ust-Kamenogorsk (Kazakhstan), a speaker's certificate was received. The article "Trajectory tracking simulation of a wheeled mobile robot" by A.L. Krasavin, G.M. Nazenova, D.L. Аlontseva, K. Askaduly will be published in 2025 in the journal "Bulletin of D. Serikbayev EKTU ", recommended by the Ministry of Science and Higher Education of the Republic of Kazakhstan in the field of "ICT"

1 speech delivered at the international conference 19th Symposium on Applied Informatics and Related Areas (AIS 2024), November 14, 2024 in Obuda University, Székesfehérvár, Hungary, 1 article published: Krasavin A., Alontseva D. Nazenova G, «Software Simulation of a Microcontroller-Based Wheeled Mobile Robot». Proceedings of 19th International Symposium on Applied Informatics and Related Areas (AIS 2024) Obuda University, November 14, 2024, Székesfehérvár, Hungary, pp. 81-89.

1 invited talk «Application of Compensation Algorithms to Control the Speed ​​and Course of a Four-Wheeled Mobile Robot» delivered at the IEEE SENSORS 2024 International Conference in Dusseldorf, Germany, September 5-12 (Best Paper Certificate)

1 article  published in the journal Sensors: Shadrin G., Krasavin A., Nazenova G., Kusayyn-Murat A., Kadyroldina A., Heidegger T., Alontseva* D. «Application of Compensation Algorithms to Control the Speed ​​and Course of a Four-Wheeled Mobile Robot. Sensors 2024; 24(22):7233. https://doi.org/10.3390/s24227233

Sensors  (MDPI): Web of Science Journal Rank: JCR - Q2 (Instruments & Instrumentation) / CiteScore - Q1 (Instrumentation) Impact Factor: 3.4. Scopus percentile (2023) 83% (Instrumentation)

Interim scientific report written. Project report summary registered with NCSSTE.
2025

An experimental environment for full-scale experiments will be developed: an experimental mobile robot for testing new algorithms for navigation and automatic platform control will be designed and mounted.
1 (one) article or review will be written and submitted for publication in peer-reviewed scientific journals, indexed in the Science Citation Index Expanded and included in the 1st (first) and (or) 2nd (second) quartile by impact factor in the Web of Science database and (or) having a CiteScore percentile in the Scopus database of at least 65 (sixty-five); or at least 1 (one) article or review in a peer-reviewed scientific publication indexed in the Science Citation Index Expanded and included in the 1 (first) quartile by impact factor in the Web of Science database and (or) having a CiteScore percentile in the Scopus database is not less than 80 (eighty).
Software will be developed for programmable devices that are part of a mobile robot that implements the developed algorithms using machine learning methods.
At least 3 presentations will be made at prestigious international conferences with the publication and / or presentation of abstracts on conference websites, in order to disseminate the results of the work among potential users, the scientific community and the general public.
1 monograph will be published in Kazakhstani publishing house. The monograph can be used both in the educational process when teaching doctoral students in the specialties of robotics, instrumentation, automation and control, and by specialists in inertial navigation, that is, end users of the developed scientific and technical products.
1 Ph.D. dissertation will be defended.
Final research  report will be prepared.

Infographic

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