This article presents the method for modelling underwater three-dimensional topography and it's combining with terrain under conditions of incomplete source data. The technique for constructing 3D elevation model ...
This article presents the method for modelling underwater three-dimensional topography and it's combining with terrain under conditions of incomplete source data. The technique for constructing 3D elevation model was tested within the research projects conducted in matrosov institute for system dynamics and control theory Siberian Branch of the Russian Academy of Sciences in collaboration with colleagues from other research institutes of Irkutsk Scientific Center under the comprehensive studies of Lake Baikal, the Angara River and the Bratsk Reservoir. We present an algorithm for combining underwater topography with terrain based on heterogeneous source data using the Delaunay triangulation. The combining yields a high-quality 3D elevation model. This model can be used to make forecasts of the changes in the coastlines of reservoirs, which are associated with water discharges from hydroelectric power stations. The described technique was used to solve some practical problems and showed its effectiveness. To combine the data on the terrain and underwater topography, we developed a special software using the Delaunay triangulation algorithms. For data layers, their roles were indicated during the triangulation. Layers contained the information about terrain, watermarks, contours of the coastline, and underwater topography. For underwater topography, we used the information about the marks of the water edge. Based on these data, we built an additional triangulation, from which we subsequently obtained the information about heights because contours of coastlines are confined to heights, and depths are measured relative to heights. As a result of this study, we processed some settlements and estimated possible flooding.
An essential requirement for achieving a high level of performance, autonomy, and reliability of a multi-robot system performing joint long-term operations in an unstructured environment is an advanced controlsystem....
An essential requirement for achieving a high level of performance, autonomy, and reliability of a multi-robot system performing joint long-term operations in an unstructured environment is an advanced controlsystem. In general, the robot's controlsystem is designed to be hierarchical and consists of several subsystems. To unify the interaction of individual components and reduce the load on computing and communication devices, we use the event-based methodology at different levels of the controlsystem. In the paper, we demonstrate how this methodology can be applied to solve four challenging problems in robotics: cooperative formation control, path planning, missions scheduling, and action planning.
The paper proposes a method for obtaining the missing information in the construction of a semantic network, based on the analysis of statistical data about the service use by users. The advantage of the method is tha...
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We study the possible impact of dark photons on lepton flavor phenomenology. We derive the constraints on non-diagonal dark photon couplings with leptons by analyzing corresponding contributions to lepton anomalous ma...
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The efficiency of the intelligent systems engineering on the basis of conceptual models can be improved through the use of specialized languages. The paper describes a domain-specific language designed for describing ...
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When constructing a digital terrain model from the available vector data, iso-lines (relief contour lines) are used as the main source of information. Also the maps may contain the point elevation marks. To obtain the...
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We study a class of optimal control problems for measure-driven differential equations with rate independent hysteresis. The hysteresis is modeled by an evolution variational inequality equivalent to the action of pla...
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The paper is devoted to the problem of an end-to-end table transformation from untagged portable documents (PDF) to linked data. It covers the issues of the table extraction from documents, the reconstruction of logic...
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The paper describes an approach for the computer-aided development of rule-based knowledge bases on the basis of analysis of fault trees represented with the aid of the author’s notation. The approach is based on the...
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We propose a new lobster-inspired chemotaxis decentralized control strategy for monitoring a non-stationary concentration field using a team of nonholonomic mobile robots. The task of the team is to locate and trace t...
We propose a new lobster-inspired chemotaxis decentralized control strategy for monitoring a non-stationary concentration field using a team of nonholonomic mobile robots. The task of the team is to locate and trace the movement of the point (or points) with the highest field value (i.e. source), provided that the robots are not aware of the dynamics of the field and can only periodically sample the field at their locations. As an example of the concentration field we consider a population of biological species modeled by a self-organizing multi-agent system with agents acting as individuals of the population in accordance with some flocking rules. The proposed strategy combines the lobsters' plume localization behavior and flocking mechanisms to efficiently solve the problem even with a small group of robots. Simulations and experimental works on physical unicycle robots are performed to validate the efectiveness of the approach for the cases of non-stationary fields.
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