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Laboratory for the Nonlinear Analysis and Design of New Means of Transportation

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As of 30.01.2020

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scientific publications
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General information

Name of the project: Nonlinear analysis and creation of new means of transportation

Strategy for Scientific and Technological Development Priority Level: а

Goals and objectives

Research directions: Modern robotics, mechanics and control theory; development and implementation of new methods on land and in fluids; problems of increase of maneuverability of existing means of transportation (new types of wheels), creation of new means of transportation for usage in environments of other planets

Project objective: Research and development of new methods of transportation on land and in fluid and designing mechanisms implementing such methods

The practical value of the study

  • Our researchers have developed mathematical models to describe dynamics of the following mobile systems: spherobots in four various configurations, bladeless surface and submarine vessels mobile systems, omni-wheel mobile robots.
  • We have created and enhanced a full-scale prototypes of the named mobile systems. For all the prototypes of mobile systems we have developed and patented control software.
  • The Laboratory has developed new methods of analysis of dynamic behavior of robotics systems including non-holonomic systems and systems with friction. Developed methods have as well found broad applications in research of dynamic systems in adjacent academic domains.
  • We have developed methods of experimental research of movement of bodies in fluid and on various surfaces. Obtained experimental results for studied full-scale prototypes of systems confirm relevance of developed theoretical models of movement.

Implemented results of research:

  • Developed mathematical models serve as the theoretical basis for building algorithms of dynamic control of robots and analysis of regions of stability of mobile devices' movement.
  • Designed means of transportation rigid outer shell without external propelling units can lay the groundwork for creating robots functioning under extreme conditions.

Education and career development: We regularly provide educational courses to students of the Udmurt State University in theoretical mechanics, general theory of dynamic systems, mechanics of systems with connections, dynamic chaos. We systematically conduct seminars for postgraduates and young scientists in the domain of our research with participation of leading academicians.

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Bizyaev I.A., Borisov A.V., Kuznetsov S.P.
The Chaplygin sleigh with friction moving due to periodic oscillations of an internal mass. Nonlinear Dynamics 95(1): 699-714 (2019)
Borisov A.V., Kilin A.A., Karavaev Y.L., Klekovkin A.V.
Stabilization of the motion of a spherical robot using feedbacks. Applied Mathematical Modelling 69: 583-592 (2019)
Bizyaev I.A., Borisov A.V., Mamaev I.S.
Exotic Dynamics of Nonholonomic Roller Racer with Periodic Control. Regular and Chaotic Dynamics 23(7-8): 983-994 (2018)
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