The paper substantiates the necessity of the CFD analysis of AUUV. It presents an algorithm of hydrodynamic coefficients computation. The initial conditions and environment model for computation are defined. We present the CFD results and the approach of hydrodynamic coefficients analysis.

Keywords: AUUV hydrodynamics mathematical model polynom approximation software complex

Calculate the aerial and / or hydrodynamic effects from the continuous medium required for the synthesis of an adequate control system. Numerical simulation of movement managed position-control trajectory mini-ship at small angles of heel and the presence of sea waves on the basis of a fully-mathematical model and the proposed methodology for assessing the hydrodynamic impact.

Keywords: surface mini-boat, position-control trajectory, aerohydrodynamics, mathematical model, nonlinear dynamics, CFD modeling, external disturbances

The formation and development of the innovation environment of the region in the framework of the theory of spatial economics. Indicates the special role of the creative class, produced and attracted the region as a source of innovation. The study offers institutional ways to promote innovation in the context of spatial development of the region.

Keywords: innovation, region, institution, globalization, competition, creative class, human capital, social and economic system, efficiency, space

One of the criteria for the effective operation of modern machines, machinery, tools and devices is a quiet drive. Research noise generation in mechanical gears is important. A modernization drive with a flexible link, as a method of solving the problem of noise reduction.

Keywords: noise, vibration, drive, machine, mechanism, chain drive, toothed belt drive, a study, a flexible connection

One of the criteria for the effective operation of modern machines, machinery, tools and devices is a quiet drive. Research noise generation in mechanical gears is important. A modernization drive with a flexible link, as a method of solving the problem of noise reduction.

Keywords: noise, vibration, drive, machine, mechanism, chain drive, toothed belt drive, a study, a flexible connection

The paper considers the algorithms of position-trajectory control of mobile objects, are automatically distributed control forces and moments on the actuator. The basic control law is based on the equations of kinematics and dynamics and method of position-trajectory control of mobile objects. We consider the distribution of control forces and moments on the basis of pseudo-inverse matrix, which provides minimum MSE. This approach does not provide for preliminary separation of control channels, as is customary in classical systems of mobile objects. The proposed method is applied to the control system of aeronautical complex. The cases of excessive and insufficient number of control channels. The results of the simulation.

Keywords: position-trajectory control, a multiply, actuators, mobile object

Authers propose the approach to development of mathematical model of the independent autinomous underwater vehicle. Model takes into account hydrodynamic properties which were obtained by an electronic purge of the vehicle case. This type of the vehicle has a torpedo-shaped form and icludes one propeller with the operated vector of draft and two (horizontal and vertical) bow-thrusters located in nasal part.

Keywords: mathematical model, underwater vehicle, autonomous vehicle, robots

The article discusses the design of microcontroller control unit for actuators of marine vehicle "Neptune". Functions of the control unit and its interconnections with the other functional elements of the vehicle is described. Emergency remote control mode is presented in details. Paper contains description of hardware and software implementation of the control unit. The efficiency of the proposed design is proved by the results of experiments in which authors measured dependencies between the parameters issued by the autopilot and the appropriate control signals applied to the actuators of autonomous vehicle.

Keywords: control unit, actuators, control system, microcontroller board, remote control.

From the point of view of development of control systems, a significant disadvantage of indirect adaptive control systems of moving objects is the fact that the limiting the properties of such system are determined by the basic adaptive regulator. In other words, to solve the problem of adaptive control it is required to find a non-adaptive regulator, which solves the problem of marine autonomous vehicles. In this case, the adaptive controller replaces many controllers that solve the control of multiple objects in a non-adaptive domain. The paper presents method of direct adaptive control for marine autonomous vehicles. Nonlinear mathematical models are considered. The method is based on position-trajectory control approach. It is proved the designed by suggested method controller is a vector nonlinear PI-regulator. The regulator ensures asymptotical stability of the closed-loop control system.

Keywords: adaptive control, marine autonomous vehicles, position, trajectory

Testing and debugging of real equipment is a time consuming task. In particular, in the case of marine robots, it is necessary each time to carry out the transportation and deployment of a robot on the water. Experiments with not yet fully functional prototype of marine robot equipped with expensive hardware is in the meantime very risky. Therefore, the use of simulators is affordable way to accelerate the development of robotic systems from the viewpoint of labor effort and cost of experiments. This paper presents a simulator specifically designed for autonomous unmanned underwater vehicles.

Keywords: modeling, underwater vehicle, autonomous vehiclem simulator, robots

The paper considers the use of ground station operator’s software that provides the diagnosis of automatic control system of marine vehicles, based on the monitoring of the functional state of the system elements with depth to the type of failure. Also considers the use of neural networks for solving the problems of monitoring, control and state diagnostics of the actuators and sensors. Describes the principles applying of active fault tolerance and flexible functionality recovery of marine mobile vehicle’s control system

Keywords: Modeling, control systems, diagnostics, fault tolerance, neural networks, AUV

The article is devoted to the analysis of the principles of energy security of the state and the study of the influence of energy on the level of national security. Considered threats to energy security and the basic directions of its implementation. Examples of world experience in ensuring the reliability of energy systems and power supply. The principles and approaches of maintaining the energy security of the state.

Keywords: electricity, security, reliability, power supply

A mathematical model of a surface mini-ship "Neptune", including a mathematical model of the actuators. Used to identify the parameters of the mathematical model. analysis of stability and controllability of surface mini-vehicle for its mathematical model.

Keywords: mathematical model, surface mini-ship, handling, stability

In this paper we propose an approach to the implementation of the automatic control system of autonomous unmanned surface vessels on the example of a surface mini-ship "Neptune". Synthesized autopilot algorithms based on the theory of control of dynamic objects, developed by prof. Pshihopovym. A program of mathematical modeling. simulation results, which confirm the correctness of the proposed algorithms.

Keywords: autopilot, surface ship, mathematical modeling

In this paper we propose an approach to the implementation of the automatic control system of autonomous unmanned surface vessels on the example of a surface mini-ship "Neptune". Synthesized autopilot algorithms based on the theory of control of dynamic objects, developed by prof. Pshihopovym. A program of mathematical modeling. simulation results, which confirm the correctness of the proposed algorithms.

Keywords: autopilot, surface ship, mathematical modeling