News
Scientific projects at the Sirius International Mathematical Center
From March 23 to April 5, the Sirius International Mathematical Center hosted a series of scientific seminars that brought together researchers from various cities and scientific schools. Two avenues of research were pursued, closely interconnected and directed at the central theme, that of nonholonomic systems.
Project “Chaotic Dynamics of Nonholonomic Systems”
The project was aimed at developing the methods of exploring the complex dynamics of nonholonomic systems, including systems with dissipation and external periodic action.
The following persons were involved in the project:
- Mamaev Ivan Sergeevich (ISTU, UMC)
- Kilin Alexander Alexandrovich (UdSU, UMC)
- Bizyaev Ivan Alexeyevich (UdSU, UMC)
- Kazakov Alexey Olegovich (HSE)
- Karatetskaia Efrosiniia Yurievna (HSE)
- Artemova Elizaveta Markovna (UdSU, UMC)
- Safonov Klim Andreevich (HSE)
- Zaichikov Kirill Sergeevich (HSE)
- Koryakin Vladislav Andreevich (HSE)
Key problems:
- investigation of chaos and strange attractors
- analysis of pseudo-hyperbolicity and robustness of dynamics
- study of bifurcation scenarios
- investigation of the models of the rolling motion of a rigid body without slipping
Project “Stabilization and Control of the Motion of Underactuated Robotic Systems”
Participants:
- Dmitry Vladimirovich Balandin (Sirius University of Science and Technology, Lobachevsky State University of Nizhny Novgorod)
- Gusev Sergey Vladimirovich (Sirius University of Science and Technology)
- Karavaev Yury Leonidovich (ISTU, UMC)
- Kilin Alexander Alexandrovich (UdSU, UMC)
- Klekovkin Anton Vladimirovich (UdSU, UMC)
- Ivanova Tatyana Borisovna (UdSU, UMC)
- Pivovarova Elena Nikolaevna (UdSU, UMC)
- Oleg Yurievich Sumenkov (Sirius University of Science and Technology)
- Tuzikov Alexander Mikhailovich (Lobachevsky State University of Nizhny Novgorod)
The project was devoted to underactuated robots, in particular, to spherical robots whose prototypes were developed and for which control systems were tested.
Key research directions of the project:
- development of methods for motion stabilization and control
- exploration of motion on uneven and moving surfaces
- estimation of internal parameters from measurement data in the presence of measurement noise
- analysis of the stability of motion
- modeling in 3D-media and experimental verification using real prototypes
The work carried out made it possible to combine expertise in the fields of mechanics, control theory and robotics and to lay the foundation for further research and development of intelligent mobile systems.