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  Title: Биомеханичен анализ на двукраката локомоция с отчитане на някои външни сили  Author: Драгнев, Кънчо Божанов; Dragnev, Kancho Bozhanov Date: 2004 Abstract: The biornechanical and kinematical analyses give some priority in two-legged locomotion aspects in comparison with the static -oriented (with more than two legs). In technical literature kinematical models with large variety of abstraction and simplification are known, static and dynamic models are also used. There are anthropomorphic and zoomorphic structures, on which act external forces (gravity, inertial force, air resistance)
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  Title: Приложение на контролери с неврологична структура при проектирането на биоморфни роботи  Author: Николов, Валентин Николов; Балавесов, Васил Антонов; Nikolov, Valentin Nikolov; Balavesov, Vasil Antonov Date: 2004 Abstract: In this paper, an approach to control of mobile robots is proposed, and its realization is demonstrated on a particular walking robot. The principles for the control de-velopments are borrowed from the living nature. The utilization of such principles that are due to a million years of evolution gives the designers opportunities for creating of simple behavioral models that allow survival and adaptotion of mobile] robots in an unstructure and poorly known environment. Typically, such an approach leads to a blend of biological-ly based algorithms for the control of a mechanical body, and the related machines are called biomorphic robots. The neural structure of the controller presents an opportunity for continuous non-linear control that is capable of solving numerous real-time problems con-cerning survival and adaptation. The particular research relates to the modern field of what is known as BEAM robotics.
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  Title: Планиране на пътища за пълно покритие при навигация на мобилни роботи чрез разширение на метода за трансформация на разстоянията  Author: Димитров, Димитър Петков; Илиева, Невена Здравкова; Dimitrov, Dimitar Petkov; Ilieva, Nevena Zdravkova Date: 2004 Abstract: Coverage path planning determines a path that guarantees that a robot will pass over all unoccupied areas in the specified environments. Commercial applications include autonomous vacuum cleaning, bridge inspection, mine detecting etc. Finding the optimal coverage path is NP-hard problem. Distance Transform Method (DTM2) is recognized as a proper tool to cope with this matter, but it's known implementations produce unsatisfactory paths. They suffer from too many unnecesswy turns and are difficult to execute by dead reckoning navigated robois. This paper describes a DTM extension that uses heuristics to escape from local traps by reconsidering previously visited places and rotations. Final path is generated using different priority schemas. Experimental results, obtained from a Visual Prolog program simulator, shows, that although not optimal, the -approach produces reasonable paths' with minimal length, number of rotations and secondary vlsits to the same areas' Introduction
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  Title: Програмно осигуряване на система за техническо зрение за следене на мобилни обекти  Author: Делийски, Радослав Цветков; Венков, Пенчо Георгиев; Deliyski, Radoslav Tsvetkov; v, Pencho Georgiev Date: 2004 Abstract: The paper describes the software module "Image Analizator", which determines the distance and location between guiding and unmanned folowing vehicles in TV camera's frame time. Problems associated with processing, analyzing and recognition of targes in color image are soIved, as well as measurement of geometric parameters, which described the movemenst of the guiding transport means. The report describes results from experimental investigations that software made with a real moving target
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  Title: Алгоритми и програмно осигуряване за обработка на цветни изображения в реално време  Author: Венков, Пенчо Георгиев; Делийски, Радослав Цветков; Иванов, Славян; Venkov, Pencho Georgiev; Deliyska, Radoslav Tsvetkov; Ivanov, Slavyan Date: 2004 Abstract: The paper describes algorithms and software for color detection and analysis of patterns in TV camera frame time. The color components are normalized with the purpose to eliminate the influence of scene's illumination. In the first algorithm 32 base colors are defined into the 3D color space by pairs of thresholds and combined logical criteria is used for pixels' classification. in the second algorithm the color zones are defined by clusters in a normalized r(g)b color space in the stage of education, while the classification is made with criteria for similarity between a color pixel and the clusers.
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  Title: Виртуално окачване на автономни транспротни средства  Author: Венков, Пенчо Георгиев; Venkov, Pencho Georgiev Date: 2004 Abstract: This paper describes a system for virtual attachment of autonomous vehicles.. The system is aimed to guide one or more unmanned vehicles — followers without a mechanical attachment to the guiding vehicle. A multisensors system, mounted on the follower vehicle, is used to measure the linear and the angular velocity of the guiding vehicle, marked by a colored lighting sign-board. The multisensors system includes a colored RGB computer vision, a long range radar for vehicles and a short range ultrasonic locator. The system measures the parameters of the guiding vehicle's trajectory in me time or a TV frame, e.g. 40 ins.
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  Title: Изграждане на уеб – базиран мултимедиен курс по дисциплината „Телеуправляеми роботи“  Author: Караминчева, Теодора Харалампиева; Аврамов, Иван Иванов; Karaminchev, Teodora Haralampieva; Avramov, Ivan Ivanov Date: 2004 Abstract: The course's purpose is students to gain knowledges in "Telerobotics". The first version of this multimedia course is applied as assistance by the educational subject. The creation of site is applied for this case. Web-based education is used as a virtual educational environment It is helpful for the education, because it provides very good multimedia presentation and very easy navigation between the main attachments. From the study in Telerobotics and online Education the main elements are represented. Partly it helps the development and popularization of "Telerobotics", that is included in Master degree of Robotics specialization, Faculty-of-Automatics, TU-Sofia.
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  Title: Моделиране и управление на робот във виртуална лаборатория чрез интернет  Author: Цветанов, Симеон; Стоилов, Тодор; Tsvetanov, Simeon; Stoilov, Todor Date: 2004 Abstract: The paper presents the design and exploitation issue of experimental laboratory for monitoring and control of robot model. The laboratory is available over the Internet. This approach allows-r_fmote users to obtain access to the distributed software resources for control. The robiirModel is controlled to move video camera for exploration the work scene. The software suite is developed to support functionality of a virtual laboratory interfacing the distant user control influences to Matlab base software performing robot simulations. The virtual laboratory is applied for learning and education
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  Title: Моделиране на пасивно – динамично крачене  Author: Трифонов, Калин Бойков; Заманов, Владимир Божилов; Trifonov, Kalin Boykov; Zamanov, Vladimir Bozhilov Date: 2004 Abstract: The goal of this report is to present the passive — dynamic walking as a method for gait control in biped walkng of humanoid robots. A general and effective model of passive — dynamic walking is presented. Modeling with the environment for simulating articulated rigid body dynamics "Open Dynamics Engine -- ODE* is proposed, as well as visual results of the application of the passive — dynamic walking method.
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  Title: Хуманоидни роботи  Author: Трифонов, Калин Бойков; Заманов, Владимир Божилов Date: 2004 Abstract: A review of the research in the area oh humanoid robots is presented in this report with the accent lying on biped walking. The research is systemized by the following directions: - arm control - walking pattern generation - passive — dynamic walking - learning. Special attention is concentrated on the passive — dynamic method for gait control.
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  Title: Класификации и технически реализации на протези за човешки крайници  Author: Аврамов, Иван Иванов; Нецова, Лилия Венелинова; Първанова, Цветелина Тодорова; Avramov, Ivan Ivanov; Netsova, Liliya Venelinova; Parvanova, Tsvetelina Todorova Date: 2004 Abstract: Tthe paper is an extension on the engineering discussion on the problems of the artificial limbs thesis. A poly-criterion classification of the prosthesis is included. Some technical peculiarities of typical thesis realizations are presented. Generalizations on the principal problems of this scientific field less known Bulgaria connected with modern.automatic, robotic and biomedical engineering are made in the conclusion'
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  Title: Основни проблеми при протезиране на човешките крайници  Author: Аврамов, Иван Иванов; Първанова, Цветелина Тодорова; Нецова, Лилия Венелинова; Avramov, Ivan Ivanov; Parvanova, Tsvetelina Todorova; Netsova, Liliya Venelinova Date: 2004 Abstract: The subject of the paper is to present the principal engineering problems of the artificial limbs prosthesis. Simplified biomechanical models of the upper and lower limbs as biological objects - standards, were discussed together by models and schemes, including engineering elements. in the conclusion, the new prosthesis tendencies, establishing the main problems of this less known field connected with development of automatic, robotic and biomedical engineering, are made in to a systems'.
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  Title: Крачещи роботи чрез съчетано движение на тяло и крак  Author: Павлов, Веселин Илиев; Чавдаров, Иван Николов; Вацкичев, Александър; Николов, Валентин Николов; Pavlov, Veselin Iliev; Chavdarov, Ivan Nikolov; Vatskichev, Alexandar; Nikolov, Valentin Nikolov Date: 2004 Abstract: A number of principal approaches to the design of walking robots are known, and robot walk copies in most cases walk of living creatures. Different schemes of robot leg and body design are proposed to eventually attain great mobility and stability in unknown environment. An object of the present study is motion of a four-legged system with variable geometry and active body degrees of mobility contributing to a specific walk performance by successive leg rise. Specific construction is presented and a physical model for experimental analysis is designed. Control system and software for modeling complex and simple walks are developed.
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  Title: Модернизиране на инженерното обучение по роботика  Author: Павлов, Веселин Илиев; Трифонов, Калин Бойков; Заманов, Владимир Божилов; Pavlov, Veselin Iliev; Trifonov, Kalin Boykov Date: 2004 Abstract: The paper discusses the goals, the basic problems and the results obtained due to the grant "Modernization of the engineering education in robotics" in a contract with the World Bank. An accent is put on the opportunities presented by robotics on the modem engineering training since in most developed countries robotics is used in the role of an attractive didactic bridge towards a engineering education modernization. The concluding part of the paper treats envisaged future developments of the newly built robotics laboratory.
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  Title: Basic classes of higway traffic flow models  Author: Benova, Bela Oleg; Бенова, Бела Олег Date: 2004 Abstract: This paper enumerates with restricted amount of details the basic classes of traffic flow models and their inventors. Continuum flow, stochastic, viscosity, car-following, traffic impact descriptions of the driver-vehicle-highway unit are treated. Different approaches for fitting a universal mathematical form to various and sometimes ambiguous sets of empirical data are discussed and the main equations are presented. This survey represents a brief state of the art in the field of traffic control.
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  Title: Реализация на фрактален регулатор с дискретна апроксимация  Author: Радева, Надежда Радомирова; Radeva, Nadezhda Radomirova Date: 2004 Abstract: In this work is proposing fractional controller realized by rational approximation of irrational function. The aim of this paper is to systemize some methods for discrete ap-proximation using numerical integration and power series expansion (PSE), discrete approximation using numerical integration and continued fraction expression (CFE). An example of realization of the particular case of digital fractional order controller is shown with PIC microprocessor and realized discrete approximation by continued fraction ex-pression of Al-Alaoui operator.
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  Title: Двусвързана фрактална система за управление  Author: Радева, Надежда Радомирова; Radeva, Nadezhda Radomirova Date: 2 Abstract: Here is proposed a fractional control algorithm of two-variable industrial project. The system is design with this algorithm has high-quality and robust properties. Systemize fractional-approximation algorithm realized by polynomial recursive method, In this paper are shown effective result from simulations which corroborate fractional algorithms application in control systems.
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  Title: Вземане на решения в условие на устойчив компромис  Author: Сапунджиев, Георги Нешев Date: 2004 Abstract: In this paper the problem to determine conditions for choice of solution under stable compromise is solved. The case is considered when there is an arbitrary (but not antagonistic) conflict between decision makers with different resources, different interest and common goal. An approach is proposed decompose the set of decision makers in groups and on this basis the profit function of each participant in all groups is determined.
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  Title: Проблеми на идентификацията на аеродинамичните коефициенти на безпилотни летателни апарати  Author: Пътев, Николай Йонков; Patev, Nikolay Yonkov Date: 2004 Abstract: Aerodynamics coefficients are nonlinear and non time invariant function of multiple arguments. Their accuracy definitions determine quality automotive control systems of unmanned aerial vehicles. They are considered problems to their identifications and methods of the decision on some from them.
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  Title: Оптимално управление в надлъжния канал на летателен апарат при външни смущения  Author: Маджаров, Анастас Николов; Георгиев, Румен Желязков; Билидеров, Стефан Савов; Madzharov, Anastas Nikolov; Georgiev, Rumen Zhelyazkov; Bilidirov, Stefan Savov Date: 2004 Abstract: Control of the new aircraft vehicle require increase qualification of the pilots, introduce the new aviation electronics and the computer technology as estimate of dynamic flight parameters and control of steedngwheel.

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