Petrenko

The paper describes the experimental creation of the working multi-agent robotic system composed of several interacting autonomous devices. The developed system is able to solve the problem of finding a solution of a simply-connected maze. Particular attention is paid to the de-velopment of the structure of the system as a whole and individual agent using the theory of creation multiagent systems, as well as the organization of communication between system components. Physical implementation or the agents in the form of autonomous robots is completed. A series of experiments on the test track were performed, and they show the effectiveness of the cluster approach.

During the exploitation of railway roads it’s necessary to automate condition monitoring of the overhead system. Beside other parameters, it’s important to check the contact wire’s wear. Precision, sensitivity and performance efficiency of existent technical solutions are limited. The purpose of this work was a development of automated control system for the contact wire’s wear. Operational circumstances require noncontact measurements. Proposed system is based on a use of electro-magnetic (eddy current) method of non-destructive control. The width of contact area between a wire and a pantograph collector was selected as an information-bearing parameter. This system includes a matrix eddy current sensor which consists of 30 eddy current transducers, placed at the pantograph collector, high-frequency generators and signal processing system. Obtained measurement data are transferred to the mobile laboratory’s computer through a fiber-optic carrier line. Further processing and database creation allows one to monitor the condition of a contact wire constantly.

This article considers a possibility of using a mathematical apparatus of direct-current fields for modeling distribution of the magnetic field vector during calculation of quasi-static fields of eddy current conversion units produced by an alternating current. Equivalence of field patterns was proved; it was also shown that there is no influence of the frequency of an alternating current which powers the eddy current conversion unit on the filed pattern for attachable parametric transducers of an arbitrary shape in free space. Theoretical justification was given for various frequencies along with experimental verification.