Melkumian K. Automated system for monitoring typical techno-ecological accidents.

This thesis work has been conducted with a goal of decreasing the monitoring time and increasing the safety of monitoring for techno-ecological accidents(TEA) by creating an automated system for monitoring typical TEAs (ASM TTEA). An analysis of modern approaches and methods for organization of mobile robots(MR) in extreme environmental conditions was conducted. It showed the relevance of solving all inter-connected problems in this area in a comprehensive way. This thesis proposes a new approach to automation of the processes of creation of technical and information infrastructure for conducting monitoring of typital TEAs as part of the ASM TTEA. A classification of TEAs is proposed, which allowed identifying and formulating the typical TEAs that became the basis for creating the models and methods of the system. The following were developed as part of the algorithmic and software support: First, an algorithm for automation of the choice of the optimal path for equipment delivery from a situation center to the object of monitoring. Second, an algorithm for real-time computation of the discrete spatial coordinates of a trajectory of movement of the MR's manipulator. Third, a function for determination of the TEA type. Fourth, a function for determination of the appropriate MR assembly. A new approach to the real-time synthesis of a trajectory of spatial movement of the MR's manipulator was created. This approach makes provisions for the optimization of the interpolated aggregates on the interior segments, providing an increase in the smoothness of the curves and a decrease in the computational expense. This is important when controlling a MR with limited computational resources. A method for recalculating the geometry of the spatial objects was developed and implemented.