Zhuravska I. Theoretical bases, methods and means of creation and functioning of fast-dynamic heterogeneous computer networks for critical application

The thesis is aimed at solving the actual scientific and technical problem of developing theoretical foundations of construction and practical use of modern fast-dynamic heterogeneous computer networks (FHCN) for critical application. The method of modeling the trajectory of unmanned vehicle motion based on Langevin stochastic differential equations is improved in this work. It allows providing an opportunity to predict the behavior of a group (flock, swarm) of unmanned vehicles (with a focus on unmanned aerial vehicles – UAV) taking into account external perturbations analogical to the Brownian motion. For the first time, to determine the UAV trajectory, the Black-Scholes financial model was used. It was formulated the exact solution of the Langevin equation for robotic systems. A numerical solution is obtained in the MATLAB package using the Euler-Maruyama method (EMM). The EMM is least demanding of computing resources of computer systems. It is shown that the average error rate of this model is 8.2%. Therefore, it is advisable to apply the proposed model to the forecasting of the trajectory of the UAV movement. The method of determining the lifetime of critical application FHCN was developed by calculating the total trajectory of UAV movement using the theoretical principles of "Lévy walks" and "Lévy flights" for biological systems. This made it possible to specify the passport operating time for UAV of Class 1, depending on the terms of use. This approach can prevent the crash of drones due to the untimely return of them to the base for recharging. The high degree of algorithmization of the used graph-analytic UAV’s functional structures allows the step-by-step reproduction of the above structures on a high-level language in an interactive environment for programming, numerical calculations and visualization of calculations. The method based on the Brahmagupta's quadrilateral for determining the UAV flock function area taking into account changes in the flock’s topology has developed. This method provides an opportunity to calculate the percentage of the under-scorched area by taking into account the greater accumulation of the flock than the Brahmagupta rectangle due to the need for reliable data exchange between the UAVs. The method of dividing a heterogeneous UAVs' computer system to sub-swarms has improved. This method provides for the possibility the solution of the salesman problem (TSP) for each sub-swarm separately in the limited spatial corridors with the concatenation of 2D-solutions of TSP into the common solution. It has allowed accelerating the inspection of the territory with the help of 6 UAVs by 11.6%. The method of synthesis of sub-optimal routes of UAV sub-swarms with the help of the Hopfield neural network (HNN) has proposed. The implementation of the self-healing mechanism within a flock of drones was also considered. The redefinition of tasks of sub-swarms as cyber-physical systems (CFS) in the event of loss of several drones during the critical application was also considered. The method of guaranteed delivery of information between cyber-physical objects (CPO) through the use of transfer nodes and cloud services (on the example of Google FireBase) further elaborated. As a direct result of this, the security of the transmitting data about UAV flock location improves significantly in case of interception of the object by third parties. The method of increasing the cryptosecurity of transmitted messages via steganographic closure of the GPS coordinates of the UAV into open data transmitted using the MAVLink protocol by open communication channels has improved. A mathematical model for dispatching the tasks of the calculators of objects with limited energy resources was further developed. It has allowed developing an algorithm for optimal loading of technological tasks of single-chip processor CPU and/or GPU cores on a cyber object with a decreased in the CPU heavy factor by 23% for the quad-core processors, being used on modern UAV models. The method of avoiding duplication of technological function executing by UAV at the expense of the developed means of controls modes of UAV operation is offered. This is done at the expense of remotely wireless disabling non-priority devices and/or damaged modules on UAV board within single sub-swarm. An algorithm for the process of additional charge-up of UAV accumulators due to wireless transmission of energy between CPOs has elaborated. The wireless power transmission method was further developed using PoWiFi technology. It occurs in line with the created cyclorama, which provides alternation of data and energy intervals. In the process, different groups of non-intersecting Wi-Fi channels according to the rules of the FCC domains and ETSI are used. Most of the results can be extended to unmanned vehicles, which move in a different, not air, environment.