Timonov Alexey
Faculty of Computer Information Technologies and Automatics
Group AT-97
Magister work theme:
"Development of algorithms of control 6-feet walking device "Catarina" on the basis of given gaits"
The supervisor of studies: docent, c.t.s. Rafikov G.S.
E-mail: timonov@ukrtop.com
E-mail: timalex1206@mail.ru
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I was born in 12 June, 1980 in the city of Donetsk. In 1987-1993 I studied in School 14. First three years it was good, but then the situation began to be worsened: class teachers varied, the best teachers left, and after known events of 1991 the school began to be guided by the humanities, in particular on studying of the Ukrainian language and the literature. There was not special successes in this period. I had not problems with the humanities, but as from the childhood I was more declined to exact and natural sciences, it was quite logical to pass to Physical and Mathematical School 17 in the summer 1993.
I can tell that I have lost only in one: I did it too late. I think, that at former school I would not reach that was possible to me for the following four years. I am obliged to the successes to fine teachers of School 17 who appreciated successes in study not only in their subjects.
Speaking about personal achievements, it is necessary to mention Olympiads first of all. At usual schools it is considered success participation in regional Olympiad and there to get, it is necessary to win school Olympiad or to deserve an arrangement of the teachers. At 17-th school it's like that: all interested persons can visit district Olympiad, and wining is a usual situation.
Since 9 classes, ccupying prize-winning places on district Olympiads, I received invitations for participation in regional Olympiads in mathematics, computer science, physics, chemistry and even geography. Unfortunately, some of them passed in same time, and it was necessary to choose. Can be, such disorder has not allowed to achieve the real success, you see on regional Olympiads win guys who are engaged in the subject as professional sportsmen: daily and under the direction of the personal trainer. I could not choose one subject though more attention gave mathematics and computer science.
In 11 class I won the second place in regional Olympiad in mathematics, passed selection to the team of Donetsk region and became participant National Olympiad which was taking place in March, 1997 in Odessa.
Besides research work "About the extanding of sand and the phenomena connected to it", written by me and my schoolmate Remizov Maxim with help of d.t.c., professor Beygelzimer Yan Efimovich, has won first place in section "Physics" at regional stage of National competition - protection of the Small academy of sciences.
From other similar achievements it is possible to mention diplomas for the prize-winning places occupied in international "Tournament of cities", that took place at mathematical faculty of Donetsk national university (DonNU) and in physical and mathematical Olympiads of Moscow physicotechnical institute (MPTI).
In spite of the fact that I gave a lot of time to study, I always had other hobbies. In different time I was engaged in football, athletics, basketball. And though my achievements in sport not such big, for me are not less important. I played in school football and basketball teams, which occupied the second places in championship of Voroshilovskiy district of Donetsk. The basketball final was quite serious game with heat of struggle, scandal, a drama, and the most important - with fans. That year the team of Voroshilovskiy district has won Donetsk championship. Unfortunately, I have not got to that team because of illness,
In 1996 in Donetsk military competition "the Future soldier" were began. Team of School 17 in which I was the commander of branch :-), two years won district competition that enabled to form the team of Voroshilovskiy district on the basis of our school. Who will change the commander! As At city competitions we have occupied the second, and then the third place.
I have achieved all these successes not at once, many of them came last year studies at school. By the way, I have finished school with a gold medal.
In the summer 1997 I could enter some Donetsk high schools without examinations. In a result I have chosen a speciality "Automatics and telecommunications" of Donetsk national technical university. My "universality" has not allowed me then to stop on something one, therefore speciality АТ which graduates can work in the most various areas, was just for me. On the other hand me electronics and computer technologies always interested.
The system of studing in high school is: everyone should execute the obligatory program. It is necessary to prove to all and, that something you stand. I think, that could become more, than simply good student if someone it interested.
During 2000-2001 under the instruction of my supervisor Rafikov Gyjaz Shagievich I was engaged in questions of automation of management of drives rolling mills. As a result work "Automation of synthesis of a linear square-law regulator for management of drives universal the rolling mill" was written and I was awarded with the diploma of the winner in high school competition of student's scientific works 2001/2002 academic years in section "Metallurgy". Results of this work were reported at II International student's scientific and technical conference "Automation, technology and quality in mechanical engineering", taking place in October, 2001 in city of Donetsk, and published in student's scientific and technical magazine "Engineer" (2/2001).
In 2001 I has received the bachelor's degree with distinction and has entered a magistracy. A theme of my magister works is "Development of algorithms of management 6-feet walking device "Catarina" on the basis of given gaits".
Though wheel vehicles now obviously prevail, it is known, that at walking on a unprepared surface essential advantages have walking systems of movement. The difficulties connected to realization in life of idea of active and expedient movement with use of legs, appeared essential and connected with necessity of management of the big number of degrees of freedom providing required kinematic opportunities of the walking device.
Still more recently onboard such machine it was impossible to place the computer which capacity would allow to carry out necessary calculations and to receive the necessary signals of management. Besides designing of effective independent system for management of set of necessary engines represents rather difficult problem which decision is connected to the whole complex of factors - from geometry of legs and the case before configuration приводной and executive systems.
The big number of controlled degrees of freedom of the device demands complex configuration, development of the highly effective drives, the special organization the stop, disseminating energy of impact etc. the problem of creation of such control system of the device which would be to realize its basic opportunities in a condition is difficult. The control system should provide processing of the information on district, acceptance of decisions on character of movement, the control of their realization. Creation of a control system by the device - the central problem of the walking robot as experience of creation even the most complex systems of automatic control directly cannot be used for construction of a control system by the walking robot.
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