Rus
Ukr
Ustinova
Yulya
Faculty CITA
Group AT-97
E-mail:ustinova@ukrtop.com
Subject of magister's work:Development of algorithm of identification of dynamic parameters sixfoots of the walking devi.
The chief of job:Rafikov G. Sh
Magister's work
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Per hot day of the end of a summer August 21, 1980 in hospital № 6 town of Donetsk I was born, Ustinova Yulya. I live together with the parents and brother. My mum, Ustinova Valentina, engineer - chemist; the daddy, Ustinov Nikolay, on pension, in the past the miner; the brother, Ustinov Vladimire, studies on the mechanical faculty.
September 1, 1987 I have gone to the first class of high school № 6. Soon we have moved, and I had to continue the school years in the high school № 42. I had good abilities, I successfully studied at school and simultaneously visited some circles: was trained to game on piano,I studied modern dances. But for me the study of mathematics was basic (it is my favourite subject), the love to it to me was imparted by my teacher. In the eleventh class I have decided to receive maximum education, I have entered on preparatory rates.
Due to rates and my diligence in 1997 I began to studied in Donetsk State Technical University on faculty Computer Information Technologies and Automatics on a speciality control system and automatics. On this speciality me has advised to act the father of my girlfriend, as the computer technologies play the important role in our life.
The first years of my students passed not absolutely smoothly, but then it has become more more interesting to study, because send special subjects. Due to my mathematical abilities and diligence, in me my chief Rafikov G. Sh. has become interested. He has offered me to write research work " Development of optimum algorithm of management of system of two industrial robots of a type PUMA-560 with use of sliding modes ". This work has borrowed the first place among other works of the students of mechanical faculty. I took part in competition till rhythmic gymnastics, where has borrowed the second place.
After passing an examination on assignment of a degree of the bachelor, me have offered to continue education.
Theme of my dissertation: " Development of algorithm of identification of dynamic parameters sixfoots of the walking device ". This theme was offered by my chief. It has interested me. The creation of industrial robots - manipulators capable to replace of the man, on many sites of modern manufacture, and also automatic systems, which can be used in conditions dangerous to the man, is a urgent scientific and technical problem. One of the important classes of robots are the walking robots intended for moving.
At use of the walking device as a vehicle some parameters describing it dynamic properties, can be subject to changes of rather wide ranges. On the device can work a wind and other forces, which influence is inconvenient for predicting beforehand. The action of a similar can be by the reason of significant deviations(rejections) of movement of the robot from given.
Indemnification or parrying of mistakes of management without revealing the reasons of their occurrence is connected to additional expenses of energy and not always effectively. Business that the unknown mistakes of dynamic parameters can be shown unequally. It is aggravated by the large number of controlled degrees of freedom of the walking device and large variety of its movements. Therefore development and use of methods of operative definition of the reasons of deviations from the given movement and account of these reasons it are represented by an expedient means of increase of a management efficiency by the robot and economy of power resources.
I think, it will not last my development. I have not decided yet, where I shall work, but I would like, what my work was connected directly to my speciality.