The task of determining the distance from one object to another is one of the important tasks solved in robotics systems. Conventional algorithms rely on an iterative process of predicting distance estimates, which results in an increased computational burden. Algorithms used in robotic systems should require minimal time costs, as well as be resistant to the presence of noise. To solve these problems, the paper proposes an algorithm for Kalman combination filtering with a Goldschmidt divisor and a median filter. Software simulation showed an increase in the accuracy of predicting the estimate of the developed algorithm in comparison with the traditional filtering algorithm, as well as an increase in the speed of the algorithm. The results obtained can be effectively applied in various computer vision systems.

Images taken with different sensors and transmitted through different channels can be noisy. In such conditions, the image most often suffers from random-valued impulse noise. Denoising an image is an important part of image preprocessing before recognition by a neural network. The accuracy of image recognition by a neural network directly depends on the intensity of image noise. This paper presents a three-stage image cleaning and recognition system, which includes a developed detector of pulsed noisy pixels, a filter for cleaning found noisy pixels based on an adaptive median, and a neural network program for recognizing cleaned images. It was noted that at low noise intensities, cleaning is practically not required, but noise with an intensity of more than 10% can seriously damage the image and reduce recognition accuracy. As a training base for noise, cleaning, and recognition, the CIFAR10 digital image database was used, consisting of 60,000 images belonging to 10 classes. The results show that the proposed neural network recognition system for images affected by to random-valued impulse noise effectively finds and corrects damaged pixels. This helped to increase the accuracy of image recognition compared to existing methods for cleaning random-valued impulse noise.

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Currently, skin cancer is the most commonly diagnosed form of cancer in humans and is one of the leading causes of death in patients with cancer. Biopsy methods are an invasive research method and are not always available for primary diagnosis. Imaging methods have low accuracy and depend on the experience of the dermatologist. Artificial intelligence technologies can match and surpass visual analysis methods in accuracy, but they have the risk of a false negative response when a malignant pigmented lesion can be recognized as benign. One possible way to improve accuracy and reduce the risk of false negatives is to analyze heterogeneous data, combine different preprocessing methods, and use modified loss functions to eliminate the negative impact of unbalanced dermatological data. The paper proposes a multimodal neural network system with a modified cross-entropy loss function that is sensitive to unbalanced heterogeneous dermatological data. The accuracy of recognition in 10 diagnostically significant categories for the proposed system was 85.19%. The novelty of the proposed system lies in the use of cross-entropy loss when training the modified function with the help of weight coefficients. The introduction of weighting factors has reduced the number of false negative forecasts, as well as improved accuracy by 1.02-4.03 percentage points compared to the original multimodal systems. The introduction of the proposed multimodal system as an auxiliary diagnostic tool can reduce the consumption of financial and labor resources involved in the medical industry, as well as increase the chance of early detection of skin cancer.

The paper presents the results of investigation of RNS moduli set selection effect on the digital filters performance in satellite communication systems. Parks-McClellan filters with the order from 8 to 63 and 7 the most balanced RNS moduli sets were investigated. It is shown which of the considered moduli sets provide the best performance for such systems. Simultaneously difference in performance between the various moduli sets can be up to 32%.