Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot.

The basis of the work of over-horizon radar stations is a jump mechanism of propagation of short-range radio waves, which involves the adaptation of the equipment to continuously changing geophysical and noise conditions. The review of the station’s area of responsibility is usually carried out sequentially at a number of frequencies. To assess the probability of correct detection of air objects and other characteristics of over-horizon radar stations, a comprehensive test simulation stand and an algorithm for assessing the current combat capabilities are used. A comprehensive simulation test stand to test and confirm compliance with the achieved characteristics of the station simulates different variants of the air situation in the field of view of the radar. It is proposed to use the technology to obtain the parameters of the routes of scheduled aircraft, which are equipped with dependent observation equipment, compare them automatically with the parameters of the finally detected route of the station and to evaluate the characteristics of over-horizon radar in real helio and geophysical conditions. Thus, the hardware and software complex for testing over-horizon stations for flight air objects using the method of automatic passive review of airspace, including outside the territory of the Russian Federation will allow to evaluate their tactical and technical characteristics in automatic mode, in real conditions of application.

Методики оценки производительности гетерогенных вычислительных систем Article is devoted to the performance evaluation of heterogeneous computing systems (platforms). The article substantiates the relevance of the use of problem-oriented configuration of computational systems for automated systems of information processing and management. The proposed mechanism is parallel and pipeline processing allowing to parallelize the task and thereby improve system performance. For interaction between modules it was proposed to use MPI-message passing interface between processes that perform a single task. The performance measurement was performed using recognized test kits Intel "MPI Benchmark" and "LINPACK HPL", which allow to fully assess the effectiveness of the computing system and its relevance for the user. Given the graphics performance of the heterogeneous computing complex "profit center" in dealing with complex problems of linear algebra. The results obtained confirm high efficiency of MVP for various applications.

The article describes the developed computational complex of morphological image analysis for interferometric side-scan sonars. Examples of modeling the operation of the side-scan sonar in cases where the structure of bottom sediments is not known in advance are given. The results of the analysis of experimental data are considered. A description is given of the structure for constructing algorithms for morphological image analysis used in the operation of the complex. Recommendations are given on the effective use of the computing capabilities of the Griffon hardware platform for organizing parallel-conveyor data processing of side-scan interference sonars in real time. Hardware and software modeling has been performed to assess the most important performance characteristics of a computing complex and determine the optimal organization of data processing. The obtained results of processing sonar images streams showed that the use of the Griffon hardware platform provides advantages in terms of organizing the computing process, including parallel operation of different sections of the computing pipeline, reducing the load on the transport bus and pipeline delay, as well as reducing the load and freeing up CPU resources for morphological processing.

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