Oleksandr Sokolov

@sumdu.edu.ua

Department of Manufacturing Engineering, Machines and Tools / Faculty of Technical Systems and Energy Efficient Technologies
Sumy State University

Oleksandr Sokolov


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https://researchid.co/oleksandrs13
Oleksandr Sokolov received M.Sc. in Automation and Computer Integrated Technologies at the Faculty of Electronics and Information Technologies, Sumy State University in 2021. Then he started her PhD. Study at the Faculty of Technical Systems and Energy Efficient Technologies, Sumy State University in 2022 . His research area is soft robotics and digital twins.

EDUCATION

I completed my Master's in Robotics and Automation Engineering at Sumy State University from September 2020 to December 2021. This advanced program deepened my understanding and skills in the field, culminating in my graduation with honours.
Previously, I pursued my Bachelor's degree in the same discipline at Sumy State University. This foundational course spanned from September 2016 to June 2020. It gave me a comprehensive introduction to Robotics and Automation Engineering, leading to my graduation with honours.

RESEARCH, TEACHING, or OTHER INTERESTS

Control and Optimization, Industrial and Manufacturing Engineering, Mechanical Engineering
14

Scopus Publications

72

Scholar Citations

5

Scholar h-index

2

Scholar i10-index

Scopus Publications

  • A Unified Framework for Real-Time Tracking and Analysis of Soft Robotic Motion
    Oleksandr Sokolov, Ján Piteľ, Angelina Iakovets, Serhii Sokolov, Petro Leontiev
    Eai Springer Innovations in Communication and Computing, 2026
  • Optimization of Soft Actuator Control in a Continuum Robot
    Oleksandr Sokolov, Serhii Sokolov, Angelina Iakovets, Miroslav Malaga
    Actuators, 2025
    This study presents a quasi-static optimization framework for the pressure-based control of a multi-segment soft continuum manipulator. The proposed method circumvents traditional curvature and length-based modeling by directly identifying the quasi-static input–output relationship between actuator pressures and the 6-DoF end-effector pose. Experimental data were collected using a high-frequency electromagnetic tracking system under monotonic pressurization to minimize hysteresis effects. Transfer functions were identified for each coordinate–actuator pair using the System Identification Toolbox in MATLAB, and optimal actuator pressures were computed analytically by solving a constrained quadratic program via a manual active-set method. The resulting control strategy achieved sub-millimeter positioning error while minimizing the number of actuators engaged. The approach is computationally efficient, sensor-minimal, and fully implementable in open-loop settings. Despite certain limitations due to sensor nonlinearity and actuator hysteresis, the method provides a robust foundation for feedforward control and the real-time deployment of soft robots in quasi-static tasks.
  • Intelligent Human–Robot Interaction Assistant for Collaborative Robots
    Oleksandr Sokolov, Vladyslav Andrusyshyn, Angelina Iakovets, Vitalii Ivanov
    Electronics Switzerland, 2025
    Collaborative robots are rapidly gaining popularity and will occupy 33% of the industrial robot market by 2030 due to their ability to adapt to dynamic environments where traditional automation approaches lack flexibility. Available solutions in the market are characterized by the generality of the pod without considering the specifics of a particular collaborative workplace. This feature creates barriers to developing human–robot interaction (HRI) interfaces. The proposed study developed a Collaborative Robotics Assistant (CobRA) system to address these challenges. Considering the workplace’s peculiarities, this intelligent HRI system provides seamless programming for collaborative robots right in the workplace. CobRA combines machine vision and convolutional neural networks to detect objects in real-time using a depth-sensing camera and uses a projector to visualize the control interface interactively. The system supports high-level commands such as object manipulation and placement by automating programming. The solution was tested in a SmartTechLab and program environment where it demonstrated significant efficiency gains, reducing errors and programming time compared to traditional methods. This development opens new perspectives for improving the safety and efficiency of human–robot interaction in dynamic industrial environments.
  • Modified Piecewise Constant Curvature Model for Two-Segment Soft Pneumatic Arm: A Case Study
    Oleksandr Sokolov, Branislav Pitel, Serhii Sokolov, Angelina Iakovets
    Lecture Notes in Mechanical Engineering, 2025
  • AUTOMATION OF A LABORATORY ELECTRIC AUTOCLAVE USING A PROGRAMMABLE LOGIC CONTROLLER
    Oleg Radchuk, Marina Savchenko-Pererva, С. В. Соколов, Oleksandr Sokolov
    Journal of Chemistry and Technologies, 2025
    У статті проаналізовано використання електричного автоклава із запропонованою автоматизованою системою керування для впровадження в навчальний процес. Аналіз реалізації технологічного процесу стерилізації консервів у електроавтоклаві проводили на автоматизованому стенді керування електроавто-клавом. Розглянуто варіанти режимів роботи програмованого логічного контролера (ПЛК) OWEN PR200 з електроавтоклавом. Наведений принцип налагодження студентами автоматизованого стенду для стерилі-зації консервів. Експериментально доведено, що розігрів електричного автоклава запускається або безпосе-редньо програмованим логічним контролером, або комп’ютером з програмою Наглядового Контролю і Збору Даних (SCADA). Для студентів дистанційної форми навчання є можливість використання віддаленого доступу для моніторингу параметрів та керування роботою автоклава за допомогою хмарного веб-сервера. Моделювання проводилося в середовищі MATLAB для визначення налаштувань ПЛК, а система керування моделювалася за допомогою MATLAB/Simulink. Досліджено, що електричний автоклав нагрівається протягом заданого технологічним процесом часу до заданих параметрів. Наведено приклад використання стенду за варіантом №8. Визначена необхідність підвищення якості автоклавного контролю. Запропоновано використання пропорційно-інтегрально-диференціального (ПІД) регулятора замість двопозиційного релейного регулятора ПЛК. Представлено переваги використання Пропорційно-Інтегрального (PI) регулювання. ПІД-регулювання через аналоговий вихід ПЛК ефективно виробляє консерви з рослинних інгредієнтів. Подальшим напрямком досліджень може стати використання контролера на основі нечіткої логіки та його дискретизація.
  • Development of a Smart Material Resource Planning System in the Context of Warehouse 4.0
    Oleksandr Sokolov, Angelina Iakovets, Vladyslav Andrusyshyn, Justyna Trojanowska
    Eng, 2024
    This study explores enhancing decision-making processes in inventory management and production operations by integrating a developed system. The proposed solution improves the decision-making process, managing the material supply of the product and inventory management in general. Based on the researched issues, the shortcomings of modern enterprise resource planning systems (ERPs) were considered in the context of Warehouse 4.0. Based on the problematic areas of material accounting in manufacturing enterprises, a typical workplace was taken as a basis, which creates a gray area for warehouse systems and does not provide the opportunity of quality-managing the company’s inventory. The main tool for collecting and processing data from the workplace was the neural network. A mobile application was proposed for processing and converting the collected data for the decision-maker on material management. The YOLOv8 convolutional neural network was used to identify materials and production parts. A laboratory experiment was conducted using 3D-printed models of commercially available products at the SmartTechLab laboratory of the Technical University of Košice to evaluate the system’s effectiveness. The data from the network evaluation was obtained with the help of the ONNX format of the network for further use in conjunction with the C++ OpenCV library. The results were normalized and illustrated by diagrams. The designed system works on the principle of client–server communication; it can be easily integrated into the enterprise resource planning system. The proposed system has potential for further development, such as the expansion of the product database, facilitating efficient interaction with production systems in accordance with the circular economy, Warehouse 4.0, and lean manufacturing principles.
  • STUDY ON THE PIECEWISE CONSTANT CURVATURE KINEMATIC MODEL OF A TWO-SEGMENT ROBOT
    , OLEKSANDR SOKOLOV, ALEXANDER HOSOVSKY, , SERHII SOKOLOV, , BRANISLAV PITEL, and
    Mm Science Journal, 2024
    This study presents the Piecewise Constant Curvature (PCC) kinematic model of a two-segment continuum robot, offering a clear and illustrative approach to deriving the kinematics of a soft manipulator. Analytical expressions are developed to relate the endpoint positions of the robot’s pneumatic arm segments to the lengths of its pneumatic muscles. The kinematic model has two contrasting features: it is general enough to be applicable for various continuum robot arms, yet it does not account for specific structural details, requiring adaptation for different soft robot designs. The step-by-step methodology, visual clarity, and extension of the PCC model to a two-segment robot distinguish this research from existing studies. This approach can be extended to multi-segment soft manipulators, offering a valuable framework for further exploration in the field.
  • Identification of Friction in the Joints of an Experimental Manipulator with 3-DOF Based on MLPnetworks
    Tomáš Čakurda, Monika Trojanová, Alexander Hošovský, Pavlo Pomin, Oleksandr Sokolov
    Eai Springer Innovations in Communication and Computing, 2024
  • Hysteresis Compensation of Pneumatic Artificial Muscles Using Correctional Curve Offset: Case Study
    Oleksandr Sokolov, Sandor Csikos, Alexander Hosovsky, Jozsef Sarosi, Serhii Sokolov
    Lecture Notes in Mechanical Engineering, 2024
  • A Digital Twin of the Soft Robot with a Pneumatic Muscle Actuator
    Oleksandr Sokolov, Alexander Hosovsky, Olaf Ciszak, Vitalii Ivanov, Ivan Pavlenko
    Lecture Notes in Mechanical Engineering, 2024
  • Design, Modelling, and Control of Continuum Arms with Pneumatic Artificial Muscles: A Review
    Oleksandr Sokolov, Alexander Hošovský, Monika Trojanová
    Machines, 2023
  • Digital and Information Technologies in Metrology 4.0
    Michał Wieczorowski, Justyna Trojanowska, Oleksandr Sokolov
    Lecture Notes in Mechanical Engineering, 2023
  • Improving the Performance of Grey-Box Model of 3-DOF Compliant Robotic Arm with Fluidic Muscles
    Tomáš Čakurda, Monika Trojanová, Alexander Hošovský, Oleksandr Sokolov
    Eai Springer Innovations in Communication and Computing, 2023
  • Movement Monitoring System for a Pneumatic Muscle Actuator
    Oleksandr Sokolov, Alexander Hošovský, Vitalii Ivanov, Ivan Pavlenko
    Journal of Engineering Sciences Ukraine, 2023

RECENT SCHOLAR PUBLICATIONS

  • Tracking and Analysis of Soft Robotic
    O Sokolov, AI Ján Pitel, S Sokolov
    The 3rd EAI International Conference on Automation and Control in Theory and … , 2026
    2026
  • Optimization of Soft Actuator Control in a Continuum Robot
    O Sokolov, S Sokolov, A Iakovets, M Malaga
    Actuators 14 (7), 352 , 2025
    2025
    Citations: 2
  • Modified Piecewise Constant Curvature Model for Two-Segment Soft Pneumatic Arm: A Case Study
    O Sokolov, B Pitel, S Sokolov, A Iakovets
    Design, Simulation, Manufacturing: The Innovation Exchange, 70-80 , 2025
    2025
    Citations: 1
  • Automation of a laboratory electric autoclave using a programmable logic controller
    OV Radchuk, MY Savchenko, SV Sokolov, OS Sokolov
    Journal of Chemistry and Technologies 33 (1), 239-248 , 2025
    2025
    Citations: 4
  • Intelligent Human–Robot Interaction Assistant for Collaborative Robots
    O Sokolov, V Andrusyshyn, A Iakovets, V Ivanov
    Electronics 14 (6), 1160 , 2025
    2025
    Citations: 7
  • A Unified Framework for Real-Time Tracking and Analysis of Soft Robotic Motion
    O Sokolov, J Piteľ, A Iakovets, S Sokolov, P Leontiev
    EAI International Conference on Automation and Control in Theory and … , 2025
    2025
  • Model-Based Control Design for a Pneumatically Actuated Cartesian Manipulator
    L Sulska, O Sokolov, V Andrusyshyn, M Malaga, P Raška
    Západočeská univerzita v Plzni , 2025
    2025
  • Study on the Piecewise Constant Curvature Kinematic Model of a Two-Segment Robot
    O Sokolov, A Hosovsky, S Sokolov, B Pitel
    MM Sci. J, 8011-8018 , 2024
    2024
    Citations: 2
  • Development of a smart material resource planning system in the context of warehouse 4.0
    O Sokolov, A Iakovets, V Andrusyshyn, J Trojanowska
    Eng 5 (4), 2588-2609 , 2024
    2024
    Citations: 11
  • Hysteresis Compensation of Pneumatic Artificial Muscles Using Correctional Curve Offset: Case Study
    O Sokolov, S Csikos, A Hosovsky, J Sarosi, S Serhii
    Advances in Design, Simulation and Manufacturing VII: Proceedings of the 7th … , 2024
    2024
    Citations: 2
  • Identification of Friction in the Joints of an Experimental Manipulator with 3-DOF Based on MLPnetworks
    T Čakurda, M Trojanová, A Hošovský, P Pomin, O Sokolov
    EAI International Conference on Automation and Control in Theory and … , 2024
    2024
  • Hybrid control system: Integration of sensors and controllers using MQTT and Modbus-RT
    O Sokolov
    Západočeská univerzita v Plzni , 2024
    2024
  • Design, modelling, and control of continuum arms with pneumatic artificial muscles: A review
    O Sokolov, A Hošovský, M Trojanová
    Machines 11 (10), 936 , 2023
    2023
    Citations: 24
  • A Digital Twin of the Soft Robot with a Pneumatic Muscle Actuator
    I Sokolov, O. , Hosovsky, A. , Ciszak, O. , Ivanov, V. , Pavlenko
    Intelligent Systems in Production Engineering and Maintenance III, 280–292 , 2023
    2023
    Citations: 6
  • Digital and information technologies in metrology 4.0
    M Wieczorowski, J Trojanowska, O Sokolov
    Design, Simulation, Manufacturing: The Innovation Exchange, 81-90 , 2023
    2023
    Citations: 9
  • Improving the Performance of Grey-Box Model of 3-DOF Compliant Robotic Arm with Fluidic Muscles
    T Čakurda, M Trojanová, A Hošovský, O Sokolov
    EAI International Conference on Automation and Control in Theory and … , 2023
    2023
    Citations: 1
  • Movement monitoring system for a pneumatic muscle actuator
    OS Sokolov, A Hosovsky, VO Ivanov, IV Pavlenko
    Sumy State University , 2023
    2023
    Citations: 3

MOST CITED SCHOLAR PUBLICATIONS

  • Design, modelling, and control of continuum arms with pneumatic artificial muscles: A review
    O Sokolov, A Hošovský, M Trojanová
    Machines 11 (10), 936 , 2023
    2023
    Citations: 24
  • Development of a smart material resource planning system in the context of warehouse 4.0
    O Sokolov, A Iakovets, V Andrusyshyn, J Trojanowska
    Eng 5 (4), 2588-2609 , 2024
    2024
    Citations: 11
  • Digital and information technologies in metrology 4.0
    M Wieczorowski, J Trojanowska, O Sokolov
    Design, Simulation, Manufacturing: The Innovation Exchange, 81-90 , 2023
    2023
    Citations: 9
  • Intelligent Human–Robot Interaction Assistant for Collaborative Robots
    O Sokolov, V Andrusyshyn, A Iakovets, V Ivanov
    Electronics 14 (6), 1160 , 2025
    2025
    Citations: 7
  • A Digital Twin of the Soft Robot with a Pneumatic Muscle Actuator
    I Sokolov, O. , Hosovsky, A. , Ciszak, O. , Ivanov, V. , Pavlenko
    Intelligent Systems in Production Engineering and Maintenance III, 280–292 , 2023
    2023
    Citations: 6
  • Automation of a laboratory electric autoclave using a programmable logic controller
    OV Radchuk, MY Savchenko, SV Sokolov, OS Sokolov
    Journal of Chemistry and Technologies 33 (1), 239-248 , 2025
    2025
    Citations: 4
  • Movement monitoring system for a pneumatic muscle actuator
    OS Sokolov, A Hosovsky, VO Ivanov, IV Pavlenko
    Sumy State University , 2023
    2023
    Citations: 3
  • Optimization of Soft Actuator Control in a Continuum Robot
    O Sokolov, S Sokolov, A Iakovets, M Malaga
    Actuators 14 (7), 352 , 2025
    2025
    Citations: 2
  • Study on the Piecewise Constant Curvature Kinematic Model of a Two-Segment Robot
    O Sokolov, A Hosovsky, S Sokolov, B Pitel
    MM Sci. J, 8011-8018 , 2024
    2024
    Citations: 2
  • Hysteresis Compensation of Pneumatic Artificial Muscles Using Correctional Curve Offset: Case Study
    O Sokolov, S Csikos, A Hosovsky, J Sarosi, S Serhii
    Advances in Design, Simulation and Manufacturing VII: Proceedings of the 7th … , 2024
    2024
    Citations: 2
  • Modified Piecewise Constant Curvature Model for Two-Segment Soft Pneumatic Arm: A Case Study
    O Sokolov, B Pitel, S Sokolov, A Iakovets
    Design, Simulation, Manufacturing: The Innovation Exchange, 70-80 , 2025
    2025
    Citations: 1
  • Improving the Performance of Grey-Box Model of 3-DOF Compliant Robotic Arm with Fluidic Muscles
    T Čakurda, M Trojanová, A Hošovský, O Sokolov
    EAI International Conference on Automation and Control in Theory and … , 2023
    2023
    Citations: 1
  • Tracking and Analysis of Soft Robotic
    O Sokolov, AI Ján Pitel, S Sokolov
    The 3rd EAI International Conference on Automation and Control in Theory and … , 2026
    2026
  • A Unified Framework for Real-Time Tracking and Analysis of Soft Robotic Motion
    O Sokolov, J Piteľ, A Iakovets, S Sokolov, P Leontiev
    EAI International Conference on Automation and Control in Theory and … , 2025
    2025
  • Model-Based Control Design for a Pneumatically Actuated Cartesian Manipulator
    L Sulska, O Sokolov, V Andrusyshyn, M Malaga, P Raška
    Západočeská univerzita v Plzni , 2025
    2025
  • Identification of Friction in the Joints of an Experimental Manipulator with 3-DOF Based on MLPnetworks
    T Čakurda, M Trojanová, A Hošovský, P Pomin, O Sokolov
    EAI International Conference on Automation and Control in Theory and … , 2024
    2024
  • Hybrid control system: Integration of sensors and controllers using MQTT and Modbus-RT
    O Sokolov
    Západočeská univerzita v Plzni , 2024
    2024