Beamforming is an advanced signal processing technique used in sensor arrays for directional signal transmission

or reception. The paper deals with a system based on an ultrasound transmitter and an array of

receivers, to determine the distance to an obstacle by measuring the time of flight and – using the phase

beamforming technique to process the output signals of receivers for finding the direction from which the

reflected signal is received – locates the obstacle. The embedded beam-former interacts with a PID-based

line follower robot to improve performance of the line follower navigation algorithm by detecting and

avoiding obstacles. The PID (proportional-integral-derivative) algorithm is also typically used to control

industrial processes. It calculates the difference between a measured value and a desired set of points, then

attempts to minimize the error by adjusting the output. The overall navigation system combines a PID-based

trajectory follower with a spatial-temporal filter (beamformer) that uses the output of an array of sensors to

extract signals received from an obstacle in a particular direction in order to guide an autonomous vehicle

or a robot along a safe path.

The article presents the main functions of aesthetic values (beauty, simplicity, symmetry) in the process of formulating, evaluating and accepting scientific theories in the work of physicist: 1) they motivate to undertake scientific research; (2) have a heuristic role which enables the direction of the search for a new theory to be selected; (3) are a criterion for choosing between empirically equivalent theories in the absence of empirical evidences and (4) sometimes constitute an epistemological obstacle. The basic thesis of the work is that aesthetic values, in addition to positive functions, also play a negative role in science, hindering the acceptance of new theories or leading to inefficient research. Too much weight on the aesthetic side of theory can pose a threat to the objectivity of scientific cognition.

Adaptive locomotion over difficult or irregular terrain is considered as a superiority feature of walking robots over wheeled or tracked machines. However, safe foot positioning, body posture and stability, correct leg trajectory, and efficient path planning are a necessity for legged robots to overcome a variety of possible terrains and obstacles.Without these properties, anywalking machine becomes useless. Energy consumption is one of the major problems for robots with a large number of Degrees of Freedom (DoF). When considering a path plan ormovement parameters such as speed, step length or step height, it is important to choose the most suitable variables to sustain long battery life and to reach the objective or complete the task successfully.We change the settings of a hexapod robot leg trajectory for overcoming small terrain irregularities by optimizing consumed energy and leg trajectory during each leg transfer. The trajectory settings are implemented as a part of hexapod robot simulation model and tested through series of experiments with various terrains of differing complexity and obstacles of various sizes. Our results show that the proposed energy-efficient trajectory transformation is an effective method for minimizing energy consumption and improving overall performance of a walking robot.