Bionic principles of locomotion are the most promising for displacement and transporting equipment under the most difficult conditions. Robots gait based on the changing shape of the robots body and interaction with the surface by body parts, can find application when moving over rough terrain, in a closed space of technological and natural cavities, where the use of wheel-track or walking principle is not possible. In this paper, we propose the design of a three-link crawling robot equipped with two-coordinate active joints. The robot is equipped by supporting elements. Some supporting elements has adjustable friction coefficients, which allows realize various types of movement algorithms of the device. The article presents a mathematical model of a three-link crawling robot, which allows to study the process of robot movement, including case when the coefficients of friction of the surface under the supports are not equal to each other. In practice, the surface will most often have an inhomogeneous nondeterministic structure, which will lead to a deviation in straight-line motion. The paper proposes an algorithm and a diagram of an automatic control system that allows robot to move along a given path despite the indeterminate surface. This is achieved by using additional sensors: a digital electronic compass, an accelerometer, a GPS module. The paper presents the results of computational experiments and the results obtained during the full-scale tests of the prototype of a three-link robot motion. At the end of the article, a comparative analysis of the experimental and theoretical results confirming the adequacy of the developed mathematical model and computational algorithms is presented.

The main requirement for powders for additive 3d technologies is the spherical shape of the particles. Such particles are most compact in a certain volume and provide "fluidity" of the powder composition in the material supply systems with minimal resistance. In addition, the powder must contain a minimum amount of dissolved gas. The microstructure of the powder should be uniform and fine (with a uniform distribution of phase components). Based on the features of methods for producing spherical powders to obtain spherical granules of regulated grain, the technology of electroerosion dispersion, characterized by relatively low energy costs and environmental cleanliness of the process, is proposed. The main advantage of the proposed technology is the use of waste as raw materials, which is much cheaper than the pure components used in traditional technologies. In addition, this technology is powder, which allows powder-alloys. To develop technologies for the reuse of electrical erosion powders and to evaluate the effectiveness of their use, complex theoretical and experimental studies are required. The aim of this work to study the microhardness of the additive products of the electrical discharge machining of cobalt powders. For the proposed studies selected waste cobalt alloy brand CHMS "CELLET". Butyl alcohol (butanol-1) was used as a working liquid. To obtain the cobalt powders used for the installation of AED dielectric materials. Dispersion parameters: voltage 100 V, capacity 48 UF, pulse repetition rate 120 Hz. According to the results of the research, it was experimentally established that the microhardness of additive products obtained from electroerosion powders with an average particle size of 52.5 µm is 5.7 GPA.

The article shows the results of the solution of the direct design problem associated with the definition of the producing surface of the end mill for processing shafts with an equiaxed contour, obtained using the geometric theory of surface formation by cutting tools. The cases when the axis of the cutter and the parts intersect at a right angle and smaller angles. The results of calculation and geometric modeling of producing surfaces of such mills for the RC-profile shaft of a given size are shown. The work was carried out as part of the funding of the Grant of the President of the Russian Federation to young scientists and graduate students engaged in promising research and development in priority areas of modernization of the Russian economy, for 2018-2020 SP-591.2018.1

This paper presents forward kinematics, inverse kinematics and Jacobian analysis of four-legged robot research. The kinematics analysis is the main problem of the legged robot. The four-legged robots are very complex more than wheeled robots. In this study,the four-legged robot of each leg calculates Denavit-Hartenberg (D-H) method,that is used for forward kinematics and the inverse is used the geometrical and mathematical methods.The Kinematic divided into two categories Forward Kinematic and Inverse Kinematics. The forward kinematic is calculated we knew the leg of endpoint position for the angles (θ1,θ2 and θ3 ). . Inverse kinematics is used to compute the joint angles which will achieve a desired position and orientation of the end-effector relative to the base frame. The Jacobian is one of the most important analyses for controlling smooth trajectory planning and execution in the derivation of the dynamic equation of robot motion.For calculation is used MATLAB software and robot modeling is used Simulink toolbox in MATLAB software. A program is obtained that calculate joint of angular velocity and angles to move from the desired position to target position. In this study are given different angular velocity and angle of the endpoint of the leg. The work mainly focuses on mechanical design, calculation of kinematic analysis, Jacobian function and experiment data of four-legged robots in MATLAB simulation.

The article is devoted to the current problem of processing waste of conductive materials, in particular lead bronze, which accumulates in large quantities at enterprises. A promising method for processing any conductive material, characterized by wastelessness, ecological purity of the process, and low energy costs, is the method of electroerosive dispersion. The essence of the method of electroerosive dispersion is the destruction of current-conducting material as a result of local exposure to short-term electrical discharges between the electrodes. In the discharge zone, under high temperatures, heating, melting and partial evaporation of the material occurs, resulting in the formation of finely dispersed powder particles. At the same time, the electrical parameters of the installation will affect the productivity of the process for obtaining powder materials: the voltage at the electrodes, the capacitance of the discharge capacitors, and the repetition rate. The article presents the results of the analysis of particles of powdered lead bronze obtained by the method of electroerosive dispersion in distilled water from wastes, using the laser analyzer of particle sizes "Analysette 22 NanoTec". It has been experimentally established that the average particle size of powdered lead bronze is 9.73 μm, the arithmetic value is 9.731 μm. It was also found that the elongation coefficient (elongation) of particles with a size of 7.188 μm is 1.50.

One of the fundamental principle of the biosphere compatibility conception of cities and settlements is the principle of inhabitants' satisfaction of rational needs. The most vulnerable group of the city population is invalids, people with carriages, children, who are refered to the disabled population, so these are people, who move and get services and information with difficulties. It is important, that the number of the disabled population grows stably in the recent period. That is why the creation of the comfortable conditions for the disabled population is the main aim of the contemporaneity. During the last 15-20 years the attempts of drawing the disabled population in all the living sphere were undertaken more than once. But nowadays the problem of restriction possibility of disabled oopulation is relevant. "Charity" is the function of the city which reflects the disabled population's extent of satisfactions needs. "Charity" , which takes the main place among all the functions of the settlements , is not fulfilled practically on the territory of the modern cities and settlements. There is an evatuation of the function realization of "Charity" city in the aticle. The function were taken up the territory of the dwelling microdistrict of Kursk city. Also the results of the analysis have been made, the proposals have been shown and directed to solve the problem of the providing the disabled population with the convenience of the city life. The results can be served as the base for the realization of the proposals and recommendations.

Greened public spaces which include urban parks transform under the influence of the growing needs of the population in qualitative, imbued with meaning, places with various functions. The new understanding of the parks, which are created on unsuitable for construction territories, wasteland and former industrial use areas, is becoming topical for modern European cuties. The trends in world park construction are considered in the article, innovative parks with an unconventional interpretation of natural materials and new filling of park areas are analyzed. The main problems of development of the urban Russian parks, among which the author emphasizes the standard approach to environment formation, lack of usability and functionality, low technical level of arrangement, lack of emotional component in composition, are explored based on comparative analysis of park spaces. Along with disadvantages, there are advantages of Russian parks: availability and opportunity of arranging city events, outdoor recreation in the city. The principles and features of ecological parks, which gain popularity in foreign and native urban planning practice, are explored. A concept of ecological park, maximally preserving natural landscape, using unpretentious plants and modern technologies of recourse consumption, is uncovered. It is proved that designing and building of the ecological park is optimal for natural systems in the city. The analysis of the state of public green spaces of the city of Kursk is presented; the ways of solving the problem of improving comfort of the urban environment are planned; the necessity to include the riverside areas into the list of improvement zones of the Municipal Program "Building a Comfortable Urban Environment" for 2018-2022 is justified.

In steel tanks made by the method of rolling, defects of a geometric shape often occur in the area of the welded welded joint of the wall. Subsequently, in these areas, as a result of low cycle fatigue, an unacceptable defect appears in the form of a crack, which makes it necessary to remove the reservoir from operation and carry out a set of measures for its repair. To determine the terms of safe operation of vertical steel tanks with geometric defects, it is proposed to use the methodology control of the actions of structures of load-bearing structures, one of the directions of which is the regulation of the stress-strain state of steel structures. To implement the possibility of regulating construction, it is necessary to identify such parameters, the change of which will give the maximum effect in achieving the set goals. As the indicated parameters, the design characteristics (material properties, design scheme, geometric characteristics) and factors of external influences (load, operating conditions) can act. To regulate the stress-strain state design of vertical steel tanks, the following regulators are proposed: product loading height, wall deflection arrow and permissible number of tank loading cycles. By numerical calculation of the VAT of the vertical steel tank design with geometric defects, the necessary values and values of the stress state are determined. Further, using known analytical dependencies from the field of fracture mechanics, it is possible to determine the permissible number of loading cycles of the reservoir before the appearance of a crack-like defect. The application of the methodology control of the actions of structures load-bearing structures, by means of a certain change in the established control parameters, allows increasing the number of loading cycles of the reservoir, thereby increasing the period of safe operation of the defective reservoir and thereby increasing the economic efficiency of the tank farm.

The concept "network is a computer" that has been further developed in the form of a paradigm of cloud applications that have the properties of "multi-lease"and "live" database migration is considered. Of particular interest in this regard is the development of a middleware for large reconfigurable clustered server systems as part of the support of the "big data" concept. Therefore, an approach is being developed to design a reconfigurable and parametrically tuned system and functional architecture of distributed computing systems. In some cases, the implementation of this approach can provide increased efficiency and cost reduction of large software and hardware systems. The article categorizes distributed computing systems when taking into account the specifics of cloud, grid, cluster and other types of communal, parallel and distributed computations. It is recommended to use as a basis hybrid architectures that combine the positive properties of cloud, grid and cluster distributed computing systems. The concept of organization of distributed network computing as services, implemented at the client's request, is developed. A network model that describes the work of a hybrid cloud grid system with third-party auditors and cloud service providers, is proposed. A distinctive feature of the proposed model is that when implementing as a concept NCaaSoD (network architecture as a service on the user's request) before the execution of a request, such as Upload (uploading data to the cloud), meta-information about available resources in order to further create a virtual cluster from the available nodes of the network of the cloud service provider, and before requesting the download type request (request information from the cloud), information is requested about the nodes that store the results. Meta-information can be obtained not only from a third-party auditor, but also from a remote monitoring service. To further develop the proposed concepts to real technology, it is advisable to develop a methodology for transforming conceptual models of the system and functional architecture into specifications suitable for the formation of virtual topologies of a network computer such as NCaaSoD in a hybrid cloud environment.

A description is given of an installation for measuring the force of joint and disjoint of electrical connectors. The structure of the installation is described. The developed algorithm of the installation allows testing connectors in several modes of operation with the possibility of editing parameters, performs self-diagnostics of the system and displays the measurement results both on the screen and of external storage medium.

Today metallurgical production from the point of view of management and multistage character of production is complex, big system with various features of functioning of subsystems and elements. Traditional methods for the management of such systems are ineffective, as one of the main problems is the choice of optimal management decisions, taking into account current situations and limitations on changes in the values of technological parameters. One of the problems arising in the management of complex technological systems of metallurgical production is the heterogeneity of a large amount of data, which complicates the process of making effective and operational decisions in the management of production. Adequate decision-making by the expert is connected with the need to aggregate various kinds of information at different levels of the hierarchy. In addition, the operation of real complex systems of metallurgical production takes place in conditions of uncertainty of information, and to implement effective management, to organize decision support, to ensure the efficiency and accuracy of information to improve the quality of metal products and technical and economic indicators of production in this case is not possible. In this connection, the paper proposes a model of integration of heterogeneous information under uncertainty, which will take into account the measure of importance not only of individual values of technological parameters at a certain stage of production, but also a set of such parameters through the use of fuzzy measures in the integration of data. This model will improve the accuracy of determining the required values of technological parameters by taking into account all stages of production, technological operations, as well as through the use of data aggregation at each stage. The peculiarity of the developed model is the possibility of applying corrective procedures for the sequential adaptation of membership functions of fuzzy parameters.

Many controlled plants, in particular mobile robots, solve various tasks in a priori uncertain conditions. In this connection their mathematical models necessary for creation of qualitative control systems are unknown. Therefore development of design methods of adaptive control systems is actuality. The big uncertainty of this control problem makes application of adaptive systems with identification by the most expedient. In article the new analytical design method of adaptive control systems by movement of mobile robots group in the uncertainty conditions is offered. This method is focused on the decision of a task of identification of the current mathematical models of robots with the subsequent design of a control system by movement of each robot. The suggested method can be realized automatically as required. It is developed on a basis of the markov method of identification, the method of analytical design of systems with control on output and impacts, and also the standard normalized transfer functions are used. As a whole this method allows to design of the adaptive control systems with desirable qualitative properties. Trial step functions of the small intensity and the original method of digital processing of the information are used at identification. Property of system invariancy of the markov parameters and their direct connection with factors of the discrete dynamic systems transfer functions are a basis of the method of digital processing of the information. It is supposed, that the mobile robots are full or can be stabilized at all possible values of their order and parameters. The suggested method can be used for creation of control systems by the various technical plants functioning in conditions of uncertainty.

The problem reviewed of building intelligent decision support systems for classification and prediction of the functional state of complex systems in the article. To predict the state of complex systems, hybrid decision modules with virtual flows are proposed, which reflect the hidden system connections between real and virtual data. The vector of informative features at the input of the hybrid decision module consists of two subsectors, the first of which corresponds to real flows, and the second - to virtual flows. Simulation modeling of classification processes using latent variables was performed, which allowed to evaluate the effect on the quality of classification of artificially introduced virtual flows. The structure of a neural network model with virtual recurrent-type streams is developed. The structure consists of N consecutively included neural network approximants. The outputs of the previous approximators are combined with the vector of in-formative attributes of the subsequent approximators, which allows forming virtual flows of different dimensions. A method is developed for the formation of non-linear models of virtual flows, characterized by the use of the GMDH-simulation method to obtain models of the influence of real flows on virtual flows, learned through nonlinear adalines. The method makes it possible to form a subvector of latent variables of unlimited dimension. Non-linear models of virtual flows are formed through a method based on the use of GMDH modeling. The method makes it possible to obtain neural network structures built on the basis of GMDH models and nonlinear adalines, which make it possible to form a subvector of latent variables of unlimited dimensionality.

Simulation of control parameters calculating process in the problem of cooling the parts surfaces machined on CNC equipment is considered in the article. A fuzzy model for determining the transmitted to the thermoelement current to control surfaces details cooling intensity proposed in the article. The fuzzy model consists of four steps. At the first step, the calculation of the degrees of the membership functions is produced. Input membership functions are having a triangular shape, and the output variable is represented by a singleton function. The second step, the degrees of the premises of the twenty-seven fuzzy rules is calculated. The third step, the eleven levels of conclusions of fuzzy rules is calculated. At the fourth step, defuzzification a crisp value from a simplified fuzzy inference is derived. After that, the scaling ratio and the output voltage level are determined. Also the condition of equality of the collector current for the calculated value is checked. If this condition is not implemented, the level of the output voltage is recalculated, until the set condition is fulfilled. The main problem in the system operation is the voltage calculation at the microcontroller output corresponding to the required current on the thermoelement with the maximum speed. To provide voltage calculating high speed in device was made on a field-programmable gate array (FPGA).Defuzzification in the fuzzy inference is based on a simplified fuzzy inference. The explaining the essence of the proposed technical solution numerical modeling is presented in the article. Timing diagrams of the cooling control device and voltage-current conversion devices in the cooling control system are presented in the article.