Purpose of research. Testing a method for additive formation of low-melting materials through the use of a low-power solid-state (ytterbium) laser (maximum power 50 W). A series of experiments have been carried. As a result of those experiments, the elements of shaping mode have been obtained. They ensure the shaping of products without complete melting of the construction material while preserving the shape of a rough workpiece. Thus, the possibility of using this type of equipment for shaping products from low-melting materials in an additive way has been confirmed, which is the basis for further research on other materials, as well as the additional use of a shielding atmosphere.
Methods. Methods of experiment planning and empirical data processing have been used for conducting experiments.
Results. The possibility of using a low-power laser for the set tasks has been confirmed. Values ranges of shaping modes have been obtained, which ensure the formation of products made of low-melting materials by the partial melting technique through an additive method.
Conclusion. The experimental studies have shown that a low-power solid-state laser can be applied for shaping products made of low-melting materials using an additive method. Applying the results of this study will allow further development of additive shaping of other metals (such as copper or aluminum), for which it is necessary to upgrade the equipment in terms of creating a shielding atmosphere in the melt zone, as well as increasing the laser power.

Purpose of research. The work is devoted to the proof that the vibration of the cutting tool holder carries information about the current cutting force and the type of coming off chips, and the spectral analysis of vibration acceleration will allow to extract this information in full.
Methods. The work logically substantiates a scientific assumption about the possibility of prompt diagnostics of the turning process by analyzing the vibration acceleration spectrum of the cutting tool holder. To confirm the consistency of the assumption, a full-scale experiment was carried out.
Results. A series of experiments was carried out to register changes in the spectral composition of the vibration of the cutting tool. It has been proven that vibration really carries information about the basic parameters of the cutting process.
Conclusion. Spectral analysis of vibration can become the basis for operational diagnostics of metal turning by cutting and form the basis of the Adaptive System for Controlling Cutting Conditions in numerically controlled machines.

Purpose of research. Most of the heating network pipelines in our country have a significant service life exceeding 25 years. Due to the use of obsolete thermal insulation materials, not a reasonable choice of heat networks installation methods which not meet modern requirements of standards and technical documentation, long-haul pipelines, during the coolant transportation around 60% of heat energy is lost. As a result, the implementation of energy saving measures and improving the energy efficiency of heating networks that do not require significant investment is currently most relevant.
Methods. The paper considers one of the ways to save energy in the heat supply system by choosing the most effective method of pipelines laying. There have been performed thermal calculations, taking into account the availability of different equipment of the heat network, the same type of pipeline sections of the heat network using the same thermal insulation material for different laying methods.
Results.The given paper presents the results of an analytical study of the requirements for choosing a method for laying heating network pipelines in order to systematize and summarize the data of reference and modern regulatory literature, as well as generalized results of design work and recommendations of expert organizations, which plays a significant role in choosing a construction site, as well as identifying factors that can improve the energy efficiency of heat networks. One of these factors is the choice of the most effective method of pipelines laying.
Conclusion. A comprehensive review of the set of conditions (geological, climatic, structural and others) in which the projected heat network pipelines will be operating allows us to choose the most effective method of laying. Owing to that method, it is possible to reduce heat energy losses by 50-80%.

Purpose of research. The identified inconsistencies with energy-saving standards are usually considered as a set of individual elements. Improvement of the entire system (walls, windows, floor structures, coatings) helps to reduce external heat loss, which, on the whole, leads to heat energy saving in the object under study. The method that considers the element component of a building has some disadvantages, since, as a result of calculations, there is a significant error in determining the specific characteristics of heat consumption for heating and ventilation of a building and, hence, in determining the energy efficiency class of a building. This paper discusses the method of instrumental control of indicators. It offers the method of instrumental control of indicators that determine the class of energy efficiency of an apartment house in accordance with the current requirements of regulatory documents and legislative acts.
Methods.The proposed method makes it possible to perform an assessment using whole-building metering devices for heat and electricity consumption during a calendar year and a short-term instrumental survey in order to clarify some other parameters necessary for evaluating energy efficiency indicators of apartment residential houses. The paper also suggests an equation for converting the value of the measured average internal air temperature during a short-term survey to the average value of air temperature inside the house during the heating period.
Results. The method was tested through the use of a comprehensive instrumental survey of apartment residential houses of standard series 1-447c from the Tambov housing stock. The value of deviation of the actual specific annual heat consumption for heating and ventilation, taking into account the household heat supply of the building in question from the base level (for the given apartment house), is 151•4.8 kWh/m², which corresponds to the deviation of 13 * 0.1 %. Тhe building under consideration must be assigned an energy efficiency class – F (Low).
Conclusion. The given method can be applied by the residents of apartment houses, the employees of state housing inspections and the specialists of organizations conducting energy audits in assessing compliance with regional energy efficiency and consumption targets, for the residential houses and public buildings being commissioned and buildings that are in use when assigning the mentioned buildings energy efficiency class.

Purpose of research. The given paper considers the problem of identifying a person by gait through the use of neural network recognition models focused on working with RGB images. The main advantage of using neural network models over existing methods of motor activity analysis is obtaining images from the video stream without frames preprocessing, which increases the analysis time.
Methods. The present paper presents an approach to identifying a person by gait. The approach is based upon the idea of multi-class classification on video sequences. The quality of the developed approach operation was evaluated on the basis of CASIA Gait Database data set, which includes more than 15,000 video sequences. As classifiers, 5 neural network architectures have been tested: the three-dimensional convolutional neural network I3D, as well as 4 architectures representing convolutional-recurrent networks, such as unidirectional and bidirectional LTSM, unidirectional and bidirectional GRU, combined with the convolutional neural network of ResNet architecture being used in these architectures as a visual feature extractor.
Results. According to the results of the conducted testing, the developed approach makes it possible to identify a person in a video stream in real-time mode without the use of specialized equipment. According to the results of its testing and through the use of the neural network models under consideration, the accuracy of human identification was more than 80% for convolutional-recurrent models and 79% for the I3D model.
Conclusion. The suggested models based on I3D architecture and convolutional-recurrent architectures have shown higher accuracy for solving the problem of identifying a person by gait than existing methods. Due to the possibility of frame-by-frame video processing, the most preferred classifier for the developed approach is the use of convolutional-recurrent architectures based on unidirectional LSTM or GRU models, respectively.

Purpose of research. Improvement of quality and speed of harvesting agricultural products through the development of models, control algorithms and multi-criteria optimization of the robotic gripper configuration.
Methods. To achieve this goal, we have used the methods of mathematical and computer modeling, multi-criteria optimization, the theory of object-oriented design and programming. The mathematical model of the kinematic scheme of the prototype of the robotic gripper, its geometric constraints and objective functions used for optimization are described.
Results. It has been performed a review of approaches to robotic harvesting of agricultural products, confirming the relevance of this study of robotic gripper configurations, which provides reliable fixation of an object without causing damage. The results of experiments on evaluating the developed algorithms and a software system for optimizing the configuration of a robotic gripper are presented. The developed software system AgroGripModeling for modeling the configuration of a robotic gripper using three a posteriori algorithms NSGA-II, MOGWO and MOPSO for multicriteria optimization is tested in the design of a prototype of a four-fingered gripper with a vacuum bellows for picking tomatoes.
Conclusion. When designing a robotic gripper, it is necessary to take into account the variety of manipulated objects, the complexity of their identification and guidance of the manipulator in a complex natural environment with obstacles. The task of optimizing the capture mechanism is associated with the fulfillment of a number of conflicting requirements for reliability, softness, accuracy, speed, energy efficiency, which form a complex space for finding solutions. The developed AgroGripModeling software system provides modeling of the robotic gripping configuration and its quality assessment using three a posteriori algorithms NSGA-II, MOGWO and MOPSO. The system was tested with multicriteria optimization of the configuration of a prototype of a four-fingered gripper with a vacuum bellows for picking tomatoes.

Рurpose of research. Improvement of the effectiveness of the cargo port from the point of view of preventing the occurrence of risk situations based on the development of tools for a comprehensive risk analysis of a cargo port by integrating logical, probabilistic and simulation modeling.
Methods. It is presented a structural model of the risk of failure to achieve the strategic goal of a cargo port, supplemented by several levels of consideration, a model of scenarios of all existing significant risks is developed, a hybrid logical-probabilistic model of the risk of failure to achieve the main strategic goal of the port is proposed, which makes it possible to link together the technology of formalizing risks using the constructed logical and probabilistic models, as well as simulation modeling, the interpretation of the results of which is possible using LP-models and scenarios.
Results Various types of models for the occurrence of risk events in the cargo port were built based on the set research goal and the formulated tasks. The proposed models make it possible to carry out a comprehensive analysis of the risk of failure to achieve the strategic goal of a cargo port based on the scenario formalization of risks of various levels, and also to simplify the process of interpreting the results of simulation modeling taking into account external factors of influence. All this will allow you to develop timely informed management decisions.
Conclusion. The formalization of risks of various levels and the interrelationships between them using logicalprobabilistic modeling is proposed on the basis of the task, which allows formulating management decisions based on a comprehensive analysis of the risk of failure to achieve the strategic goal of the cargo port using the interpretation of the results of simulation modeling.

Purpose or research. Development of an algorithm for smoothing the trajectory of a ground robot over rough terrain, represented as a graph in three-dimensional space.
Methods. This article presents the CSA (Curve Smoothing and Averaging) algorithm for smoothing local curves in the Oxy plane that make up a global curve, represented as a path on a connected graph in 3D space. The presented algorithm is based on the previously developed LRLHD-A * approach, which uses information about the vertices of the graph, their neighbors and the edges connecting them to select the area through which the smoothed curve will run. In order to avoid a broken curve at the output of the algorithm, a curve averaging method was developed, the idea of which is to shift the midpoints of local curves along the edges on which they are located.
Results. An experimental comparison was made of the curvature of the trajectories obtained using the curve smoothing algorithm with curve averaging (CSA) and without it (CS). The method was carried out on a threedimensional map of the area, presented in the form of a graph with 100082 vertices. For the experiments, a sample of 10 pairs of random vertices was used, between which a path was built using the LRLHD-A * algorithm. The results of the experiments have shown that averaging the curve after smoothing reduces its curvature from 24 to 42%.
Conclusion. Trajectories smoothed using the developed CSA algorithm have smoother curve bends at turns, compared to the algorithm taken as a basis. This allows the robots to move more smoothly and, as a consequence, reduce the consumption of the robot's battery.

Purpose of research. We have discovered a wide range of problems that are important in practice and which can be reduced in polynomial time to discrete combinatorial optimization problems, many of which can be solved using graph theory. One of these tasks is finding the chromatic number of a graph and its corresponding coloring. Taking into account the fact that the combinatorial problem of finding the chromatic number of a graph belongs to the complexity class and does not allow obtaining an optimal solution in a rational time for problems of practically important dimension, the search for a suitable heuristic method that allows obtaining high-quality solutions with low costs required for computation is demanded and relevant. The aim of the study is to analyze the results of using the bee colony method in the task at hand. The tasks of this research are: description of algorithmic techniques in a formalized form, which make it possible to apply the bee colony method in the problem to be solved, making modifications to the bee colony method that increase the efficiency of the method, namely the quality of the resulting final colorings, as well as the determination of factors affecting the quality and the time spent in finding solutions.
Methods. To conduct research in the selected area, computational experiments were organized based on the use of heuristic methods in the problem under consideration. Meta-optimization of the tuning parameters of the methods and determination of their convergence rate was carried out, as well as a comparison of the quality and time of obtaining solutions.
Results. As a result of the study, the convergence rate of the method was found to be higher than that of the random walk method; the dependence of the quality of the resulting final colorings on the graph size N and density d was found. It was found that the chosen method is faster than the method of weighted random enumeration with the variation of vertices according to the minimum of admissible colors on »67% , which currently generates solutions with the lowest chromatic number, while losing quality to it on »7% . A higher rate of convergence was noticed when compared with the method of random walks, the principle of which is the same as that of foraging bees.
Conclusion. It was found that the bee colony method finds colorings with the same average chromatic number in fewer iterations than the random walk method, i.e. it has a higher convergence rate, while remaining significantly fast relative to the method of random search with a variation of vertices to reduce the allowed colors.

Purpose of research. The purpose of this article is to formalize the processes of creating geographic information products (GIP), within its life cycle (LC), taking into account heterogeneous types of GIS resources of a research - production enterprise (RPE). A typical subsystem of AIS infrastructure of an enterprise is an object of this study.
Methods. On the basis of an analysis of scientific sources and standards it was shown that changes in traditional approaches, principles, models are necessary in the creation of GIP. It is also necessary to change infrastructure and resources management of NPP. Presented in tabular form model is describing GIP life cycle taking into account the list of required resources and provisions. Features of LC GIP based on geoinformation technologies processes have been identified. The general approach in formalization of stages describing processes of GIP processing and operation of typical elements of GIS enterprise is described. A model of automated processing process (APP) of GIP is developed on the basis of system representations and theoretical-multiple approach. It is represented by the Cartesian product of vectors. The role and features of information support in the development of GIP are highlighted.
Results. The analysis of GIP functioning features, as well as developed structural graphic and tabular presentation, made it possible to identify links between GIP features and stages content of their LCs. The results will allow clearer positioning of GIP elements and components presented for development and operation, especially in GIS NPP. The results will provide an opportunity to define the requirements for systems of this class adequately.
Conclusion. The presented LC GIP models, taking into account the identified features of their construction and functioning, will allow, in the future, setting and solving modeling and management system tasks of this class.

Purpose of research: The creation of water bodies monitoring systems makes it possible to evaluate environmental situation in various points of monitoring area quickly. One of the main stages of water quality research is sampling, which is currently carried out at stationary posts, which makes it impossible to ensure operational control in various areas of an observation site. The problem can be solved by using mobile robotic platforms. The purpose of this study is to create mathematical model and algorithm for controlling autonomous movement of an underwater robotic device for collecting water samples in a reservoir.
Methods. The following problems were solved for this purpose: the structure of the device was developed, which consists of a power frame unit, units of screw electric drives, units of depth and direction rudders. On-board power supply unit, sensor unit providing interaction of underwater vehicle with environment were also developed. Control tasks are formulated. A scheme of device movement in a reservoir has been developed for this purpose.
Results. Modular method of trajectory planning is proposed. It is based on a single motion cycle concept, which consists of 2 turns and 2 straight-line stages of 2R2P. A model of control algorithm is also proposed and reactions of apparatus to external disturbances are studied. General dynamics theorems, method of algorithm synthesizing according to inverse dynamics problem were applied when solving problems.
Conclusion: As a result of conducted studies, the system response to disturbances acting in longitudinal direction is described, disturbance diagrams are also described, random type with normal distribution law and mass center deviation s from the given position are given.

Purpose or research is to find solvable tasks for increasing the effectiveness of collaborative interaction between people and robots in ergatic robotic systems, or, in other words, in collaborative robotic systems.
Methods. A comprehensive analysis of works published in highly rated peer-reviewed open-access scientific publications was carried out to achieve this goal. Main terms and concepts of collaborative robotics are described in § 1 and their current understanding in the research community is also described. The structure of workspaces in interaction zone of a person and robot is described. The criteria for assigning robot to the class of collaborative ones are also described. The criteria for safe interaction of a person and robot in a single workspace is described in § 2. Various grounds for classifying human-robot interactions in collaborative RTAs are described in § 3.
Results. A significant part of published works about collaborative robotics is devoted to the organization of safe man and robot interaction. Less attention is paid to the effectiveness improvement of such interaction. An up-to-date task in the problem of efficiency improvement of collaborative robotic systems is the identification of tasks that have already been solved in other areas - in particular, in the field of organizational systems management. The possibility of using the term "team" for collaborative robots in a collaborative PTC is stated in § 4. A formal problem setting of optimal distribution in teamwork of collaborative robots, similar to the problem of heterogeneous team formation in the theory of organizational systems management is proposed in § 5.
Conclusions. Proposed task setting of optimal distribution of works in collaborative robots’ team shows possibility of using results obtained in group of mathematical models of commands formation and functioning for control of collaborative robotic systems in order to increase efficiency of people and robots interaction. It is prospectively to continue the search for adapting models and governance mechanisms to the theory of organizational system management and integrated activities methodology.

Purpose or research. Improving guidance accuracy of robotic capture mounted on an unmanned aerial vehicle and the stability of combined aerial manipulation system is the main objective of this study. In order to achieve this goal, a particular task of developing a manipulator control system that considers joint working space of manipulator and unmanned aerial vehicle has been solved.
Methods. Kinematic model of a manipulator with three degrees of freedom is proposed in this work. This is a part of air manipulation system of quadrotor. Rotary movement of two successive links is performed by means of hinge joint. Direct and inverse kinematic tasks were solved for this manipulator. Equations for dynamic model were also obtained. Dynamic response of each link is sufficient for quick stabilization of the system with little re-adjustment. Self-tuning fuzzy proportional-integral-differentiating (PID) regulator was developed based on these data to control the manipulator. Control system for each manipulator link consists of a PID regulator and a fuzzy PID output using Mamdani method.
Results. Simulation of developed manipulator control system was carried out in the absence of disturbances. The proposed control system satisfies specified requirements and ensures continuous and smooth movement of manipulator links in calculated trajectory.
Conclusion. The developed three-link manipulator motion control method provides a horizontal mass center shift not more than 1.25 mm, which is an acceptable result for rapid stabilization of unmanned aerial manipulator and further practical experiments.

Purpose of research. The purpose of this study is to assess the possibility of developing and simulating an optimal control system for the longitudinal movement of a robocars according to the criterion of maximum speed by using the MSC.Adams virtual modeling system and the MATLAB mathematical modeling package
Methods. One of the research approaches is system modeling, while a virtual modeling system is used as a software tool for synthesizing a virtual physical model of a robot, and a package of application programs for solving technical computing problems MATLAB and a graphical environment for simulation Simulink are used to model a control system. The Pontryagin maximum principle is used as a synthesis method for the longitudinal displacement control system, and the maximum speed is used as an optimality criterion.
Results: The structure of the control system for a robotic platform is presented; an optimal control algorithm is developed and implemented in the Simulink environment. The structure of the physical model management system with data transfer to Adams has been developed. The acceleration curves and the phase portrait of the model control system during the longitudinal movement of the robotic platform are presented and analyzed.
Conclusion. As can be seen from the above simulation results, the optimal positional control law, which implements the maximum principle, fulfills the task with the required quality indicators. In this regard, the proposed algorithm can be used in the development of control systems for the longitudinal movement of mobile robots. Joint modeling of the virtual prototype and the object control system in the Matlab and Adams environment avoids the production of a fullscale model and makes it possible to take into account the physical properties of the object without creating an analytical model.

Purpose of research. The control object was considered to be a thermal unit in the form of a modified two-tier tunnel furnace designed for the production of foam glass blocks. The main goal of this work was to improve the quality of products, reduce defects, and ultimately increase productivity by developing an automated system for controlling the thermal field of a technological unit for the production of foam glass blocks using an adaptive three-position control law with adaptation to the load of the average position of the regulator.
Methods. At the initial stage, a functional automation scheme for a modified two-tier tunnel furnace was developed. To model dynamic discrete systems, a mathematical apparatus was used in the form of labeled Petri nets, which resulted in algorithmization of the technological process for the production of foam glass blocks. This solution to the problem should be used as a method of algorithmization and programming of the logic controller that is part of the automation system structure. The developed functional automation scheme can be converted into a mnemonic circuit, thereby implementing a SCADA system designed for control and visualization, diagnostics and monitoring of the process at a centralized control point, which is part of the automated workplace of the operator-technologist. The described approach to the development of an automated process control system has a generalized representation. The solution is methodological in nature, demonstrating the usability of the model in the form of a labeled Petri net.
Results. In the course of research, a graph of operations of the production process with discrete adaptive threeposition control of the average position under load was developed. To check the correctness of the graph of operations, a tree of achievable markings was built, and its analysis was performed for compliance with security conditions and network liveliness. A block diagram of the main algorithm and the algorithm for adapting the controller's control program is developed.
Conclusion. The described approach to the development of an automated process control system for the production of foam glass blocks has a generalized character, although it is illustrated by applying it to a specific object , since it allows changing both the number of variables x_i , z_i, and their functional purpose, that is, instead of sensors, pushers, valves, parameter values, for example, temperature, other automation elements and other physical variables and their parameters can be used. Thus, the presented solution is methodological in nature, demonstrating the convenience of using the model in the form of a Petri net and a tree of achievable markings for algorithmization and programming of a logic controller that is part of the automation system structure.

Purpose of research. In the design process developers dealing with professional issues related to the development of new design methods and tools inevitably face problems associated with the modeling of automated and designed objects. The analysis of the problems of designing complex systems have shown that the disadvantages of the design process appear, in particular, due to the incomplete generation of possible project options, as well as their partial ordering. At the same time, there is a certain imbalance in the properties of design systems and the problem of the lack of adequate methods for describing design processes arises.
Methods. In the process of partial ordering of acceptable project options, when determining the structure of the design system at the generation stage, the structure of some generative grammar is used, which should have, first of all, control properties that provide a partial ordering of options already in the generation process. In addition, to take into account changes in the composition and parameters of design solutions, the generative grammar must have adaptive properties, which determines the need to choose an appropriate method for adaptive control of the generation process, taking into account, for example, the frequent repetition of the design process.
Results. A model of a formalized recognition system is determined when choosing a project variant presented in the class of recognizing grammars. Rules for the formation of elements of recognizing grammars are given, and the alphabet can be represented by a multi-alternative probabilistic network of design options. The choice of the design object type is considered, the elements of the design system structure are determined.
Conclusion. The structure of the design system can be parametrically determined based on the rules for generating elements of recognizing grammars, and the possibilities for generating variants can be coordinated with its recognizing capabilities, while the choice of the structure and forecasting of project parameters is made taking into account the number and properties of design resources. It should be noted that providing only the properties of the design system that reduce the description of the process can lead to difficulties in recognizing variants. At the same time, the choice of an adaptive design system structure allows you to build a language system with variable properties that provide the required reduction or expansion of the project description.