Purpose of reseach. Development of a technique for determining the orientation of parts during automatic soldering of a contact group based on the assembly of a combined image recognition systems.

Methods. Analysis of the technological process of assembling a part and evaluating the possibility of using various technologies for orienting workpieces. Development of a consistent technique for orienting a part, including the stage of recognizing a rounded edge using a vision system. Development of an algorithm for recognizing the orientation of the workpiece directly from the image of the part and along the contour of the shadow of the part. Setting up full-scale experiments on a test bench, obtaining numerical values for the accuracy of recognizing the orientation of a part for various algorithms.

Methodology. To solve the problem of transportation and positioning of the studied parts, methods of movement are used, due to controlled vibration inside the developed system of guides and cutters. To determine the rounded edge, image processing and recognition methods are used: the k-means method  for clustering the original image, the Hough transform for contour search, etc.

Results. In the course of the study, two algorithms for extracting details from the original image and the image of the shadows cast by the detail were developed. In the detection of an increased risk, more than 96%, however, when detecting sensitivity along the contour of the shadow, more than 99% were detected.

Conclusion. The technique for determining details developed within the framework of the work, including the stages of preliminary sorting according to the task of vibrotransportation, the stage of searching for a round face using a technical perspective system, including the contour of shadow details, makes it possible to obtain high accuracy even when assembling video equipment with a low level of detection.

Purpose of research. This article analyzes thermal imaging surveys of residential premises in monolithic houses built in 2018 and 2019 in the city of Voronezh. Based on the regulatory requirements of Federal Law No. 261-F3 "On Energy Saving and energy Efficiency improvement", the question is raised about the essential shortcomings in the structural units of the monolithic overlap associated with errors in design and installation. Such errors lead to the formation of places through which heat losses occur - "cold bridges". "Cold bridges" worsen the energy-efficient properties of structures and provoke excessive costs for the operation of buildings

Methods. In the article under consideration, the method of thermal imaging is used for non-contact diagnostics of "cold bridges".

Results. The analysis of thermograms is based on identifying the causes of violations of thermal insulation of external enclosing structures or a decrease in its qualities. The main criterion for comparing different surface areas of enclosing structures is the temperature difference at the selected point on the compared surface area. The temperature difference between the indoor temperature and the surface temperature of the wall of a residential building on the 45th Rifle Division Street exceeds +6.0 ° C with a normalized value of Δt_ext =+4.0 °C. The temperature difference between the indoor temperature and the surface temperature of the wall of a residential building on Kholzunov Street exceeds +11.0 ° C with a normalized value of Δt_ext =+4.0 °C.

Conclusion. The above results of the thermal imaging survey allow us to conclude that thermal pads were either not installed along the perimeter of the cantilever ceiling discs, or were mounted with gross errors. Uncontrolled loss of heat through fixed "cold bridges" leads to a significant increase in heat consumption for heating the building. This is contrary to Law No. 261-FZ "On Energy Conservation and Energy Efficiency Improvement". It is quite labor-intensive to eliminate existing bridges in operated apartments. It is advisable to prevent their formation at the design stage and during installation work by means of perforation of a monolithic floor slab. The use of thermal pads leads to a decrease in specific heat loss by an average of 1.5 times and practically eliminates freezing under standard conditions.

Purpose of research. Locking mechanisms have been widely used to connect elements of vertical formwork structures consisting of metal frames and shields fixed to them. The purpose of the study is to develop the design of the locking mechanism for the elements of removable formwork, which has high technological characteristics. A patent search was conducted for existing design solutions to ensure the connection of elements of removable formwork. It has been revealed that the most common structures used in the locking mechanisms of removable formwork elements are rack-and-pinion structures. The analysis of existing structures is carried out, the shortcomings of existing devices are revealed. It is established that the existing designs of locking mechanisms for connecting elements of removable formwork have low manufacturability of individual elements. In this regard, in order to solve the research problem, the design of the locking mechanism was developed, which ensures the connection of the elements of the removable formwork. A distinctive feature of the application of the new design of the locking mechanism for connecting the elements of removable formwork is the use of a new design of the toothed rail, which is more technologically advanced in manufacturing, compared with existing designs. Another distinctive feature is the use of a wedge with smooth edges, which also increases the manufacturability of the construction of the device for connecting the elements of removable formwork. To achieve this goal, an analytical research method was applied. The use of the proposed design will increase the manufacturability of the manufacture of locking mechanisms for connecting elements of removable formwork. The proposed design of the locking mechanism for connecting the elements of removable formwork, developed as a result of the study, has design features related to operating conditions. These features will be considered as a result of further research.

Methods. Simulation modeling methods were used to conduct the experiments.

Results. The range of sizes of the main structural elements of the locking mechanism for connecting the elements of removable formwork, ensuring the operation of the device under the action of design loads, is determined.

Conclusion. The results of the study showed that the existing designs of locking mechanisms for connecting elements of removable formwork have disadvantages, one of which is the low manufacturability of the devices. The design of the locking mechanism has been developed, which provides higher manufacturability. The proposed device can be used in construction to connect elements of fixed formwork.

Purpose of research. To analyze theoretical studies of models and methods used in the theory of inventory management and directions of their practical implementation. To present the problem of optimal inventory management as a discrete control problem. Tasks of this type are formulated in cases where there is a need to form strategies of management of material and production inventories in supply chains, taking into account their organization at a certain time interval. To propose a method for solving the corresponding management problem.

Methods. As a basic model, we consider the process of inventory management in the warehouse, in which a certain balance between the products released from the warehouse into production, released for sale, as well as its residues, which form the inventory of the next period must be fulfilled. The process of inventory management in supply chains during the planning period is based on the procedure of finding the appropriate control action for a linear discrete controlled system with a quadratic quality index. Implementation of control uses the principle of feedback. The computer algebra system Wolfram Mathematica is chosen as a tool for implementing the control.

Results. Within the framework of studying the methods of finding the optimal control, two solution methods were singled out - the method of finding the optimal program control and the method of determining the optimal control according to the feedback principle. In the process of verification of the obtained solution, several model examples with different initial conditions were considered.

Conclusion. The results of testing the proposed discrete model showed that the feedback method makes it possible to quite efficiently solve the inventory management problem with different initial conditions, which is described by a system of difference equations.

Actuality. The heavy workload of airports with transport and cargo aviation creates a problem the land logistics, that seriously complicates the work of the airfield towing system and personnel working processes. That entails expences associated with delayed deliveries or equipment downtime. The usage of the automatic aircraft movement systems, which are capable of towing aircraft round the clock and quickly along the airfield, following the optimal trajectory allows to avoid such situations.

Purpose of research. Creation of the mathematical model and the control algorithm for the autonomous joint movement of a wheeled aircraft towing vehicle and an aircraft, where the control is based on the signals of an optocoupler array.

Methods. Achieving this goal required solving the following problems: describing of a dynamic model of wheeled bodies interconnected by an elastic element; creation of a feedback model based on a group of optocouplers detecting a contrast line; description of the logical conditions that allow determining the position of the object relative to the contrast line. To describe the dynamics of the wheeled platform, the equations of Lagrangian dynamics, as well as the numerical methods of mathematical modeling, were used. An optocoupler array is considered as a tool for estimating the position of the system relative to the contrast line.

Results. A mathematical model, which explores the system movement and reveals the interaction of the system elements has been developed. An adaptive algorithm based on the discrete type feedback for the system managing is developed. An example of the control system when moving in a straight line with the passage of turns at an angle of 90 degrees is considered. A combined braking system in which the distributed brake efforts both on a aircraft and the tower are formed is proposed.

Conclusion. As a result of the mathematical modeling, it was found that the system of wheeled bodies, bound by the force of elasticity, is able to perform controlled movements along a straight line and when passing sharp turns, based on the readings of the optocoupler matrix; corresponding graphs are shown.

Purpose of research is to create a method for determining the source of messages in the receiver, which allows, based on the analysis of the characteristics of the distribution of the time of receipt of messages, to increase the reliability of determining the source.

Methods. Authentication of the message source is based on statistical analysis of metadata values, which in this study are the time intervals between messages. The metadata processing model is based on the well-known model of receiving messages from the target source in LoRaWAN networks. At the same time, the source was determined using coding methods in the block coupling mode, which provide higher identification reliability for short-length messages characteristic of the specified type of networks. With the help of numerical modeling, the patterns of changes in the characteristics of the time of receipt of messages in the event of an identification error were determined. The decision-making rule is also formulated in case of impossibility of authentication based on processing the contents of identification fields. Studies have shown the effectiveness of the application of the source detection model in various ranges of parameters for the formation of message sequences.

Results. The result of the conducted research is the development of an authentication method based on the analysis of the time of receipt of messages to the receiver, which differs in that it uses the characteristics of the distribution of moments of high orders for a series of time delays as the analyzed data. Its use in combination with coding methods in the message concatenation mode reduces the probability of a single message replacement error in a sequence by 4-6 times, compared with methods that perform identification only based on the results of processing the identifiers of the messages themselves.

Conclusion. The result of experimental studies has shown the possibility of using the developed method to increase the reliability of determining the authenticity of the source of messages, the possibility of reducing the number of reinquiries that occur when errors are detected, the possibility of reducing the size of additional identifier fields in each message. The resulting effect will be expressed in a general increase in the bandwidth of the communication channel between remote components of a distributed system.

Purpose of research. Is investigation of a software method for balancing data in a distributed network via an Nginx proxy server.

Methods. In a computer network load balancer of data is an important network parameter. Due to load balancer in the network, the transmission delay may decrease or increase, the spread from the average jitter value. Thus, load balancer in the network affects the time characteristics and network bandwidth. Load balancer can be managed and optimized in both software and hardware ways. The article focuses on load balancer of data at the application level of applications. Hardware load balancer, which is solved within the framework of network equipment itself, for example, in switches, is briefly considered. This is handled by the queue manager in the Ethernet switch, which manages the bandwidth and queues. Cyclic algorithms are described, as well as an algorithm with time selection of frames in dispatcher of switch that implement effective hardware load balancer. Software load balancer of data in the network is considered. A web server and an Nginx reverse proxy server were used as software load balancer, 3 Docker containers based on Asp.net applications running on different environments.

Results. The network was configured and the cyclic load balancer algorithm was used in the Nginx server. A research of a network with a different number of environments in the network, web servers, data requests was conducted. The cyclic load balancer of data in Nginx is more efficient than the random algorithm, this has been shown during experiments.

Conclusion. Hardware and software load balancer algorithms in a distributed network were considered and investigated. Cyclic load balancer of data has made it possible to increase the network bandwidth, its efficiency and performance.

Purpose of research.. Increasing the ore productivity of the grinding mill under the influence of external disturbances, preventing overloading of the mill in operating conditions close to overloading.

Methods. To achieve this goal, it is proposed a new automatic control system (ACS) for ore volumetric filling of grate-discharge ball mill in a closed grinding cycle using model predictive control and active disturbance observer (MPC-DOB). And in addition, virtual analyzer (VA) of the ore weight in the mill based on the developed model of the grinding process is proposed for mill overload control. The ACS was tested on a laboratory installation with the mill PC-model in Simulink and the PLC based implementation of control algorithms. 

Results. MPC-DOB was compared with other ACS based on PID, MPC controllers for various test scenarios and show high performance under the influence of sinusoidal and step disturbances by reducing relative standard deviation (RSD) by 4-7 %. The combined using of MPC-DOB and VA made it possible to increase the grinding process ore productivity by 1 % and improve the quality of mill vibration stabilization in the mode of functional instability.  Conclusion. The developed ACS can be used in the process control system for grinding in a ball mill with a grate to increase the productivity and stability of the technological process and reduce the energy consumption of the mill drive.

Purpose or research. The aim of the study is to ensure the safe operation of robotics by developing methods, approaches and algorithms for information processing, and describing their functioning.

Methods. The paper proposes an approach to estimation allowed signal/noise ratio (SNR) for robotic LiDARs based on the predetermined probability of occurrence of «false alarm» under unintended influences. The synthesized probabilistic approach is based on the physical fundaments of infrared radiation, and the Bayesian theory using the Neyman-Pearson criterion. The feature of the proposed approach is the use of the given threshold of «false alarm» occurrence, and the probability of occurrence of interference in the analytical apparatus, as well as consideration of the characteristics of photodetectors. This allows expressing analytically and calculating the value of the allowed SNR when stabilizing the level of «false alarms» against background noise caused by this type of interference.

Results. The formed and presented dependencies can be used as one of the operating characteristics in the development and selection of optoelectronic system of LiDAR’s measurement system. Based on the fixed value of «false alarm», and the resulting graphical expression of the operating characteristic (obtained characteristics) it is possible to choose a LiDARs system with necessary technical parameters.

Conclusion. The probabilistic approach and the corresponding algorithm for selecting the threshold SNR value based on the Neyman-Pearson criterion were developed. The approach allows minimizing the probability of «ignoring» the object when scanning, since the probability of «false alarm» does not exceed the given threshold value. Mathematical and methodological support for the design of LiDARs is presented, taking into account a priori estimation of the allowed SNR value, and the probability of reflected pulse detection, without preliminary estimates of probabilistic characteristics of object detection. The presented algorithm has a set of raw data (in the form of the values of the received signal with a noise component) as an input. Its output is represented by a set of error probability dependencies for different SNR thresholds.

Purpose of research. The purpose of this study is to form a set of basic elements of the methodology for reducing the consumption of the residual resource of computing devices operating as part of distributed computing systems based on the concepts of fog and edge computing. The concepts of fog and edge computing are relatively new and, despite the large volume of publications on this topic, the issue of resource consumption of computing devices in terms of FBG values has not been considered in the literature. At the same time, extending the service life of devices is currently highly desirable, which makes this study relevant.

Methods. The main scientific methods used in this study are analysis (of subject areas), numerical simulation and natural experiment, confirming the feasibility of the main aspects of the developed methodology.Within the framework of the concepts of fog and edge computing, it is considered appropriate to shift the computing load to data sources, which, as a rule, are located at the edge of the network. However, modern studies do not affect the estimates of the impact of such a strategy in the placement of functional tasks on the estimated values of the probability of non-failure operation of devices, which characterizes the state of the residual resource of the device. Meanwhile, an increase in the load on devices with less computing power than, say, a device within a data center leads to an acceleration of their wear, which, in turn, translates into economic costs for maintaining a functioning computing infrastructure. At the same time, the load on the intermediate network devices is reduced, since they transmit reduced amounts of data, and the time that can be used for data processing, if the latter is performed at the edge devices, increases. The developed methodology offers an integrated approach to the placement of functional tasks of distributed information systems, taking into account the listed features of using the concepts of fog and edge computing.

Results. The main results of this study are the description of a set of basic methods that make up the methodology for reducing the consumption of the residual resource of computing devices of distributed computing systems based on fog and edge computing. The resulting complex is based on the developed models and the results of experimental studies.

Conclusion. Currently, despite the massive use of the concepts of fog and edge computing in the implementation of distributed information systems, there has not been developed a unified methodology that would reduce the consumption of resources of computing devices and thereby extend their service life. Within the framework of this work, a set of methods is proposed, the further development of which will increase the service life of devices that make up the computing infrastructure of distributed computing systems.